2013 IEEE International Conference on Robotics and Automation最新文献_第7页

Actively-compliant locomotion control on rough terrain: Cyclic jumping and trotting experiments on a stiff-by-nature quadruped 粗糙地形上的主动顺应运动控制:在自然僵硬的四足动物上的循环跳跃和小跑实验

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631039

B. Ugurlu, Kana Kotaka, T. Narikiyo

{"title":"Actively-compliant locomotion control on rough terrain: Cyclic jumping and trotting experiments on a stiff-by-nature quadruped","authors":"B. Ugurlu, Kana Kotaka, T. Narikiyo","doi":"10.1109/ICRA.2013.6631039","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631039","url":null,"abstract":"This paper is authored to describe a control framework that is designated for realizing cyclic, actively-compliant and dynamically-balanced jumping and trotting quadruped locomotion over rough terrain. In order to succeed in exhibiting such locomotion abilities, two controllers are synthesized: i) Active Compliance Control via force feedback, ii) Angular Momentum Control via gyro sensing. The first controller computes the joint displacements that are associated with ground reaction force errors, using Jacobian transpose and admittance blocks. Together with position constraints, these joint displacements are simultaneously fed-back to local servo controllers; allowing the robot to perform the given locomotion task in an actively-compliant manner. The second controller, in the meantime, evaluates gyro sensor information to calculate the required compensation torque about center of mass, which is necessary to regulate upper torso rotational motion. Afterwards, it updates the orientation input in accordance with this compensation torque. Using the proposed framework, the overall control performance is tested via cyclic jumping and trotting motion experiments, conducted over rough terrain with a stiff-by-nature quadruped robot. Results turn out to be positive; the robot demonstrates successful jumping and trotting cycles in a repetitive, actively-compliant and dynamically-balanced fashion.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"95 5 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":"127990177","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: 25

On the design, development and experimentation of the ASTRO assistive robot integrated in smart environments 智能环境下ASTRO辅助机器人的设计、开发与实验研究

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631187

F. Cavallo, M. Aquilano, Manuele Bonaccorsi, Raffaele Limosani, A. Manzi, M. Carrozza, P. Dario

{"title":"On the design, development and experimentation of the ASTRO assistive robot integrated in smart environments","authors":"F. Cavallo, M. Aquilano, Manuele Bonaccorsi, Raffaele Limosani, A. Manzi, M. Carrozza, P. Dario","doi":"10.1109/ICRA.2013.6631187","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631187","url":null,"abstract":"This paper presents the full experience of designing, developing and testing ASTROMOBILE, a system composed of an enhanced robotic platform integrated in an Ambient Intelligent (AmI) infrastructure that was conceived to provide favourable independent living, improved quality of life and efficiency of care for senior citizens. The design and implementation of ASTRO robot was sustained by a multidisciplinary team in which technology developers, designers and end-user representatives collaborated using a user-centred design approach. The key point of this work is to demonstrate the general feasibility and scientific/technical effectiveness of a mobile robotic platform integrated in a smart environment and conceived to provide useful services to humans and in particular to elderly people in domestic environments. The main aspects faced in this paper are related to the design of the ASTRO's appearance and functionalities by means of a substantial analysis of users' requirements, the improvement of the ASTRO's behaviour by means of a smart sensor network able to share information with the robot (Ubiquitous Robotics) and the development of advanced human robot interfaces based on natural language.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"11 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":"121775274","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: 43

ODrM* optimal multirobot path planning in low dimensional search spaces 低维搜索空间中最优多机器人路径规划

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631119

Cornelia Ferner, Glenn Wagner, H. Choset

引用次数: 47

Communication between Lingodroids with different cognitive capabilities 具有不同认知能力的语言机器人之间的交流

