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2010 IEEE International Conference on Robotics and Automation最新文献

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Automatic reconstruction of textured 3D models 自动重建纹理3D模型
2010 IEEE International Conference on Robotics and Automation Pub Date : 2015-03-23 DOI: 10.1109/ROBOT.2010.5509568
Benjamin Pitzer, S. Kammel, Charles DuHadway, Jan Becker
{"title":"Automatic reconstruction of textured 3D models","authors":"Benjamin Pitzer, S. Kammel, Charles DuHadway, Jan Becker","doi":"10.1109/ROBOT.2010.5509568","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509568","url":null,"abstract":"This paper describes a system for automatic mapping and generation of textured 3D models of indoor environments without user interaction.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129285850","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: 22
Whole-body humanoid control from upper-body task specifications 来自上半身任务规范的全身人形控制
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-09-13 DOI: 10.1109/ROBOT.2010.5509251
Ghassan Bin Hammam, D. Orin, B. Dariush
{"title":"Whole-body humanoid control from upper-body task specifications","authors":"Ghassan Bin Hammam, D. Orin, B. Dariush","doi":"10.1109/ROBOT.2010.5509251","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509251","url":null,"abstract":"This paper introduces a very efficient, modified resolved acceleration control algorithm for dynamic filtering and control of whole-body humanoid motion in response to upper-body task specifications. The dynamic filter is applicable for general upper-body motions when standing in place. It is characterized by modification of the commanded torso acceleration based on a geometric solution to produce a ZMP which is inside the support. The resulting feasible modified motion is synchronized to the reference motion when the computed ZMP for the reference motion again falls within the support. Contact forces at each foot are controlled through a dedicated force distribution module which optimizes the ankle roll and pitch torques. The proposed approach uses time-local information and is therefore targeted for online control. The effectiveness of the algorithm is demonstrated by means of simulated experiments on a model of the Honda humanoid robot ASIMO using a highly dynamic upper-body reference motion.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115506586","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: 16
Hovering control of vectored thrust aerial vehicles 矢量推力飞行器的悬停控制
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-07-15 DOI: 10.1109/ROBOT.2010.5509917
M. Kumon, Hugh Cover, J. Katupitiya
{"title":"Hovering control of vectored thrust aerial vehicles","authors":"M. Kumon, Hugh Cover, J. Katupitiya","doi":"10.1109/ROBOT.2010.5509917","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509917","url":null,"abstract":"In this paper, a vectored thrust aerial vehicle( VTAV) that has three ducted fans is considered. Since ducted fans are powerful and effective in providing lift, they are suitable for thrusters of UAVs, but modeling their aerodynamic effects such as ram drag is very difficult. The VTAV has one ducted fan fixed to its body and two ducted fans that can be tilted in order to make rotational moments, which makes the system dynamics even more complicated. This paper focuses on giving a precise dynamical model that includes aerodynamic effects of ducted fans. Then it presents a hovering controller based on the dynamical model developed. Since the horizontal dynamics are under actuated, a switching control approach is introduced to realize a stabilizing controller. Numerical simulations prove the validity of the approach.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126586207","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: 10
Simulation and experimental studies on passive-dynamic walker that consists of two identical crossed frames 由两个相同交叉框架组成的被动动态步行器的仿真与实验研究
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-07-15 DOI: 10.1109/ROBOT.2010.5509531
F. Asano
{"title":"Simulation and experimental studies on passive-dynamic walker that consists of two identical crossed frames","authors":"F. Asano","doi":"10.1109/ROBOT.2010.5509531","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509531","url":null,"abstract":"This paper proposes a novel spoke-like passive-dynamic walker that consists of two identical crossed frames whose center of mass is positioned on the central axis. The purpose of this study is to develop an easy test-bed for investigating the roles of double-support phase and swing-leg retraction in limit cycle walking. The crossed frame as a swing leg does not have inherent rotational dynamics, and it rotates only in the presence of viscous friction at the central axis. We first analyze the properties of this walker through mathematical modeling. Next, we numerically investigate the gait efficiency, and discuss the effect of inertia moment and mass distribution of the crossed frame. Finally, we briefly report our experimental results.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123754492","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: 10
Dynamic 3D scene analysis for acquiring articulated scene models 动态三维场景分析获取铰接场景模型
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-07-15 DOI: 10.1109/ROBOT.2010.5509225
Agnes Swadzba, Niklas Beuter, S. Wachsmuth, F. Kummert
{"title":"Dynamic 3D scene analysis for acquiring articulated scene models","authors":"Agnes Swadzba, Niklas Beuter, S. Wachsmuth, F. Kummert","doi":"10.1109/ROBOT.2010.5509225","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509225","url":null,"abstract":"In this paper we present a new system for a mobile robot to generate an articulated scene model by analyzing complex dynamic 3D scenes. The system extracts essential knowledge about the foreground, like moving persons, and the background, which consists of all visible static scene parts. In contrast to other 3D reconstruction approaches, we suggest to additionally distinguish between static parts, like walls, and movable objects like chairs or doors. The discrimination supports the reconstruction process and additionally, delivers important information about interaction objects. Here, the movable object detection is realized object independent by analyzing changes in the scenery. Furthermore, in the proposed system the background scene is feedbacked to the tracking part yielding a much better tracking and detection result which improves again the 3D reconstruction. We show in our experiments that we are able to provide a sound background model and to extract simultaneously persons and object regions representing chairs, doors, and even smaller movable objects.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126337927","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
Automation of tissue piercing using circular needles and vision guidance for computer aided laparoscopic surgery 用圆形针穿刺组织的自动化和计算机辅助腹腔镜手术的视觉引导
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509601
