2006 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第7页

Development of a Facial Expression Imitation System 面部表情模仿系统的开发

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282329

Do Hyoung Kim, Sung-Uk Jung, K. An, H. Lee, M. Chung

引用次数: 16

Data Association Using Visual Object Recognition for EKF-SLAM in Home Environment 基于视觉目标识别的EKF-SLAM数据关联

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.281936

SungHwan Ahn, Minyong Choi, Jinwoo Choi, W. Chung

{"title":"Data Association Using Visual Object Recognition for EKF-SLAM in Home Environment","authors":"SungHwan Ahn, Minyong Choi, Jinwoo Choi, W. Chung","doi":"10.1109/IROS.2006.281936","DOIUrl":"https://doi.org/10.1109/IROS.2006.281936","url":null,"abstract":"Reliable data association is crucial to localization and map building for mobile robot applications. For that reason, many mobile robots tend to choose vision-based SLAM solutions. In this paper, a SLAM scheme based on visual object recognition, not just a scene matching, in home environment is proposed without using artificial landmarks. For the object-based SLAM, the following algorithms are suggested: 1) a novel local invariant feature extraction by combining advantages of multi-scale Harris corner as a detector and its SIFT descriptor for natural object recognition, 2) the RANSAC clustering for robust object recognition in the presence of outliers and 3) calculating accurate metric information for SLAM update. The proposed algorithms increase robustness by correct data association and accurate observation. Moreover, it also can be easily implemented real-time by reducing the number of representative landmarks, i.e. objects. The performance of the proposed algorithm was verified by experiments using EKF-SLAM with a stereo camera in home-like environments, and it showed that the final pose error was bounded after battery-run-out autonomous navigation for 50 minutes","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"36 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":"125323802","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: 49

Heli4: A Parallel Robot for Scara Motions with a Very Compact Traveling Plate and a Symmetrical Design Heli4:具有非常紧凑的行走板和对称设计的Scara运动并联机器人

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282120

S. Krut, O. Company, V. Nabat, F. Pierrot

引用次数: 39

Development of a High Speed Vision System for Mobile Robots 移动机器人高速视觉系统的研制

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.281925

A. Konno, Ryo Uchikura, T. Ishihara, T. Tsujita, T. Sugimura, J. Deguchi, M. Koyanagi, M. Uchiyama

{"title":"Development of a High Speed Vision System for Mobile Robots","authors":"A. Konno, Ryo Uchikura, T. Ishihara, T. Tsujita, T. Sugimura, J. Deguchi, M. Koyanagi, M. Uchiyama","doi":"10.1109/IROS.2006.281925","DOIUrl":"https://doi.org/10.1109/IROS.2006.281925","url":null,"abstract":"In order to achieve human-like quick eye movements and image processing for intelligent mobile robots, a high speed vision system is developed. The vision system is composed of a binocular camera head and high speed image sensors. The camera head is originally designed to mount neuromorphic vision chips fabricated using three-dimensional integration technology. The prototype of the neuromorphic vision chip has three layers: (1) photoreceptor layer, (2) horizontal and bipolar cell layer, and (3) ganglion cell layer. An image sensor is separately developed, which corresponds to the photoreceptor layer of the layered vision chip. The image sensors are tentatively mounted on the camera head, since the resolution of the prototype of the layered vision chip is not sufficient at this stage. The camera head has an azimuth DOF for each eye and a common elevation DOF. The weight of the camera head is strictly limited, since it is mounted on a mobile robot. In order to satisfy both demands for the quick movements and light weight, the camera head is designed based upon a simple parallel mechanism. The total performance of the vision system is examined in this work. Saccadic eye movement and frequency response are experimentally reviewed","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"10 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":"114918979","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: 8