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630619

Scott Heath, David Ball, R. Schulz, Janet Wiles

{"title":"Communication between Lingodroids with different cognitive capabilities","authors":"Scott Heath, David Ball, R. Schulz, Janet Wiles","doi":"10.1109/ICRA.2013.6630619","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630619","url":null,"abstract":"Previous studies have shown how Lingodroids, language learning mobile robots, learn terms for space and time, connecting their personal maps of the world to a publically shared language. One caveat of previous studies was that the robots shared the same cognitive architecture, identical in all respects from sensors to mapping systems. In this paper we investigate the question of how terms for space can be developed between robots that have fundamentally different sensors and spatial representations. In the real world, communication needs to occur between agents that have different embodiment and cognitive capabilities, including different sensors, different representations of the world, and different species (including humans). The novel aspects of these studies is that one robot uses a forward facing camera to estimate appearance and uses a biologically inspired continuous attractor network to generate a topological map; the other robot uses a laser scanner to estimate range and uses a probabilistic filter approach to generate an occupancy grid. The robots hold conversations in different locations to establish a shared language. Despite their different ways of sensing and mapping the world, the robots are able to create coherent lexicons for the space around them.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"1 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":"131344998","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: 7

Design of a bimodal self-burying robot 双峰自埋机器人的设计

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631381

Carl Darukhanavala, Andrew Lycas, Arpit Mittal, A. Suresh

引用次数: 3

Experiments in dynamic control of autonomous marine vehicles using acoustic modems 基于声学调制解调器的自主船舶动态控制实验

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631310

Eric Gilbertson, B. L. Reed, J. Leighton, Mei Yi Cheung, F. Hover

引用次数: 5

Adaptive neural oscillators with synaptic plasticity for locomotion control of a snake-like robot with screw-drive mechanism 具有突触可塑性的自适应神经振荡器用于螺旋驱动蛇形机器人的运动控制

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6631050

Timo Nachstedt, F. Wörgötter, P. Manoonpong, Ryo Ariizumi, Yuichi Ambe, F. Matsuno

引用次数: 13

3D thermal mapping of building interiors using an RGB-D and thermal camera 使用RGB-D和热像仪对建筑内部进行三维热成像

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630890

Stephen Vidas, Peyman Moghadam, M. Bosse

{"title":"3D thermal mapping of building interiors using an RGB-D and thermal camera","authors":"Stephen Vidas, Peyman Moghadam, M. Bosse","doi":"10.1109/ICRA.2013.6630890","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630890","url":null,"abstract":"The building sector is the dominant consumer of energy and therefore a major contributor to anthropomorphic climate change. The rapid generation of photorealistic, 3D environment models with incorporated surface temperature data has the potential to improve thermographic monitoring of building energy efficiency. In pursuit of this goal, we propose a system which combines a range sensor with a thermal-infrared camera. Our proposed system can generate dense 3D models of environments with both appearance and temperature information, and is the first such system to be developed using a low-cost RGB-D camera. The proposed pipeline processes depth maps successively, forming an ongoing pose estimate of the depth camera and optimizing a voxel occupancy map. Voxels are assigned 4 channels representing estimates of their true RGB and thermal-infrared intensity values. Poses corresponding to each RGB and thermal-infrared image are estimated through a combination of timestamp-based interpolation and a predetermined knowledge of the extrinsic calibration of the system. Raycasting is then used to color the voxels to represent both visual appearance using RGB, and an estimate of the surface temperature. The output of the system is a dense 3D model which can simultaneously represent both RGB and thermal-infrared data using one of two alternative representation schemes. Experimental results demonstrate that the system is capable of accurately mapping difficult environments, even in complete darkness.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"1 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":"130050485","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: 143

Bundle adjustment using single-track vehicle model 采用单轨车辆模型进行束调整

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630977

Jonas Nilsson, J. Fredriksson, A. Ödblom

引用次数: 6

Force and trajectory control of industrial robots in stiff contact 工业机器人强接触力与轨迹控制

2013 IEEE International Conference on Robotics and Automation Pub Date : 2013-05-06 DOI: 10.1109/ICRA.2013.6630983

F. Lange, W. Bertleff, M. Suppa

引用次数: 43