2006 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第6页

Development of the Chinese Intelligent Space Robotic System 中国智能空间机器人系统的发展

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.281781

X. H. Gao, M. Jin, Zongwu Xie, Li Jiang, F. Ni, S. Shi, R. Wei, H. Cai

引用次数: 10

Ball Catching by a Puma Arm: a Nonlinear Dynamical Systems Approach 美洲狮臂接球:非线性动力系统方法

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.281748

C. Santos, Manuel J. Ferreira

{"title":"Ball Catching by a Puma Arm: a Nonlinear Dynamical Systems Approach","authors":"C. Santos, Manuel J. Ferreira","doi":"10.1109/IROS.2006.281748","DOIUrl":"https://doi.org/10.1109/IROS.2006.281748","url":null,"abstract":"We present an attractor based dynamics that autonomously generates temporally discrete movements and movement sequences stably adapted to changing online sensory information. Autonomous differential equations are used to formulate a dynamical layer with either stable fixed points or a stable limit cycle. A neural competitive dynamics switches between these two regimes according to sensorial context and logical conditions. The corresponding movement states are then converted by simple coordinate transformations into spatial positions of a robot arm. Movement initiation and termination is entirely sensor driven. In this article, the dynamic architecture was changed in order to cope with unreliable sensor information by including this information in the vector field. We apply this architecture to generate timed trajectories for a Puma arm which must catch a moving ball before it falls over a table, and return to a reference position thereafter. Sensory information is provided by a camera mounted on the ceiling over the robot. We demonstrate that the implemented decision-mechanism is robust to noisy sensorial information. Further, a flexible behavior is achieved. Flexibility means that if the sensorial context changes such that the previously generated sequence is no longer adequate, a new sequence of behaviors, depending on the point at which the changed occurred and adequate to the current situation emerges","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114969990","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Robotic On-Orbit Servicing - DLR's Experience and Perspective 机器人在轨服务——DLR的经验与展望

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.282164

K. Landzettel, C. Preusche, A. Albu-Schäffer, D. Reintsema, B. Rebele, G. Hirzinger

{"title":"Robotic On-Orbit Servicing - DLR's Experience and Perspective","authors":"K. Landzettel, C. Preusche, A. Albu-Schäffer, D. Reintsema, B. Rebele, G. Hirzinger","doi":"10.1109/IROS.2006.282164","DOIUrl":"https://doi.org/10.1109/IROS.2006.282164","url":null,"abstract":"The increasing number of launched satellites per year, calls for solutions to keep free operational space for telecommunication systems in geo-synchronized orbit, as well as to avoid the endangering of space systems in LEO (low-Earth orbit) and of the public living in the habited parts on Earth. Examples for such dangerous stranded space systems in the past are Skylab and MIR. In the future, the uncontrolled and accidental de-orbiting of other huge satellites is expected, where parts of these will hit the surface of the Earth. A feasible way to handle such problems might be to enforce the operational requirement to use some dedicated residual fuel for a controlled de-orbiting, or in case of GEO (geostationary orbit), to lift the satellites at their end of life into the graveyard orbit. Despite these measures, malfunctions of solar generators, control systems or thrusters cannot be avoided. Therefore, on-orbit servicing (OOS) will be a mandatory and challenging topic for space robotics in the near future. The outcome of national German projects like ROTEX, ESS and GETEX/ETS-VII represent a know-how which can be directly applied for the development of OOS-robotic systems. Control structures and several possible operational modes are discussed within this paper. The recently started national project ROKVISS already provides the necessary space-qualified hardware as well as the very powerful telepresence operational mode. The paper will concentrate on a description of the ROKVISS mission","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133215816","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 97

Effect of the Capillary Force on Force Measurements in Submerged Micromanipulations 毛细力对水下微操作力测量的影响

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-02 DOI: 10.1109/IROS.2006.282627