Motion Synchronization in Mobile Robot Networks: Robustness 移动机器人网络中的运动同步:鲁棒性

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282274

Fei Zhang, Weidong Chen, Y. Xi

引用次数: 8

Attitude Control of a Quadruped Trot While Turning 四足小跑转弯时的姿态控制

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282381

Luther R. Palmer, D. Orin

{"title":"Attitude Control of a Quadruped Trot While Turning","authors":"Luther R. Palmer, D. Orin","doi":"10.1109/IROS.2006.282381","DOIUrl":"https://doi.org/10.1109/IROS.2006.282381","url":null,"abstract":"During a complete running stride, which involves significant periods of flight during which no legs are contacting the ground, a quadruped cannot employ static stability techniques. Instead, the corrective forces necessary to maintain dynamic stability must be applied during the short stance intervals inherent to high-speed running. Because of this complexity and the large coupled forces required to run, much of the research on the control of quadruped running has focused on planar systems which are not required to simultaneously control attitude in all three dimensions. The 3D trot controller presented here overcomes these and other complexities to control a trot up to 3.75 m/s, approximately 3 body lengths per second, and turning rates up to 20 deg/s. The biomimetic method of banking into a high-speed turn is also investigated here. Along with the details of the attitude control algorithm, a set of control principles for high-speed legged motion is presented. These principles, such as the need to counteract the disturbance of swing leg return and the usefulness of force redistribution during stance, are not dependent on a particular scale or actuation scheme and can be applied to a wider range of legged systems","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"6 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":"114954265","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: 13

An autonomous, underactuated exoskeleton for load-carrying augmentation 一种自主的、欠驱动的外骨骼，用于增强负载

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.281932

C. Walsh, K. Pasch, H. Herr

{"title":"An autonomous, underactuated exoskeleton for load-carrying augmentation","authors":"C. Walsh, K. Pasch, H. Herr","doi":"10.1109/IROS.2006.281932","DOIUrl":"https://doi.org/10.1109/IROS.2006.281932","url":null,"abstract":"Metabolic studies have shown that there is a metabolic cost associated with carrying load (T. M. Griffen, et al., 2003). In previous work, a lightweight, underactuated exoskeleton has been described that runs in parallel to the human and supports the weight of a payload (C. J. Walsh, et al., 2006). A state-machine control strategy is written based on joint angle and ground-exoskeleton force sensing to control the joint actuation at this exoskeleton hip and knee. The joint components of the exoskeleton in the sagittal plane consist of a force-controllable actuator at the hip, a variable-damper mechanism at the knee and a passive spring at the ankle. The control is motivated by examining human walking data. Positive, non-conservative power is added at the hip during the walking cycle to help propel the mass of the human and payload forward. At the knee, the damper mechanism is turned on at heel strike as the exoskeleton leg is loaded and turned off during terminal stance to allow knee flexion. The passive spring at the ankle engages in controlled dorsiflexion to store energy that is later released to assist in powered plantarflexion. Preliminary studies show that the state machines for the hip and knee work robustly and that the onset of walking can be detected in less than one gait cycle. Further, it is found that an efficient, underactuated leg exoskeleton can effectively transmit payload forces to the ground during the walking cycle","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"4 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":"115180503","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: 166

Advanced Animation Engine for User-Interface Robots 用于用户界面机器人的高级动画引擎

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282225

A. Breemen, Yan Xue

引用次数: 16

Multi-robot Aggregation Strategies with Limited Communication 有限通信条件下的多机器人聚合策略

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.281991

Y. Meng, J. Nickerson, Jing Gan

引用次数: 17

An Adaptive Meshless Computation Method for Design of Electromechanical Actuators 机电作动器设计的自适应无网格计算方法

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282176

Qiang Li, Kok-Meng Lee

{"title":"An Adaptive Meshless Computation Method for Design of Electromechanical Actuators","authors":"Qiang Li, Kok-Meng Lee","doi":"10.1109/IROS.2006.282176","DOIUrl":"https://doi.org/10.1109/IROS.2006.282176","url":null,"abstract":"The ever increasing cost of energy and advance in permanent magnet technology have the incentives to develop geometrically compact and energy-efficient electro-magnetic (EM) actuators for robotic and automation applications. Design automation of these actuators often involves solving a magnetic field problem. This paper presents an adaptive meshless method (MLM) that inherits many advantages of FEM but needs no explicit mesh structure for design of EM actuators. Specifically, this paper offers a technique to estimate the distribution of numerical errors and a scheme automatically inserts additional nodes to improve computational accuracy and efficiency. Five examples are given; the first three are numerical examples, where exact solutions are available, provide a means to validate the adaptive MLM and evaluate its effectiveness against MLM with uniform node distribution. The other examples, where the magnetic forces are computed from the Lorenz's law, illustrate the use of adaptive MLM for the pole design of a three-DOF EM actuator. We also verify the results by comparing the computed forces against published experimental results","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"286 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":"116406729","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: 10