C. Staub, Takayuki Osa, A. Knoll, R. Bauernschmitt
{"title":"Automation of tissue piercing using circular needles and vision guidance for computer aided laparoscopic surgery","authors":"C. Staub, Takayuki Osa, A. Knoll, R. Bauernschmitt","doi":"10.1109/ROBOT.2010.5509601","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509601","url":null,"abstract":"Despite the fact that minimally invasive robotic surgery provides many advantages for patients, such as reduced tissue trauma and shorter hospitalization, complex tasks (e.g. tissue piercing or knot-tying) are still time-consuming, error-prone and lead to quicker fatigue of the surgeon. Automating these recurrent tasks could greatly reduce total surgery time for patients and disburden the surgeon while he can focus on higher level challenges. This work tackles the problem of autonomous tissue piercing in robot-assisted laparoscopic surgery with a circular needle and general purpose surgical instruments. To command the instruments to an incision point, the surgeon utilizes a laser pointer to indicate the stitching area. A precise positioning of the needle is obtained by means of a switching visual servoing approach and the subsequent stitch is performed in a circular motion.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114985977","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: 55
A PSO algorithm for mapping the workspace boundary of parallel manipulators 一种映射并联机器人工作空间边界的粒子群算法
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509516
V. B. Saputra, S. Ong, A. Nee
{"title":"A PSO algorithm for mapping the workspace boundary of parallel manipulators","authors":"V. B. Saputra, S. Ong, A. Nee","doi":"10.1109/ROBOT.2010.5509516","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509516","url":null,"abstract":"This paper presents a novel method to determine the multi-dimensional workspace boundary of parallel manipulators using a modified Particle Swarm Optimization (MPSO) framework. A generic objective (fitness) function that gives optimum value at points where a manipulator reaches its limit is formulated. By finding these points using MPSO, the workspace boundary of a parallel manipulator can be constructed. To demonstrate the method, the mapping of the boundary of a Stewart platform workspace is presented. The generic objective function can be modified easily to include any number of parameters and constraints, and this allows the method to be adapted for solving the workspace boundary problem of other parallel manipulators.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115421048","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
Evaluation of a probabilistic approach to learn and reproduce gestures by imitation 通过模仿来学习和复制手势的概率方法的评估
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509988
S. Calinon, Eric L. Sauser, A. Billard, D. Caldwell
{"title":"Evaluation of a probabilistic approach to learn and reproduce gestures by imitation","authors":"S. Calinon, Eric L. Sauser, A. Billard, D. Caldwell","doi":"10.1109/ROBOT.2010.5509988","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509988","url":null,"abstract":"We present an approach based on Hidden Markov Model (HMM) and Gaussian Mixture Regression (GMR) to learning robust models of human motion through imitation. The proposed approach allows us to extract redundancies across multiple demonstrations and build time-independent models to reproduce the dynamics of the demonstrated movements. The approach is systematically evaluated by using automatically generated trajectories sharing similarities with human gestures. The proposed approach is contrasted with four state-of-the-art methods previously proposed in robotics to learn and reproduce new skills by imitation. An experiment with a 7 DOFs robotic arm learning and reproducing the motion of hitting a ball with a table tennis racket is then presented to illustrate the approach.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123133942","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: 36
Sensor-based tracking of environmental level sets by a unicycle-like mobile robot 基于传感器的单轮车式移动机器人环境水平集跟踪
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509459
A. Matveev, Hamid Teimoori Sangani, A. Savkin
{"title":"Sensor-based tracking of environmental level sets by a unicycle-like mobile robot","authors":"A. Matveev, Hamid Teimoori Sangani, A. Savkin","doi":"10.1109/ROBOT.2010.5509459","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509459","url":null,"abstract":"We consider a single Dubins-like mobile robot traveling with a constant longitudinal speed in a planar region supporting an unknown field distribution. A single sensor provides the distribution value at the current vehicle location. We present a new sliding mode control method for tracking environmental level sets: the controller drives the vehicle to the set where the distribution assumes a pre-specified value and ensures that the vehicle circulates along this set afterwards. The proposed control algorithm does not employ gradient estimation and is non-demanding with respect to both computation and motion. Its mathematically rigorous analysis and justification are provided. The effectiveness of the proposed guidance law is confirmed by illustrative examples and computer simulations.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114649540","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
Probabilistic search with agile UAVs 敏捷无人机的概率搜索
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509962
S. Waharte, A. Symington, A. Trigoni
{"title":"Probabilistic search with agile UAVs","authors":"S. Waharte, A. Symington, A. Trigoni","doi":"10.1109/ROBOT.2010.5509962","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509962","url":null,"abstract":"Through their ability to rapidly acquire aerial imagery, Unmanned Aerial Vehicles (UAVs) have the potential to aid target search tasks. Many of the core algorithms which are used to plan search tasks use occupancy grid-based representations and are often based on two main assumptions. Firstly, the altitude of the UAV is constant. Secondly, the onboard sensors can measure the entire state of an entire grid cell. Although these assumptions are sufficient for fixed-wing, high speed UAVs, we do not believe that they are appropriate for small, lightweight, low speed and agile UAVs such as quadrotors. These platforms have the ability to change altitude and their low speed means that multiple measurements may easily overlap multiple cells for substantial periods of time. In this paper we extend a framework for probabilistic search based on decision making to incorporate multiple observations of grid cells and changes in UAV altitude. We account for observation areas that completely and partially cover multiple grid cells. We show the resultant impact on a number of simulation examples.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124272346","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: 53
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