2012 IEEE International Conference on Robotics and Automation最新文献_第9页

Diamagnetically levitated robots: An approach to massively parallel robotic systems with unusual motion properties 反磁悬浮机器人:具有不寻常运动特性的大规模并联机器人系统的一种方法

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225089

R. Pelrine, A. Wong-Foy, Brian McCoy, D. Holeman, Richard W. Mahoney, Greg Myers, J. Herson, T. Low

{"title":"Diamagnetically levitated robots: An approach to massively parallel robotic systems with unusual motion properties","authors":"R. Pelrine, A. Wong-Foy, Brian McCoy, D. Holeman, Richard W. Mahoney, Greg Myers, J. Herson, T. Low","doi":"10.1109/ICRA.2012.6225089","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6225089","url":null,"abstract":"Using large numbers of micro robots to build unique macrostructures has long been a vision in both popular and scientific media. This paper describes a new class of machines, DiaMagnetic Micro Manipulator (DM3) systems, for controlling many small robots. The robots are diamagnetically levitated with zero wear and zero hysteresis and are driven using conventional circuits. System test results have reported unusual motion properties, including exceptional open loop repeatability of motion (200 nm rms) and relative speeds (37.5 cm/s or 217 body lengths/s) [1]. A system using 130 micro robots as small as 1.7 mm with densities up to 12.5 robots/cm2 has been demonstrated. This paper reports initial data on robot trajectories, and shows that open loop trajectory repeatabilities on the order of 0.8 μm rms or better are feasible in a levitated state compared with 15 μm rms repeatability in a non-levitated state with surface contact. These results suggest an encouraging path to complex micro-robotic systems with broad capabilities.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"101 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":"132088993","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: 80

Automated throwing and capturing of cylinder-shaped objects 自动投掷和捕获圆柱形物体

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224565

T. Frank, U. Janoske, A. Mittnacht, C. Schroedter

引用次数: 10

Preliminary study of a dynamic-moving-window scheme for Virtual-Metrology model refreshing 虚拟计量模型刷新动态移动窗口方案的初步研究

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224633

Wei-ming Wu, F. Cheng, Min-Hsiung Hung

{"title":"Preliminary study of a dynamic-moving-window scheme for Virtual-Metrology model refreshing","authors":"Wei-ming Wu, F. Cheng, Min-Hsiung Hung","doi":"10.1109/ICRA.2012.6224633","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6224633","url":null,"abstract":"Virtual Metrology (VM) is a method to conjecture manufacturing quality of a process tool based on data sensed from the process tool and without physical metrology operations. Historical data is used to produce the initial VM models, and then these models are applied to operate in a process drift/shift environment. The accuracy of VM highly depends on the modeling samples adopted during initial-creating and on-line-refreshing periods. Since design-of-experiments (DOE) may not be performed due to large resources required, how could we guarantee stability of the models and predictions when they move into these unknown environments? Conventionally, static-moving-window (SMW) schemes with a fixed window size are adopted during the on-line-refreshing period. The purpose of this paper is to propose a dynamic-moving-window (DMW) scheme for VM model refreshing. The DMW scheme adds a new sample into the model and applies a clustering technology to do similarity clustering. Next, the number of elements in each cluster is checked. If the largest number of elements is greater than the predefined threshold, then the oldest sample in the cluster with the largest population is deleted. Test results show that the DMW scheme has better on-line conjecture accuracy than that of the SMW scheme.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"3 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":"127873154","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

Probabilistic velocity estimation for autonomous miniature airships using thermal air flow sensors 基于热气流传感器的自主微型飞艇概率速度估计

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224640

Jörg Müller, O. Paul, Wolfram Burgard

引用次数: 9

Tele-impedance: Towards transferring human impedance regulation skills to robots 远程阻抗:将人类的阻抗调节技能转移到机器人上

