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2010 IEEE International Conference on Robotics and Automation最新文献

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Pulling open doors and drawers: Coordinating an omni-directional base and a compliant arm with Equilibrium Point control 打开门和抽屉:协调一个全方位的基础和一个具有平衡点控制的柔顺手臂
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509445
Advait Jain, C. Kemp
{"title":"Pulling open doors and drawers: Coordinating an omni-directional base and a compliant arm with Equilibrium Point control","authors":"Advait Jain, C. Kemp","doi":"10.1109/ROBOT.2010.5509445","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509445","url":null,"abstract":"Previously, we have presented an implementation of impedance control inspired by the Equilibrium Point Hypothesis that we refer to as equilibrium point control (EPC). We have demonstrated that EPC can enable a robot in a fixed position to robustly pull open a variety of doors and drawers, and infer their kinematics without detailed prior models.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"156 4 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":"128750192","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
Reinforcement learning of motor skills in high dimensions: A path integral approach 高维运动技能强化学习:路径积分方法
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509336
Evangelos A. Theodorou, J. Buchli, S. Schaal
{"title":"Reinforcement learning of motor skills in high dimensions: A path integral approach","authors":"Evangelos A. Theodorou, J. Buchli, S. Schaal","doi":"10.1109/ROBOT.2010.5509336","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509336","url":null,"abstract":"Reinforcement learning (RL) is one of the most general approaches to learning control. Its applicability to complex motor systems, however, has been largely impossible so far due to the computational difficulties that reinforcement learning encounters in high dimensional continuous state-action spaces. In this paper, we derive a novel approach to RL for parameterized control policies based on the framework of stochastic optimal control with path integrals. While solidly grounded in optimal control theory and estimation theory, the update equations for learning are surprisingly simple and have no danger of numerical instabilities as neither matrix inversions nor gradient learning rates are required. Empirical evaluations demonstrate significant performance improvements over gradient-based policy learning and scalability to high-dimensional control problems. Finally, a learning experiment on a robot dog illustrates the functionality of our algorithm in a real-world scenario. We believe that our new algorithm, Policy Improvement with Path Integrals (PI2), offers currently one of the most efficient, numerically robust, and easy to implement algorithms for RL in robotics.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"11 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":"128349053","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: 288
Projected texture stereo 投影纹理立体
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509796
K. Konolige
{"title":"Projected texture stereo","authors":"K. Konolige","doi":"10.1109/ROBOT.2010.5509796","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509796","url":null,"abstract":"Passive stereo vision is widely used as a range sensing technology in robots, but suffers from dropouts: areas of low texture where stereo matching fails. By supplementing a stereo system with a strong texture projector, dropouts can be eliminated or reduced. This paper develops a practical stereo projector system, first by finding good patterns to project in the ideal case, then by analyzing the effects of system blur and phase noise on these patterns, and finally by designing a compact projector that is capable of good performance out to 3m in indoor scenes. The system has been implemented and has excellent depth precision and resolution, especially in the range out to 1.5m.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"35 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":"128360562","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: 137
Strength analysis of miniature folded right angle tetrahedron chain Programmable Matter 微型直角折叠四面体链的强度分析
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509657
Paul J. White, Michael L. Posner, Mark H. Yim
{"title":"Strength analysis of miniature folded right angle tetrahedron chain Programmable Matter","authors":"Paul J. White, Michael L. Posner, Mark H. Yim","doi":"10.1109/ROBOT.2010.5509657","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509657","url":null,"abstract":"Miniaturization of Programmable Matter is a major challenge. Much of the difficulty stems from size and power requirements of internal actuators. This paper demonstrates that external energy can be used to both move modules and actuate their bonding mechanism. It presents a lattice style Programmable Matter system whose neighbor to neighbor lattice distance is 14mm. Previous work has shown a chain of edge connected right angle tetrahedrons can fold to arbitrary shapes. To form useful shapes such as tools, the chain should be folded to meet the functional requirements of the task such as mechanical strength. This paper also introduces the analysis of the strength of Programmable Matter systems. Module connections are defined by 6DOF stiffness matrices. The paper analyzes the strength of a heterogeneous system with some rigid and some soft connections.","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":"128674578","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: 17
Multi-vehicle testbed for decentralized environmental sensing 分散式环境传感多车试验台
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509294
R. A. Cortez, José-Marcio Luna, R. Fierro, John E. Wood
{"title":"Multi-vehicle testbed for decentralized environmental sensing","authors":"R. A. Cortez, José-Marcio Luna, R. Fierro, John E. Wood","doi":"10.1109/ROBOT.2010.5509294","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509294","url":null,"abstract":"In this paper we present our multi-vehicle testbed that was designed for verification and validation of cooperative control algorithms involving environmental sensing. Two cooperative control algorithms: prioritized multi-sensing behavior, and a distributed adaptive algorithm for nonholonomic sensor networks are qualitatively verified using our multi-vehicle testbed. The multi-vehicle testbed allows for a straightforward transition from simulation to experimenting on actual hardware and has the flexibility to interface various types of sensors, vehicles, as well as enable indoor and outdoor experiments.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"30 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":"129264526","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
Efficient planning under uncertainty for a target-tracking micro-aerial vehicle 不确定条件下目标跟踪微型飞行器的高效规划
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509548
