发布求助
文献互助 智能选刊 最新文献

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献

筛选
英文 中文
Anytime RRTs 随时rrt
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282100
D. Ferguson, A. Stentz
{"title":"Anytime RRTs","authors":"D. Ferguson, A. Stentz","doi":"10.1109/IROS.2006.282100","DOIUrl":"https://doi.org/10.1109/IROS.2006.282100","url":null,"abstract":"We present an anytime algorithm for planning paths through high-dimensional, non-uniform cost search spaces. Our approach works by generating a series of rapidly-exploring random trees (RRTs), where each tree reuses information from previous trees to improve its growth and the quality of its resulting path. We also present a number of modifications to the RRT algorithm that we use to bias the search in favor of less costly solutions. The resulting approach is able to produce an initial solution very quickly, then improve the quality of this solution while deliberation time allows. It is also able to guarantee that subsequent solutions will be better than all previous ones by a user-defined improvement bound. We demonstrate the effectiveness of the algorithm on both single robot and multirobot planning domains","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"20 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":"128469572","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: 243
Biped Walking Pattern Generator allowing Auxiliary ZMP Control 允许辅助ZMP控制的双足行走模式生成器
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282233
S. Kajita, M. Morisawa, K. Harada, K. Kaneko, F. Kanehiro, K. Fujiwara, H. Hirukawa
{"title":"Biped Walking Pattern Generator allowing Auxiliary ZMP Control","authors":"S. Kajita, M. Morisawa, K. Harada, K. Kaneko, F. Kanehiro, K. Fujiwara, H. Hirukawa","doi":"10.1109/IROS.2006.282233","DOIUrl":"https://doi.org/10.1109/IROS.2006.282233","url":null,"abstract":"A biped walking pattern generator which allows an additional ZMP control (auxiliary ZMP) is presented. An auxiliary ZMP is realized by an inverse system added to a pattern generator based on the ZMP preview control. To compensate the effect of the auxiliary ZMP, we apply virtual time shifting of the reference ZMP. As an application of the proposed method, a walking control on uneven terrain is simulated. The simulated robot can walk successfully by changing its walking speed as the side effect of the auxiliary ZMP control","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 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":"128538716","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: 191
Advanced Teleoperation Architecture 高级远程操作架构
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282124
S. Galvan, A. Castellani, D. Botturi, P. Fiorini
{"title":"Advanced Teleoperation Architecture","authors":"S. Galvan, A. Castellani, D. Botturi, P. Fiorini","doi":"10.1109/IROS.2006.282124","DOIUrl":"https://doi.org/10.1109/IROS.2006.282124","url":null,"abstract":"In this paper we report on the efforts carried out at the Robotics Laboratory ALTAIR of the University of Verona (Italy) towards the development of a high performance architecture for bilateral, i.e. force reflecting, teleoperation system. This architecture, called Penelope, takes into account the main features of a haptics system: real-time behavior, distributed resources, general purpose structure and safe exchange of data. The emphasis here is on heterogeneous hardware and software within the same structure","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 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":"128565056","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: 12
Analytical Approach for the Generation of Highly Dynamic Gaits for Walking Robots 行走机器人高动态步态生成的分析方法
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282080
O. Bruneau, A. David
{"title":"Analytical Approach for the Generation of Highly Dynamic Gaits for Walking Robots","authors":"O. Bruneau, A. David","doi":"10.1109/IROS.2006.282080","DOIUrl":"https://doi.org/10.1109/IROS.2006.282080","url":null,"abstract":"This paper presents an analytical approach for the generation of walking gaits with a high dynamic behaviour. The principle is to modify the dynamic effects generated by the robot directly by taking into account the intrinsic dynamics of the robot as well as the capability of its joint torques. In order to perform this, two criterions based on dynamics are proposed: the \"dynamic propulsion criterion\" and the \"dynamic propulsion potential\". This general approach is illustrated for an underactuated robot without foot, which can not be statically stable","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 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":"129148066","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: 3
A Tripodic Biomimetic Underwater Microrobots Utilizing ICPF Actuators 利用ICPF作动器的三足仿生水下微型机器人
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.281682
Wei Zhang, Shuxiang Guo, K. Asaka
{"title":"A Tripodic Biomimetic Underwater Microrobots Utilizing ICPF Actuators","authors":"Wei Zhang, Shuxiang Guo, K. Asaka","doi":"10.1109/IROS.2006.281682","DOIUrl":"https://doi.org/10.1109/IROS.2006.281682","url":null,"abstract":"In this paper, to deal with the locomotion in underwater environment, we designed a novel type of leg, inspired by stick insect legs. The biomimetic leg is composed of two segments of ICPF (ionic conducting polymer film) actuators with a 2-DOF motion. It has simple structure, simple control method, and good localization characteristic. We designed and developed a prototype microrobot with 3 units of the legs. The dimension of the microrobot is 48*20*17 mm3 and its dried weight is 0.65 g. We have measured the speeds with different control signals. The experimental results show that it can arrive at a speed of 4.7 mm/s with a control signal of 5 Hz and 10 V. And results indicate that the novel type leg has a good speed performance and localization in aquatic environment. The microrobot using ICPF actuators has powerful applications in the biomedical and naval fields","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":"129155658","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: 9
3D Cameras for Mobile Robotics 移动机器人的3D相机
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282294
S. May, H. Surmann, Maurice Müller, Kai Pervölz
{"title":"3D Cameras for Mobile Robotics","authors":"S. May, H. Surmann, Maurice Müller, Kai Pervölz","doi":"10.1109/IROS.2006.282294","DOIUrl":"https://doi.org/10.1109/IROS.2006.282294","url":null,"abstract":"Recently developed 3D time-of-flight cameras have an enormous potential for mobile robotic applications in particular for 3D mapping and 3D navigation tasks. But similar to passive visual sensors, this type of camera is very fragile to changing lighting conditions and environment dynamics, which make it not applicable for mobile robots. The video shows the performance of our solution to environment dynamics. The solution consist of calibration routines, integration time controller and an accuracy filter for the Swiss Ranger SR-2 camera on a mobile robot.","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 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":"129274969","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: 1