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224904

A. Ajoudani, N. Tsagarakis, A. Bicchi

{"title":"Tele-impedance: Towards transferring human impedance regulation skills to robots","authors":"A. Ajoudani, N. Tsagarakis, A. Bicchi","doi":"10.1109/ICRA.2012.6224904","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6224904","url":null,"abstract":"This work presents the novel concept of Tele-Impedance as a method for controlling/teleoperating a robotic arm while performing tasks which require significant dynamics variation. As an alternative method to bilateral force-reflecting teleoperation control approach, which uses a position/velocity command combined with force feedback from the robot side, Tele-Impedance enriches the command sent to the slave robot by combining the position reference with a stiffness (or full impedance) reference estimated from the arm of the human operator. We propose a new method to estimate the stiffness of the human arm based on the agonist-antagonist muscular co activations. The concept of the Tele-Impedance is demonstrated using the KUKA light weight robotic arm as the slave manipulator in a ball reception experiment. The performance of Tele-Impedance control method is assessed by comparing the results obtained while receiving the ball, with the slave arm under i) constant low stiffness, ii) constant high stiffness or iii) under Tele-Impedance control. Performance indexes are defined and used for the comparative study of the ball reception performances under the different endpoint elastic profiles. The experimental results demonstrate the effectiveness of the task-related Tele-Impedance control method and highlight its potential use to execute tasks which require significant dynamics variation.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"46 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":"131426472","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: 48

Tissue stiffness simulation and abnormality localization using pseudo-haptic feedback 基于伪触觉反馈的组织刚度模拟与异常定位

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225143

Min Li, Hongbin Liu, Jichun Li, L. Seneviratne, K. Althoefer

引用次数: 23

Coverage optimized active learning for k - NN classifiers k - NN分类器的覆盖优化主动学习

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225054

Ajay J. Joshi, F. Porikli, N. Papanikolopoulos

{"title":"Coverage optimized active learning for k - NN classifiers","authors":"Ajay J. Joshi, F. Porikli, N. Papanikolopoulos","doi":"10.1109/ICRA.2012.6225054","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6225054","url":null,"abstract":"Fast image recognition and classification is extremely important in various robotics applications such as exploration, rescue, localization, etc. k-nearest neighbor (kNN) classifiers are popular tools used in classification since they involve no explicit training phase, and are simple to implement. However, they often require large amounts of training data to work well in practice. In this paper, we propose a batch-mode active learning algorithm for efficient training of kNN classifiers, that substantially reduces the amount of training required. As opposed to much previous work on iterative single-sample active selection, the proposed system selects samples in batches. We propose a coverage formulation that enforces selected samples to be distributed such that all data points have labeled samples at a bounded maximum distance, given the training budget, so that there are labeled neighbors in a small neighborhood of each point. Using submodular function optimization, the proposed algorithm presents a near-optimal selection strategy for an otherwise intractable problem. Further we employ uncertainty sampling along with coverage to incorporate model information and improve classification. Finally, we use locality sensitive hashing for fast retrieval of nearest neighbors during active selection as well as classification, which provides 1-2 orders of magnitude speedups thus allowing real-time classification with large datasets.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"12 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":"115375650","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

Intuitive operability evaluation of robotic surgery using brain activity measurement to identify hand-eye coordination 利用脑活动测量识别手眼协调的机器人手术的直观可操作性评估

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224611

Satoshi Miura, Yo Kobayashi, M. Seki, Takehiko Noguchi, M. Kasuya, Yuki Yokoo, M. Fujie

{"title":"Intuitive operability evaluation of robotic surgery using brain activity measurement to identify hand-eye coordination","authors":"Satoshi Miura, Yo Kobayashi, M. Seki, Takehiko Noguchi, M. Kasuya, Yuki Yokoo, M. Fujie","doi":"10.1109/ICRA.2012.6224611","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6224611","url":null,"abstract":"Surgical robots have undergone considerable improvement in recent years, but the intuitive operability, representing user inter-operability, has not been quantitatively evaluated. Thus, we propose a method for measuring brain activity to determine intuitive operability in order to design a robot with intuitive operability. The objective of this paper is to clarify the angle between the endoscope and the manipulator that facilitates users perceiving the manipulator as part of their body. In the experiments, while subjects controlled the hand controller to position the tip of the virtual slave manipulator on the target in the surgical simulator, we measured the brain activity through brain imaging devices. We carried out the experiment a number of times with the virtual slave manipulator configured in a variety of ways. The results show that activation of the brain is significant with the slave manipulator configured such that the angles are slanted with respect to the horizontal. We conclude that the body image affects hand-eye coordination, which is related to visual and somatic sense feedback.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"123 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":"114366950","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

Joint control of tendon-driven mechanisms with branching tendons 分支肌腱驱动机构的关节控制

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224809

D. Sawada, R. Ozawa

引用次数: 10

M3Express: A low-cost independently-mobile reconfigurable modular robot M3Express:一种低成本独立移动可重构模块化机器人

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224971

Kevin C. Wolfe, M. Moses, M. Kutzer, G. Chirikjian

引用次数: 47