Ruijie He, A. Bachrach, N. Roy
{"title":"Efficient planning under uncertainty for a target-tracking micro-aerial vehicle","authors":"Ruijie He, A. Bachrach, N. Roy","doi":"10.1109/ROBOT.2010.5509548","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509548","url":null,"abstract":"A helicopter agent has to plan trajectories to track multiple ground targets from the air. The agent has partial information of each target's pose, and must reason about its uncertainty of the targets' poses when planning subsequent actions. We present an online, forward-search algorithm for planning under uncertainty by representing the agent's belief of each target's pose as a multi-modal Gaussian belief. We exploit this parametric belief representation to directly compute the distribution of posterior beliefs after actions are taken. This analytic computation not only enables us to plan in problems with continuous observation spaces, but also allows the agent to search deeper by considering policies composed of multi-step action sequences; deeper searches better enable the agent to keep the targets well-localized. We present experimental results in simulation, as well as demonstrate the algorithm on an actual quadrotor helicopter tracking multiple vehicles on a road network constructed indoors.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"41 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":"124697606","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: 52
Recursive convex replanning for the trajectory tracking of wheeled mobile robots 轮式移动机器人轨迹跟踪的递推凸重规划
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509886
M. Argenti, L. Consolini, Gabriele Lini, A. Piazzi
{"title":"Recursive convex replanning for the trajectory tracking of wheeled mobile robots","authors":"M. Argenti, L. Consolini, Gabriele Lini, A. Piazzi","doi":"10.1109/ROBOT.2010.5509886","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509886","url":null,"abstract":"The article consider the Cartesian trajectory tracking of wheeled mobile robots to be performed by a hybrid control scheme with feedforward inverse control and a state feedaback that is only updated periodically and relies on a recursive convex replanning of the reference trajectory. This approach applied to the standard unicycle model is shown to maintain its efficacy also in presence of noise or unmodeled robot dynamics. Explicit, sufficient conditions are provided to ensure global boundedness of the tracking error. Experimental results are presented using Lego Mindstorm mobile robots.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"2 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":"129434001","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: 2
Deformable robot motion planning in a reduced-dimension configuration space 降维位形空间中的可变形机器人运动规划
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509649
A. Mahoney, Joshua Bross, David E. Johnson
{"title":"Deformable robot motion planning in a reduced-dimension configuration space","authors":"A. Mahoney, Joshua Bross, David E. Johnson","doi":"10.1109/ROBOT.2010.5509649","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509649","url":null,"abstract":"Motion planning of deformable objects is challenging due to the high degrees-of-freedom inherent in deformation as well as the computational cost of producing physically accurate deformations. This paper develops a method for fast, physically plausible deformations using a sampling-based planner in a reduced dimensionality configuration space containing position, orientation, and a reduced deformation space produced using principal component analysis. A key element of the presented approach is the use of energy constraints in the configuration space designed to remove implausible deformations that may be produced by the principal component analysis dimension reduction process. This approach is tested on several deforming robot planning tasks, such as a sphere fitting through slots, a bendable bar in a maze, and a deforming plate in tunnels, with collision free paths using plausible deformations found in a few minutes.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"4 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":"130383041","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: 20
Unsupervised discovery of repetitive objects 无监督地发现重复的物体
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509914
Jiwon Shin, Rudolph Triebel, R. Siegwart
{"title":"Unsupervised discovery of repetitive objects","authors":"Jiwon Shin, Rudolph Triebel, R. Siegwart","doi":"10.1109/ROBOT.2010.5509914","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509914","url":null,"abstract":"We present a novel approach for unsupervised discovery of repetitive objects from 3D point clouds. Our method assumes that objects are non-deformable and uses multiple occurrences of an object as the evidence for its existence. We segment input range data by superpixel segmentation and extract features for each segment. We search for a group of segments where each segment matches a segment in another group using a joint compatibility test. The discovered objects are then verified by the Iterative Closest Point algorithm to remove false matches. The presented method was tested on real data of complex objects. The experiments demonstrate that the proposed approach is capable of finding objects that occur multiple times in a scene and distinguish apart those objects of different types.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"364 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":"126703791","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
Coordinating collective locomotion in an amorphous modular robot 非晶态模块化机器人的协调集体运动
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509867
Chih-Han Yu, Justin Werfel, R. Nagpal
{"title":"Coordinating collective locomotion in an amorphous modular robot","authors":"Chih-Han Yu, Justin Werfel, R. Nagpal","doi":"10.1109/ROBOT.2010.5509867","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509867","url":null,"abstract":"Modular robots can potentially assemble into a wide range of configurations to locomote in different environments. However, designing locomotion strategies for each configuration is often tedious and has generally relied on a priori known connection geometry. Here we present a framework for 2D modular robots made of square modules assembled with arbitrary geometry, which achieve collective and directed locomotion with no centralized controller. Individual modules communicate locally and provably achieve consensus in coordinating movement in a common travel direction. In experiments with simulations and hardware prototypes, we show that robots achieve effective locomotion, irrespective of the number of modules and their connectivity which can be highly asymmetric.","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":"129081325","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: 14
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