发布求助
文献互助 智能选刊 最新文献

2010 IEEE International Conference on Robotics and Automation最新文献

筛选
英文 中文
Design, fabrication, and implementation of self-sealing suction cup arrays for grasping 用于抓取的自密封吸盘阵列的设计、制造和实现
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509818
Chad C. Kessens, J. Desai
{"title":"Design, fabrication, and implementation of self-sealing suction cup arrays for grasping","authors":"Chad C. Kessens, J. Desai","doi":"10.1109/ROBOT.2010.5509818","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509818","url":null,"abstract":"Suction cups have long been used as a means to grasp and manipulate objects. They enable active control of grasp, enhance grasp stability, and handle some objects such as large flat plates more easily than standard graspers. However, the application of suction cups to object manipulation has been confined to a relatively small, well-defined problem set. Their potential for grasping a large range of unknown objects remains relatively unexplored. This seems in part due to the complexity involved with the design and fabrication of various materials comprising the grasper as well as actuators used to enable grasping. This paper introduces the design of a suction cup that is “self-selecting.” In other words, the suction cups comprising the grasper do not exert any suction force when the cup(s) are not in contact with the object, but instead exert a suction force only when they are in physical contact with the object. Since grasping is achieved purely by passive means, the cost and weight associated with individual sensors, valves, and/or actuators are essentially eliminated. Furthermore, the design permits the use of a central vacuum pump, thereby maximizing the suction force on an object and enabling some suction on surfaces that may prohibit tight seals. This paper presents the design, analysis, fabrication, and experimental results of such a “self-selecting” suction cup array.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"102 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":"116178496","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
Autonomous cruise control of circulating multi-robot for congestion 面向拥堵的循环多机器人自主巡航控制
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509760
S. Hoshino, H. Seki, Y. Naka, J. Ota
{"title":"Autonomous cruise control of circulating multi-robot for congestion","authors":"S. Hoshino, H. Seki, Y. Naka, J. Ota","doi":"10.1109/ROBOT.2010.5509760","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509760","url":null,"abstract":"This paper describes a methodology regarding an autonomous cruise control (ACC) of circulating multi-robot which is directly effective for solving the congestion regardless of the presence of a bottleneck. For this purpose, we focus on an external interaction force between the robots. This force is generated with the use of a virtual damper. In this methodology, two control scenarios are presented: a damping force acts on a moving robot as the external interaction force, (I) only when its preceding robot(s) is/are stopping or being congested and (II) when a robot exists in front of the moving robot, in order not to become involved in the congestion. This paper deals with a circuit and a robotic manufacturing-transportation system for industrial automation. Through simulation experiments, it is shown that the proposed ACC successfully solves the congestion, and finally, improves the throughput. In addition, the superiority of the two control scenarios, ACCs (I) and (II), is discussed.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"23 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":"116250556","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
Linear-quadratic-Gaussian torque control: Application to a flexible joint of a rehabilitation exoskeleton 线性二次高斯转矩控制:在康复外骨骼柔性关节上的应用
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509592
R. Vertechy, A. Frisoli, M. Solazzi, A. Dettori, M. Bergamasco
{"title":"Linear-quadratic-Gaussian torque control: Application to a flexible joint of a rehabilitation exoskeleton","authors":"R. Vertechy, A. Frisoli, M. Solazzi, A. Dettori, M. Bergamasco","doi":"10.1109/ROBOT.2010.5509592","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509592","url":null,"abstract":"A linear-quadratic-Gaussian regulator is proposed for the torque control of flexible robotic joints with built-in torque sensor. The regulator requires the joint-torque sensor information only and features: 1) a Kalman filter that, beside reducing the noise and evaluating the derivative of the torque sensor measure, is able to estimate all the external and internal torques acting on the joint; 2) a controller that optimizes system stability, responsiveness, accuracy and effort. The regulator is implemented on a flexible joint of a rehabilitation exoskeleton. Simulation and experimental results are provided which demonstrate regulator performance and efficacy.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"23 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":"121472771","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: 11
Evader surveillance under incomplete information 不完全信息下的逃避监视
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509229
Israel Becerra, Rafael Murrieta-Cid, R. Monroy
{"title":"Evader surveillance under incomplete information","authors":"Israel Becerra, Rafael Murrieta-Cid, R. Monroy","doi":"10.1109/ROBOT.2010.5509229","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509229","url":null,"abstract":"This paper is concerned with determining whether a mobile robot, called the pursuer, is up to maintaining visibility of an antagonist agent, called the evader. This problem, a variant of pursuit-evasion, has been largely studied, following a systematic treatment by increasingly relaxing a number of restrictions. In [8], we considered a scenario where the pursuer and the evader move at bound speed, traveling around a known, 2D environment, which contains obstacles. Then, considering that, in an attempt to escape, the evader travels the shortest path to reach a potential escape region, we provided a decision procedure that determines whether or not the pursuer is up to maintain visibility of the evader and obtained complexity measures of this surveillance task. In this paper, we prove that there are cases for which an evader may escape only if it does not travel the shortest path to an escapable region. We introduce planning strategies for the movement of the pursuer that keeps track of the evader, even if the evader chooses not to travel the shortest path to an escape region. We also present a sufficient condition for the evader to escape that does not depend on the initial positions of the players. It can be verified only using the environment. All our algorithms have been implemented and we show simulation results.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"47 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":"121708011","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: 3
An Electric Field Pretouch system for grasping and co-manipulation 一种用于抓取和协同操作的电场预触控系统
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509658
