Advanced Robotics and its Social Impacts最新文献

Adaptive robot formations using fast marching square working under uncertainty conditions 不确定条件下快速行军方块自适应机器人编队

Advanced Robotics and its Social Impacts Pub Date : 2011-10-01 DOI: 10.1109/ARSO.2011.6301961

Javier V. Gómez, S. Garrido, L. Moreno

{"title":"Adaptive robot formations using fast marching square working under uncertainty conditions","authors":"Javier V. Gómez, S. Garrido, L. Moreno","doi":"10.1109/ARSO.2011.6301961","DOIUrl":"https://doi.org/10.1109/ARSO.2011.6301961","url":null,"abstract":"Robot formations are getting important since they can develop tasks that only one robot could not do or could take too much time. Also, they can perform some tasks better than humans. This paper provides a new algorithm to control robot formations working under uncertainty conditions such as errors in robot positions, errors when sensing obstacles or walls, etc. The proposed approach provides a robust solution based on leader-followers architecture (real or virtual leaders) with a prescribed geometry of the formation and it adapts dynamically to the environment. The algorithm applies the Fast Marching Square (FM2) method to the path planning of mobile robot formations, which have been proved to work fast and efficiently. The FM2 method is a potential based path planning method with no local minima which provides smooth and safe trajectories. The algorithm described here allows to easily set different behaviours to the formation during its motion depending on the objectives, being possible to set its flexibility. The results presented here show that using this method allows to the formation reacting to either static and dynamic obstacles with an easily changeable behaviour.","PeriodicalId":276019,"journal":{"name":"Advanced Robotics and its Social Impacts","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133721471","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: 5

On the impact of embedded knowledge-based systems 论嵌入式知识系统的影响

Advanced Robotics and its Social Impacts Pub Date : 2011-10-01 DOI: 10.1109/ARSO.2011.6301980

J. Hertzberg, T. Wiemann, Sven Albrecht, Martin Günther, K. Lingemann, Florian Otte, Stephan Scheuren, T. Schüler, Jochen Sprickerhof, Stefan Stiene

引用次数: 1

Seeing with your hands: A better way to obtain perception capabilities with a personal robot 用手看:一种获得个人机器人感知能力的更好方式

Advanced Robotics and its Social Impacts Pub Date : 2011-10-01 DOI: 10.1109/ARSO.2011.6301956

C. Potthast, G. Sukhatme

{"title":"Seeing with your hands: A better way to obtain perception capabilities with a personal robot","authors":"C. Potthast, G. Sukhatme","doi":"10.1109/ARSO.2011.6301956","DOIUrl":"https://doi.org/10.1109/ARSO.2011.6301956","url":null,"abstract":"For validation and to visualize the advantage of using an in hand Kinect sensor we are using the PR2 robot to observe a cluttered tabletop environment, as shown in Fig. 4. We assume the robot has to remain stationary, since positions around the table are not accessible to the robot. To show the advantage of an in hand camera we conduct two observation attempts, one with only the head mounted Kinect sensor and the other with the Kinect sensor held in the robots right gripper. The motion of the head mounted Kinect sensor is restricted by a pan/tilt joint, while the in hand sensor can be positioned in the entire manipulator workspace. The result of the observed environment, represented as an occupancy grid, using only the head mounted Kinect can be seen in Fig. 5a. The head mounted Kinect was able to observe 87% of the scene, however substantial parts of the space are still unobserved. In comparison, by using the in hand sensor the robot is able to observe 97% of the environment. We can see that the in hand camera increases observation ability of the robot, which in turn decreases the unobserved space by 10%. Objects previously unobserved and hidden are visible due to the increase in possible sensor positions which is especially critical for manipulation tasks, collision avoidance, object search and so on.","PeriodicalId":276019,"journal":{"name":"Advanced Robotics and its Social Impacts","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125464502","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

Design and development of shock absorbable tendon driven ankles for high-powered humanoids 高性能类人机器人可减震肌腱驱动踝关节的设计与研制

Advanced Robotics and its Social Impacts Pub Date : 2011-10-01 DOI: 10.1109/ARSO.2011.6301958

Yoshito Ito, Junichi Urata, Y. Nakanishi, K. Okada, M. Inaba

引用次数: 2

The RoboCupRescue robot league: Guiding robots towards fieldable capabilities RoboCupRescue机器人联盟:引导机器人走向可操作的能力

Advanced Robotics and its Social Impacts Pub Date : 2011-10-01 DOI: 10.1109/ARSO.2011.6301977

R. Sheh, Tetsuya Kimura, E. Mihankhah, J. Pellenz, S. Schwertfeger, J. Suthakorn

引用次数: 13

Practical object recognition in autonomous driving and beyond 自动驾驶及其他领域的实际目标识别

Advanced Robotics and its Social Impacts Pub Date : 2011-10-01 DOI: 10.1109/ARSO.2011.6301978

Alex Teichman, S. Thrun

引用次数: 58

On the development of dependable intelligent systems 论可靠智能系统的发展

Advanced Robotics and its Social Impacts Pub Date : 2011-10-01 DOI: 10.1109/ARSO.2011.6301973

G. Biggs, Y. Nakabo, T. Kotoku, K. Ohba

引用次数: 2

Simultaneous parameter calibration, localization, and mapping for robust service robotics 鲁棒服务机器人的同步参数校准、定位和映射

Advanced Robotics and its Social Impacts Pub Date : 2011-10-01 DOI: 10.1109/ARSO.2011.6301963

R. Kümmerle, G. Grisetti, C. Stachniss, Wolfram Burgard

{"title":"Simultaneous parameter calibration, localization, and mapping for robust service robotics","authors":"R. Kümmerle, G. Grisetti, C. Stachniss, Wolfram Burgard","doi":"10.1109/ARSO.2011.6301963","DOIUrl":"https://doi.org/10.1109/ARSO.2011.6301963","url":null,"abstract":"Modern service robots are designed to be deployed by end-users and not to be monitored by experts during operation. Most service robotics applications require reliable navigation capabilities of the robot. The calibration parameters of a mobile robot play a substantial role in navigation tasks. Often these parameters are subject to variations that depend either on environmental changes or on the wear of the devices. In this paper, we propose an approach to simultaneously estimate a map of the environment, the position of the onboard sensors of the robot, and its kinematic parameters. Our method requires no prior knowledge about the environment and relies only on a rough initial guess of the platform parameters. The proposed approach performs on-line estimation of the parameters and it is able to adapt to non-stationary changes of the configuration. Our approach has been implemented and is used on the EUROPA robot, a service robot operating in urban environments. In addition to that, we tested our approach in simulated environments and on a wide range of real world data using different types of robotic platforms.","PeriodicalId":276019,"journal":{"name":"Advanced Robotics and its Social Impacts","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122528568","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

Range sensor based model construction by sparse surface adjustment 基于距离传感器的稀疏面调整模型构建

Advanced Robotics and its Social Impacts Pub Date : 2011-10-01 DOI: 10.1109/ARSO.2011.6301981

M. Ruhnke, R. Kümmerle, G. Grisetti, Wolfram Burgard

引用次数: 6

Development of a medical robot system for pedicle screw surgery assisted by fluoroscopic X-ray image 基于x线透视影像的椎弓根螺钉手术机器人系统的研制

Advanced Robotics and its Social Impacts Pub Date : 2011-10-01 DOI: 10.1109/ARSO.2011.6301959

Duckjune Kim, Kwang-Hee Lee, S. Ji, W. Shon, Youngsoo Kim

引用次数: 5