M. Nourine, M. Gauthier

引用次数: 1

Multi-robot SLAM with Unknown Initial Correspondence: The Robot Rendezvous Case 初始对应未知的多机器人SLAM:机器人交会案例

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282219

Xun S. Zhou, S. Roumeliotis

{"title":"Multi-robot SLAM with Unknown Initial Correspondence: The Robot Rendezvous Case","authors":"Xun S. Zhou, S. Roumeliotis","doi":"10.1109/IROS.2006.282219","DOIUrl":"https://doi.org/10.1109/IROS.2006.282219","url":null,"abstract":"This paper presents a new approach to the multi-robot map-alignment problem that enables teams of robots to build joint maps without initial knowledge of their relative poses. The key contribution of this work is an optimal algorithm for merging (not necessarily overlapping) maps that are created by different robots independently. Relative pose measurements between pairs of robots are processed to compute the coordinate transformation between any two maps. Noise in the robot-to-robot observations, propagated through the map-alignment process, increases the error in the position estimates of the transformed landmarks, and reduces the overall accuracy of the merged map. When there is overlap between the two maps, landmarks that appear twice provide additional information, in the form of constraints, which increases the alignment accuracy. Landmark duplicates are identified through a fast nearest-neighbor matching algorithm. In order to reduce the computational complexity of this search process, a kd-tree is used to represent the landmarks in the original map. The criterion employed for matching any two landmarks is the Mahalanobis distance. As a means of validation, we present experimental results obtained from two robots mapping an area of 4,800 m2","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116925357","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 233

Situation Recognition and Behavior Induction based on Geometric Symbol Representation of Multimodal Sensorimotor Patterns 基于多模态感觉运动模式几何符号表示的情境识别与行为诱导

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282609

T. Inamura, Naoki Kojo, M. Inaba

引用次数: 33

Control Laws For The Tele Operation Of An Unmanned Aerial Vehicle Known As An X4-flyer 控制法律的远程操作的无人驾驶飞行器被称为一个x4传单

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282432

N. Guenard, T. Hamel, L. Eck

引用次数: 48

Integrated Grasp Planning and Visual Object Localization For a Humanoid Robot with Five-Fingered Hands 五指手类人机器人的综合抓取规划与视觉目标定位

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282367

A. Morales, T. Asfour, P. Azad, S. Knoop, R. Dillmann

{"title":"Integrated Grasp Planning and Visual Object Localization For a Humanoid Robot with Five-Fingered Hands","authors":"A. Morales, T. Asfour, P. Azad, S. Knoop, R. Dillmann","doi":"10.1109/IROS.2006.282367","DOIUrl":"https://doi.org/10.1109/IROS.2006.282367","url":null,"abstract":"In this paper we present a framework for grasp planning with a humanoid robot arm and a five-fingered hand. The aim is to provide the humanoid robot with the ability of grasping objects that appear in a kitchen environment. Our approach is based on the use of an object model database that contains the description of all the objects that can appear in the robot workspace. This database is completed with two modules that make use of this object representation: an exhaustive offline grasp analysis system and a real-time stereo vision system. The offline grasp analysis system determines the best grasp for the objects by employing a simulation system, together with CAD models of the objects and the five-fingered hand. The results of this analysis are added to the object database using a description suited to the requirements of the grasp execution modules. A stereo camera system is used for a real-time object localization using a combination of appearance-based and model-based methods. The different components are integrated in a controller architecture to achieve manipulation task goals for the humanoid robot","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121270314","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 115

A Qualitative Visual Servoing to ensure the Visibility Constraint 一种保证可见性约束的定性视觉伺服

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.281960

Anthony Remazeilles, N. Mansard, F. Chaumette

引用次数: 26

Autonomous vision-based exploration and mapping using hybrid maps and Rao-Blackwellised particle filters 使用混合地图和rao - blackwell化粒子过滤器的自主视觉探索和绘图

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282485

Robert Sim, J. Little

引用次数: 120