2012 IEEE International Conference on Robotics and Automation最新文献_第2页

The application of embodiment theory to the design and control of an octopus-like robotic arm 具身理论在仿章鱼机械臂设计与控制中的应用

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224907

E. Guglielmino, L. Zullo, M. Cianchetti, M. Follador, D. Branson, D. Caldwell

{"title":"The application of embodiment theory to the design and control of an octopus-like robotic arm","authors":"E. Guglielmino, L. Zullo, M. Cianchetti, M. Follador, D. Branson, D. Caldwell","doi":"10.1109/ICRA.2012.6224907","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6224907","url":null,"abstract":"This paper examines the design and control of a robotic arm inspired by the anatomy and neurophysiology of Octopus vulgaris in light of embodiment theory. Embodiment in an animal is defined as the dynamic coupling between sensorymotor control, anatomy, materials, and the environment that allows for the animal to achieve effective behaviour. Octopuses in particular are highly embodied and dexterous animals: their arms are fully flexible, can bend in any direction, grasp objects and modulate stiffness along their length. In this paper the biomechanics and neurophysiology of octopus have been analysed to extract relevant information for use in the design and control of an embodied soft robotic arm. The embodied design requirements are firstly defined, and how the biology of the octopus meets these requirements presented. Next, a prototype continuum arm and control architecture based on octopus biology, and meeting the design criteria, are presented. Finally, experimental results are presented to show how the developed prototype arm is able to reproduce motions performed by live octopus for contraction, elongation, bending, and grasping.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"44 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":"125175427","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

Strength testing machines for wearable walking assistant robots based on risk assessment of Robot Suit HAL 基于机器人套装HAL风险评估的可穿戴行走辅助机器人强度试验机

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224669

C. Nabeshima, H. Kawamoto, Y. Sankai

引用次数: 11

Teachless teach-repeat: Toward vision-based programming of industrial robots 无教重复:面向基于视觉的工业机器人编程

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224639

M. Perrollaz, S. Khorbotly, Amber Cool, J. Yoder, E. Baumgartner

引用次数: 11

System identification for 3D force control of a human arm neuroprosthesis using functional electrical stimulation 基于功能性电刺激的人体手臂神经假体三维力控制系统识别

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224981

Eric M. Schearer, Yu-Wei Liao, E. Perreault, M. Tresch, W. Memberg, R. Kirsch, K. Lynch

引用次数: 8

Direct teaching method for musculoskeletal robots driven by pneumatic artificial muscles 气动人工肌肉驱动肌肉骨骼机器人的直接教学方法

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224999

Shuhei Ikemoto, Yoichi Nishigori, K. Hosoda

引用次数: 13

Bilateral teleoperation of cooperative manipulators 合作机械手的双边遥操作

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225030

Carlos I. Aldana, Emmanuel Nuño, L. Basañez

引用次数: 23

Mechanics and manipulation of planar elastic kinematic chains 平面弹性运动链的力学与操纵

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224693

Zoe McCarthy, T. Bretl

引用次数: 10

Monitoring of manipulation activities for a service robot using supervised learning 使用监督学习对服务机器人的操作活动进行监控

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224803

S. Ruehl, Zhixing Xue, R. Dillmann

{"title":"Monitoring of manipulation activities for a service robot using supervised learning","authors":"S. Ruehl, Zhixing Xue, R. Dillmann","doi":"10.1109/ICRA.2012.6224803","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6224803","url":null,"abstract":"To be a good helper, grasping and manipulation are the most important abilities of a service robot. It should be able to adapt its manipulation actions to new tasks and environments. During the execution, it is important to rate the success of actions, so that the robot can plan and execute further actions to correct and recover from the failed actions. The successful execution of manipulation actions depends on various factors during the whole execution, such as the position of the robotic hand and forces exerted by the robot. The goal of the manipulation action monitoring is to estimate the success state from the huge amount of data collected during the execution. The main challenge to solve this problem is to identify the success or failure state from the the high dimensional data collection. We propose a method to classify ongoing activities using a set of support vector machines (SVM). After a supervised training process with manually labeled successful or failure results, our system can correctly estimate the resulting state of a manipulation activity. We present experiments on our bimanual manipulation demonstrator and evaluate the results.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"39 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":"125501812","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

Trajectory generation for swing-free maneuvers of a quadrotor with suspended payload: A dynamic programming approach 四旋翼飞行器悬载无摆机动轨迹生成:一种动态规划方法

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225213

Ivana Palunko, R. Fierro, P. Cruz

引用次数: 211

Effects of knee locking and passive joint stiffness on energy consumption of a seven-link planar biped 膝关节锁定和被动关节刚度对七连杆平面双足机器人能量消耗的影响

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225013

A. Haq, Y. Aoustin, C. Chevallereau

{"title":"Effects of knee locking and passive joint stiffness on energy consumption of a seven-link planar biped","authors":"A. Haq, Y. Aoustin, C. Chevallereau","doi":"10.1109/ICRA.2012.6225013","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6225013","url":null,"abstract":"Energetic efficiency and stability are the fundamental criteria which can improve the autonomy and task performance capabilities of humanoid robots. The scope of this paper is to investigate the energetic effects of knee locking and addition of torsional springs to different joints of a seven-link fully actuated planar bipedal robot. The focus is on the reduction of energy consumption during walking. The energetic cost of walking is determined without joint stiffness and knee locking as a baseline for the comparison of results. In the first approach, the gait trajectory is optimized by adding springs to different joints and energetic cost of walk is then calculated at different walking speeds. The second approach presented in this paper is to mechanically lock the support knee and then optimize the gait and calculate the walking cost. The energetic cost of walking determined for the above two cases is then compared to the baseline cost. It is observed that addition of torsional springs at both hips reduce the walking cost up to 50%, support hip up to 85% with spring stiffness as an optimization variable for both cases while mechanically locking the support knee reduces the cost of walking up to 25% with gait and knee locking angle optimized.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"198 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":"115554731","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