Semi-automated Needling and Seed Delivery Device for Prostate Brachytherapy 用于前列腺近距离治疗的半自动针刺和种子输送装置
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.281890
Yongde Zhang, T. Podder, W. Ng, J. Sherman, V. Misic, D. Fuller, E. Messing, D. Rubens, J. Strang, R. Brasacchio, Yan Yu
{"title":"Semi-automated Needling and Seed Delivery Device for Prostate Brachytherapy","authors":"Yongde Zhang, T. Podder, W. Ng, J. Sherman, V. Misic, D. Fuller, E. Messing, D. Rubens, J. Strang, R. Brasacchio, Yan Yu","doi":"10.1109/IROS.2006.281890","DOIUrl":"https://doi.org/10.1109/IROS.2006.281890","url":null,"abstract":"In this paper we present a semi-automated device designed and developed to deliver radio-active seeds for treating prostate cancer. In the brachytherapy procedure a slander needle is inserted through the perineum and passed through different types of tissues. Thus, the needle experiences significant amount of force which may cause it to buckle and bend. In our design, we have considered the buckling force and insertion force on needle by collecting in-vivo data from real patient and performing in-vitro experiments. Techniques to reduce force and organ/tissue deformation have been implemented into this new design. To track the axial force on the needle for detecting pubic arch interference and to improve robotic control, we have incorporated three force sensors. Rigidity and factor of safety of the device has been analyzed using finite element method which was very useful for iterative design process","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"70 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":"124606641","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: 14
Evaluation of Prosodic and Voice Quality Features on Automatic Extraction of Paralinguistic Information 副语言信息自动提取中韵律和语音质量特征的评价
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.281786
C. Ishi, H. Ishiguro, N. Hagita
{"title":"Evaluation of Prosodic and Voice Quality Features on Automatic Extraction of Paralinguistic Information","authors":"C. Ishi, H. Ishiguro, N. Hagita","doi":"10.1109/IROS.2006.281786","DOIUrl":"https://doi.org/10.1109/IROS.2006.281786","url":null,"abstract":"Aiming to realize a non-verbal communication between humans and robots, the use of acoustic parameters related with voice quality features, besides classical prosodic features, is proposed and evaluated for automatic extraction of paralinguistic information (intentions, attitudes, and emotions) in dialog speech. Experimental results indicated that prosodic features were effective for detecting groups of paralinguistic information expressing specific functions (such as affirmation, denial, and asking for repetition), accounting for 61% of the global identification rate. Voice quality features were effective for detecting part of the paralinguistic information expressing emotions or attitudes (such as surprise, disgust and admiration), leading to 12 % improvement in the global identification rate","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"65 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":"129637125","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: 12
Learning Sensory-Motor Maps for Redundant Robots 冗余机器人的感觉-运动映射学习
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.281988
M. Lopes, J. Santos-Victor
{"title":"Learning Sensory-Motor Maps for Redundant Robots","authors":"M. Lopes, J. Santos-Victor","doi":"10.1109/IROS.2006.281988","DOIUrl":"https://doi.org/10.1109/IROS.2006.281988","url":null,"abstract":"Humanoid robots are routinely engaged in tasks requiring the coordination between multiple degrees of freedom and sensory inputs, often achieved through the use of sensory-motor maps (SMMs). Most of the times, humanoid robots have more degrees of freedom (DOFs) available than those necessary to solve specific tasks. Notwithstanding, the majority of approaches for learning these SMMs do not take that into account. At most, the redundant degrees of freedom (degrees of redundancy, DOR) are \"frozen\" with some auxiliary criteria or heuristic rule. We present a solution to the problem of learning the forward/backward model, when the map is not injective, as in redundant robots. We propose the use of a \"minimum order SMM\" that takes the desired image configuration and the DORs as input variables, while the non-redundant DOFs are viewed as outputs. Since the DORs are not frozen in this process, they can be used to solve additional tasks or criteria. This method provides a global solution for positioning a robot in the workspace, without the need to move in an incremental way. We provide examples where these tasks correspond to optimization criteria that can be solved online. We show how to learn the \"minimum order SMM\" using a local statistical learning method. Extensive experimental results with a humanoid robot are discussed to validate the approach, showing how to learn the minimum order SMM of a redundant system and using the redundancy to accomplish auxiliary tasks","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"19 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":"129926223","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
Environment Understanding: Robust Feature Extraction from Range Sensor Data 环境理解:距离传感器数据的鲁棒特征提取
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282509
A. Romeo, L. Montano
{"title":"Environment Understanding: Robust Feature Extraction from Range Sensor Data","authors":"A. Romeo, L. Montano","doi":"10.1109/IROS.2006.282509","DOIUrl":"https://doi.org/10.1109/IROS.2006.282509","url":null,"abstract":"This paper proposes an approach allowing indoor environment supervised learning to recognize relevant features for environment understanding. Stochastic preprocessing methods in combination with either of usual pattern recognition schemes are used. Preprocessing method treated is a combination of the principal components analysis and the Fisher linear discriminant analysis well adapted to the sensorial information and to the kind of environments considered. The supervised method is applied to the raw range data obtained from typical indoor environments, obtaining good recognition performances without geometrical feature extraction, allowing its real time implementation. Our work focuses on the preprocessing method, giving a geometrical interpretation of their main components, and analyzing their robustness to shape distortions and scale changes","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"37 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":"130302018","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信