2012 IEEE International Conference on Robotics and Automation最新文献_第3页

Wind field estimation for autonomous dynamic soaring 自主动力翱翔的风场估计

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224954

J. Langelaan, J. Spletzer, Corey Montella, J. Grenestedt

引用次数: 53

Variable admittance control of a four-degree-of-freedom intelligent assist device 四自由度智能辅助装置的可变导纳控制

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224586

A. Campeau-Lecours, Boris Mayer St-Onge, C. Gosselin

引用次数: 181

Evaluation of influence of surface shape of locomotion mechanism on traveling performance of planetary rovers 运动机构表面形状对行星探测车运行性能影响的评价

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225024

M. Sutoh, K. Nagaoka, K. Nagatani, Kazuya Yoshida

{"title":"Evaluation of influence of surface shape of locomotion mechanism on traveling performance of planetary rovers","authors":"M. Sutoh, K. Nagaoka, K. Nagatani, Kazuya Yoshida","doi":"10.1109/ICRA.2012.6225024","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6225024","url":null,"abstract":"The surfaces of both the Moon and Mars are covered with loose soil, with numerous steep slopes along their crater rims. Therefore, one of the most important requirements imposed on planetary rovers is their ability to minimize slippage while climbing steep slopes, i.e., the ability to generate a drawbar pull with only a small amount of slippage. To this end, the wheels/tracks of planetary rovers typically have parallel fins called lugs (i.e., grousers) on their surface. Recent studies have reported that these lugs can substantially improve the traveling performances of planetary rovers. Therefore, in this study, we conducted experiments using lightweight two-wheeled and mono-tracked rovers to provide a quantitative confirmation regarding the influence of lugs on the traveling performances of planetary rovers. Based on our experimental results, we confirmed that, although an increase in the number of lugs contributes to the high traveling performance of wheeled rovers, it does not contribute much to that of tracked rovers. Furthermore, an increase in lug height improves the traveling performances of both types of rovers.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"279 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":"116166801","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

Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams 异构四旋翼机队的混合整数二次程序轨迹生成

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225009

Daniel Mellinger, Aleksandr Kushleyev, Vijay R. Kumar

引用次数: 262

A real-time micro-PIV system using frame-straddling high-speed vision 基于跨帧高速视觉的实时微piv系统

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224821

Motofumi Kobatake, T. Takaki, I. Ishii

{"title":"A real-time micro-PIV system using frame-straddling high-speed vision","authors":"Motofumi Kobatake, T. Takaki, I. Ishii","doi":"10.1109/ICRA.2012.6224821","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6224821","url":null,"abstract":"In this study, we introduce a novel concept of real-time microscopic particle image velocimetry (micro-PIV) for high-speed microchannel flows in a lab-on-a-chip using a frame-straddling high-speed vision system with two camera inputs; it can synchronize two camera inputs with the same view field with a time delay on a submicrosecond time scale. To improve the measurable range of velocity in microchannel flow observation, we propose a variable-frame-straddling optical flow (VFS-OF) algorithm that can simultaneously estimate the microchannel flow distribution as gradient-based optical flows using frame-straddled images from the two camera inputs; their frame-straddling time is determined by the amplitude of the estimated optical flow to avoid large image displacements between frames that often generate serious errors in optical flow estimation. We built a real-time micro-PIV system by software-implementing the VFS-OF algorithm in a high-speed vision system with two frame-straddled cameras; it can execute real-time video processing and recording of 512×512-pixel images at 2000 frames per second for the two cameras and control their frame-straddling time from 0 to 0.5 ms with 9.9-ns steps. Our micro-PIV system can estimate the velocity distribution of high-speed microchannel flows at 1 m/s or more in real time by controlling the frame-straddling time. Experimental results were performed for microfluidic flows on microchannels with widths of hundreds of micrometers to verify the performance of our micro-PIV system based on the VFS-OF algorithm.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"19 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":"122344698","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: 6

Pneumatic muscle actuated continuum arms: Modelling and experimental assessment 气动肌肉驱动连续臂:建模和实验评估

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224949

I. Godage, D. Branson, E. Guglielmino, D. Caldwell

引用次数: 55

Collision-free state estimation 无碰撞状态估计

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225309

Lawson L. S. Wong, L. Kaelbling, Tomas Lozano-Perez

引用次数: 13

Online semantic exploration of indoor maps 室内地图的在线语义探索

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224871

Ziyuan Liu, Dong Chen, Georg von Wichert

引用次数: 4

SR-RRT: Selective retraction-based RRT planner SR-RRT:选择性的基于收缩的RRT计划器

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224928

Junghwan Lee, OSung Kwon, Liangjun Zhang, Sung-eui Yoon

引用次数: 42

High-resolution depth maps based on TOF-stereo fusion 基于tof -立体融合的高分辨率深度图

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224771

Vineet Gandhi, Jan Cech, R. Horaud

{"title":"High-resolution depth maps based on TOF-stereo fusion","authors":"Vineet Gandhi, Jan Cech, R. Horaud","doi":"10.1109/ICRA.2012.6224771","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6224771","url":null,"abstract":"The combination of range sensors with color cameras can be very useful for robot navigation, semantic perception, manipulation, and telepresence. Several methods of combining range- and color-data have been investigated and successfully used in various robotic applications. Most of these systems suffer from the problems of noise in the range-data and resolution mismatch between the range sensor and the color cameras, since the resolution of current range sensors is much less than the resolution of color cameras. High-resolution depth maps can be obtained using stereo matching, but this often fails to construct accurate depth maps of weakly/repetitively textured scenes, or if the scene exhibits complex self-occlusions. Range sensors provide coarse depth information regardless of presence/absence of texture. The use of a calibrated system, composed of a time-of-flight (TOF) camera and of a stereoscopic camera pair, allows data fusion thus overcoming the weaknesses of both individual sensors. We propose a novel TOF-stereo fusion method based on an efficient seed-growing algorithm which uses the TOF data projected onto the stereo image pair as an initial set of correspondences. These initial “seeds” are then propagated based on a Bayesian model which combines an image similarity score with rough depth priors computed from the low-resolution range data. The overall result is a dense and accurate depth map at the resolution of the color cameras at hand. We show that the proposed algorithm outperforms 2D image-based stereo algorithms and that the results are of higher resolution than off-the-shelf color-range sensors, e.g., Kinect. Moreover, the algorithm potentially exhibits real-time performance on a single CPU.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"1 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":"129516288","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: 73