2012 IEEE International Conference on Robotics and Automation最新文献

Novel equilibrium-point control of agonist-antagonist system with pneumatic artificial muscles 气动人工肌肉激动-拮抗剂系统的新型平衡点控制

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385790

Yohei Ariga, Daisuke Maeda, Hang T. T. Pham, M. Uemura, Hiroaki Hirai, F. Miyazaki

引用次数: 24

Tunable impedance: A semi-passive approach to practical motion control of insect-inspired MAVs 可调阻抗:半被动方法的实际运动控制昆虫启发的MAVs

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-06-28 DOI: 10.1109/ICRA.2012.6224577

Hosein Mahjoubi, Katie Byl

{"title":"Tunable impedance: A semi-passive approach to practical motion control of insect-inspired MAVs","authors":"Hosein Mahjoubi, Katie Byl","doi":"10.1109/ICRA.2012.6224577","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6224577","url":null,"abstract":"Research on insect-inspired flapping-wing micro-aerial vehicles (FWMAV) has grown steadily in the past decade, aiming to address unique challenges in morphological construction, force production, and control strategy. In particular, effective methods for motion control still remain an open problem. This paper analyzes the mechanical impedance properties of the joint and their role in rotation of the wing and force production. The results suggest that in addition to previously observed relationship between set point and drag [1], the average lift force is also related to the stiffness of the joint. Furthermore, as long as changes in impedance properties are small, net lift and drag production are almost independent. These relationships are the basis of `tunable impedance' technique, a new approach to force/motion control in FWMAVs. A simple controller designed based on this method is used to simulate various flight maneuvers. The simulated MAV demonstrates exceptional performance, even in presence of measurement noise. This technique requires a fixed stroke profile for both wings, thus allowing to use a single stroke actuator - in a real MAV - with a bandwidth as low as the frequency of flapping. Impedance actuators also prove to have low bandwidth requirements.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124820923","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: 5

WISS, a speaker identification system for mobile robots WISS，用于移动机器人的扬声器识别系统

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224729

François Grondin, F. Michaud

引用次数: 15

Robot localization using soft object detection 基于软目标检测的机器人定位

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225216

Roy Anati, D. Scaramuzza, K. Derpanis, Kostas Daniilidis

引用次数: 45

Stabilization for the compliant humanoid robot COMAN exploiting intrinsic and controlled compliance 利用固有柔性和受控柔性的仿人机器人COMAN的镇定

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224705

Zhibin Li, B. Vanderborght, N. Tsagarakis, L. Colasanto, D. Caldwell

{"title":"Stabilization for the compliant humanoid robot COMAN exploiting intrinsic and controlled compliance","authors":"Zhibin Li, B. Vanderborght, N. Tsagarakis, L. Colasanto, D. Caldwell","doi":"10.1109/ICRA.2012.6224705","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6224705","url":null,"abstract":"The work presents the standing stabilization of a compliant humanoid robot against external force disturbances and variations of the terrain inclination. The novel contribution is the proposed control scheme which consists of three strategies named compliance control in the transversal plane, body attitude control, and potential energy control, all combined with the intrinsic passive compliance in the robot. The physical compliant elements of the robot are exploited to react at the first instance of the impact while the active compliance control is applied to further absorb the impact and dissipate the elastic energy stored in springs preventing the high rate of spring recoil. The body attitude controller meanwhile regulates the spin angular momentum to provide more agile reactions by changing body inclination. The potential energy control module constrains the robot center of mass (COM) in a virtual slope to convert the excessive kinetic energy into potential energy to prevent falling. Experiments were carried out with the proposed balance stabilization control demonstrating superior balance performance. The compliant humanoid was capable of recovering from external force disturbances and moderate or even abrupt variations of the terrain inclination. Experimental data such as the impulse forces, real COM, center of pressure (COP) and the spring elastic energy are presented and analyzed.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"58 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117219886","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: 62

A Bayesian nonparametric approach to modeling battery health 电池健康建模的贝叶斯非参数方法

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225178

J. Joseph, F. Doshi-Velez, N. Roy

引用次数: 6

On the dynamic model and motion planning for a class of spherical rolling robots 一类球面滚动机器人的动力学模型与运动规划

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224795

M. Svinin, Akihiro Morinaga, Motoji Yamamoto

引用次数: 22

Toward fluidic microrobots using electrowetting 基于电润湿的流体微型机器人

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225275

E. Schaler, M. Tellers, Aaron P. Gerratt, I. Penskiy, S. Bergbreiter

引用次数: 10

A system that assists group conversation of older adults by evaluating speech duration and facial expression of each participant during conversation 一种通过评估谈话中每个参与者的讲话时间和面部表情来帮助老年人群体谈话的系统

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225283

Taichi Yamaguchi, J. Ota, M. Otake

{"title":"A system that assists group conversation of older adults by evaluating speech duration and facial expression of each participant during conversation","authors":"Taichi Yamaguchi, J. Ota, M. Otake","doi":"10.1109/ICRA.2012.6225283","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6225283","url":null,"abstract":"In super aged society, system that assists social activities of older adults is needed for cognitive enhancement. Group conversation is one of the social activities. One of the largest problems for older adults is the imbalance of participation to conversation. Our approach is to develop a system that assists group conversation of older adults, by evaluating speech duration and facial expression of each participant during conversation. It enables all participants evenly to take part in the conversation, which tends to be difficult for older adults. We analyzed 15 group conversations for calculating the parameters used for evaluating the conversation. The effectiveness of the system using the obtained parameters was validated through the experiment. The system which evaluates only speech duration of each participant and the system which evaluates both speech duration and facial expression of each participant during group conversation were compared by analyzing 8 group conversations for each. The results demonstrated that the system which evaluates both speech duration and facial expression of each participant can make all participants to take part in the conversation evenly and actively. We successfully developed the system that can support group conversation regardless of the contents.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127191634","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: 11

Over-tube apparatus for increasing the capabilities of an articulated robotic probe 用于增加关节式机器人探头性能的管上装置

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224668

A. Degani, Steven Tully, Brett Zubiate, H. Choset

引用次数: 2