2013 IEEE International Conference on Robotics and Automation最新文献_第5页

ACT-CORNER: Active corner finding for optic flow determination ACT-CORNER:用于光流测定的主动角查找

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631243

G. D. Croon, S. Nolfi

引用次数: 4

Capillary self-alignment assisted hybrid robotic handling for ultra-thin die stacking 毛细管自对准辅助混合机器人处理超薄模具堆积

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630754

V. Liimatainen, Mohamed Kharboutly, David Rostoucher, M. Gauthier, Quan Zhou

引用次数: 7

Manipulation-based active search for occluded objects 基于操作的被遮挡物体的主动搜索

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630966

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

引用次数: 50

Central Pattern Generators augmented with virtual model control for quadruped rough terrain locomotion 基于虚拟模型控制的四足崎岖地形运动中央模式生成器

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631040

M. Ajallooeian, Soha Pouya, Alexander Spröwitz, A. Ijspeert

引用次数: 64

Robust tracking of bio-inspired references for a biped robot using geometric algebra and sliding modes 基于几何代数和滑动模式的仿生双足机器人鲁棒跟踪

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631338

Jose Oviedo-Barriga, O. Carbajal-Espinosa, Luis Enrique González Jiménez, B. Castillo-Toledo, E. Bayro-Corrochano

引用次数: 6

Lazy Toggle PRM: A single-query approach to motion planning Lazy Toggle PRM:运动规划的单查询方法

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630904

Jory Denny, Kensen Shi, N. Amato

{"title":"Lazy Toggle PRM: A single-query approach to motion planning","authors":"Jory Denny, Kensen Shi, N. Amato","doi":"10.1109/ICRA.2013.6630904","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630904","url":null,"abstract":"Probabilistic RoadMaps (PRMs) are quite successful in solving complex and high-dimensional motion planning problems. While particularly suited for multiple-query scenarios and expansive spaces, they lack efficiency in both solving single-query scenarios and mapping narrow spaces. Two PRM variants separately tackle these gaps. Lazy PRM reduces the computational cost of roadmap construction for single-query scenarios by delaying roadmap validation until query time. Toggle PRM is well suited for mapping narrow spaces by mapping both Cfree and Cobst, which gives certain theoretical benefits. However, fully validating the two resulting roadmaps can be costly. We present a strategy, Lazy Toggle PRM, for integrating these two approaches into a method which is both suited for narrow passages and efficient single-query calculations. This simultaneously addresses two challenges of PRMs. Like Lazy PRM, Lazy Toggle PRM delays validation of roadmaps until query time, but if no path is found, the algorithm augments the roadmap using the Toggle PRM methodology. We demonstrate the effectiveness of Lazy Toggle PRM in a wide range of scenarios, including those with narrow passages and high descriptive complexity (e.g., those described by many triangles), concluding that it is more effective than existing methods in solving difficult queries.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129203119","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: 29

Use of relaxation methods in sampling-based algorithms for optimal motion planning 基于采样的最优运动规划算法中松弛方法的应用

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630906

O. Arslan, P. Tsiotras

引用次数: 166

Grasp mapping using locality preserving projections and kNN regression 掌握映射使用局域保持投影和kNN回归

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630706

Yun Lin, Yu Sun

{"title":"Grasp mapping using locality preserving projections and kNN regression","authors":"Yun Lin, Yu Sun","doi":"10.1109/ICRA.2013.6630706","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630706","url":null,"abstract":"In this paper, we propose a novel mapping approach to map a human grasp to a robotic grasp based on human grasp motion trajectories rather than grasp poses, since the grasp trajectories of a human grasp provide more information to disambiguate between different grasp types than grasp poses. Human grasp motions usually contain complex and nonlinear patterns in a high-dimensional space. In this paper, we reduced the high-dimensionality of motion trajectories by using locality preserving projections (LPP). Then, a Hausdorff distance was performed to find the k-nearest neighbor trajectories in the reduced low-dimensional subspace, and k-nearest neighbor (kNN) regression was used to map a demonstrated grasp motion by a human hand to a robotic hand. Several experiments were designed and carried out to compare the robotic grasping trajectory generated with and without the trajectory-based mapping approach. The regression errors of the mapping results show that our approach generates more robust grasps than using only grasp poses. In addition, our approach has the ability to successfully map a grasp motion of a new grasp demonstration that has not been trained before to a robotic hand.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123928290","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: 15

Rigid 2D space-filling folds of unbroken linear chains 完整线性链的刚性二维空间填充褶皱

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630628

Zhong Li, Devin J. Balkcom, A. Dollar

引用次数: 4

A lightweight soft exosuit for gait assistance 一个轻量级的柔软的外骨骼的步态辅助

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631046

Michael F. Wehner, Brendan T. Quinlivan, P. Aubin, E. Martinez-Villalpando, Michael Baumann, L. Stirling, K. Holt, R. Wood, C. Walsh

{"title":"A lightweight soft exosuit for gait assistance","authors":"Michael F. Wehner, Brendan T. Quinlivan, P. Aubin, E. Martinez-Villalpando, Michael Baumann, L. Stirling, K. Holt, R. Wood, C. Walsh","doi":"10.1109/ICRA.2013.6631046","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631046","url":null,"abstract":"In this paper we present a soft lower-extremity robotic exosuit intended to augment normal muscle function in healthy individuals. Compared to previous exoskeletons, the device is ultra-lightweight, resulting in low mechanical impedance and inertia. The exosuit has custom McKibben style pneumatic actuators that can assist the hip, knee and ankle. The actuators attach to the exosuit through a network of soft, inextensible webbing triangulated to attachment points utilizing a novel approach we call the virtual anchor technique. This approach is designed to transfer forces to locations on the body that can best accept load. Pneumatic actuation was chosen for this initial prototype because the McKibben actuators are soft and can be easily driven by an off-board compressor. The exosuit itself (human interface and actuators) had a mass of 3500 g and with peripherals (excluding air supply) is 7144 g. In order to examine the exosuit's performance, a pilot study with one subject was performed which investigated the effect of the ankle plantar-flexion timing on the wearer's hip, knee and ankle joint kinematics and metabolic power when walking. Wearing the suit in a passive unpowered mode had little effect on hip, knee and ankle joint kinematics as compared to baseline walking when not wearing the suit. Engaging the actuators at the ankles at 30% of the gait cycle for 250 ms altered joint kinematics the least and also minimized metabolic power. The subject's average metabolic power was 386.7 W, almost identical to the average power when wearing no suit (381.8 W), and substantially less than walking with the unpowered suit (430.6 W). This preliminary work demonstrates that the exosuit can comfortably transmit joint torques to the user while not restricting mobility and that with further optimization, has the potential to reduce the wearer's metabolic cost during walking.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114331203","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: 283