Brian D. Mayton, Louis Legrand, Joshua R. Smith
{"title":"An Electric Field Pretouch system for grasping and co-manipulation","authors":"Brian D. Mayton, Louis Legrand, Joshua R. Smith","doi":"10.1109/ROBOT.2010.5509658","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509658","url":null,"abstract":"Pretouch sensing is longer range than contact, but shorter range than vision. The hypothesis motivating this work is that closed loop feedback based on short range but non-contact measurements can improve the reliability of manipulation. This paper presents a grasping system that is guided at short range by Electric Field (EF) Pretouch. We describe two sets of experiments. The first set of experiments involves human-to-robot and robot-to-human handoff, including the use of EF Pretouch to detect whether or not a human is also touching an object that the robot is holding, which we call the “co-manipulation state.” In the second set of experiments, the robot picks up standalone objects. We describe a number of techniques that servo the arm and fingers in order to both collect relevant geometrical information, and to actually perform the manipulation task.","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":"124379766","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: 72
Development of third-generation intelligently Controllable ankle-foot orthosis with compact MR fluid brake 第三代智能可控紧凑磁流变制动踝足矫形器的研制
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509729
T. Kikuchi, Sosuke Tanida, Kikuko Otsuki, Takashi Yasuda, J. Furusho
{"title":"Development of third-generation intelligently Controllable ankle-foot orthosis with compact MR fluid brake","authors":"T. Kikuchi, Sosuke Tanida, Kikuko Otsuki, Takashi Yasuda, J. Furusho","doi":"10.1109/ROBOT.2010.5509729","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509729","url":null,"abstract":"Ankle-foot orthoses (AFOs) are orthotic devices that support the movement of the ankles of disabled people, for example, those suffering from hemiplegia or peroneal nerve palsy. We have developed an intelligently controllable AFO (i-AFO) in which the ankle torque is controlled by a compact magnetorheological fluid brake. Gait-control tests with the i-AFO were performed for a patient with flaccid paralysis of the ankles, who has difficulty in voluntary movement of the peripheral part of the inferior limb, and physical limitations on his ankles. By using the i-AFO, his gait control was improved by prevention of drop foot in the swing phase and by forward promotion in the stance phase.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"73 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":"126272702","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: 50
Towards constrained motion planning of mobile manipulators 移动机械臂约束运动规划研究
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509827
M. Janiak, K. Tchoń
{"title":"Towards constrained motion planning of mobile manipulators","authors":"M. Janiak, K. Tchoń","doi":"10.1109/ROBOT.2010.5509827","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509827","url":null,"abstract":"This paper addresses a constrained motion planning problem for mobile manipulators. The constraints are included into the system model by means of a sort of penalty function, and then processed in accordance with the endogenous configuration space approach. Main novelty of this paper lies in deriving a constrained Jacobian motion planning algorithm with the following features: inequality constraints are included into an extended kinematics model using a smooth approximation of the plus function, the model is then regularized against singularities, and the resulting imbalance in error equations is handled as a perturbation of an exponentially stable linear dynamic system. The operation of the constrained motion planning algorithm is illustrated by a motion planning problem of a mobile manipulator with bounds imposed on a platform variable. Performance of the algorithm is tested by computer simulations.","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":"126465052","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: 11
Ground plane identification using LIDAR in forested environments 森林环境中使用激光雷达进行地平面识别
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509963
Matthew W. McDaniel, T. Nishihata, Christopher A. Brooks, K. Iagnemma
{"title":"Ground plane identification using LIDAR in forested environments","authors":"Matthew W. McDaniel, T. Nishihata, Christopher A. Brooks, K. Iagnemma","doi":"10.1109/ROBOT.2010.5509963","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509963","url":null,"abstract":"To operate autonomously in forested environments, unmanned ground vehicles (UGVs) must be able to identify the load-bearing surface of the terrain (i.e. the ground). This paper presents a novel two-stage approach for identifying ground points from 3-D point clouds sensed using LIDAR. The first stage, a local height-based filter, discards most of the non-ground points. The second stage, based on a support vector machine (SVM) classifier, operates on a set of geometrically defined features to identify which of the remaining points belong to the ground. Experimental results from two forested environments demonstrate the effectiveness of this approach.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"70 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":"126558197","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: 37
A digital input shaper for stable and transparent haptic interaction 一个数字输入整形器，用于稳定和透明的触觉交互
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1163/016918611X579439
Yo-An Lim, J. Ryu
{"title":"A digital input shaper for stable and transparent haptic interaction","authors":"Yo-An Lim, J. Ryu","doi":"10.1163/016918611X579439","DOIUrl":"https://doi.org/10.1163/016918611X579439","url":null,"abstract":"This paper presents a frequency-dependent digital damping referred to a digital input shaper (DIS). Compared to the previously proposed analog input shaper, the DIS makes the implementation of damping much more flexible and significantly reduces the electrical noise. Moreover, the DIS can incorporate position control at the initial contact with virtual objects to improve the perceived contact hardness. Through benchmark virtual wall experiments, we show that the DIS can significantly increase the impedance range that a haptic interface can stably display, and that the initial contact hardness that a user perceives can be noticeably improved by using the proposed position control method.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"53 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":"127911683","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
Fall detection and management in biped humanoid robots 两足仿人机器人的跌倒检测与管理
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509550
Javier Ruiz-del-Solar, Javier Moya, Isao Parra-Tsunekawa
{"title":"Fall detection and management in biped humanoid robots","authors":"Javier Ruiz-del-Solar, Javier Moya, Isao Parra-Tsunekawa","doi":"10.1109/ROBOT.2010.5509550","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509550","url":null,"abstract":"The appropriate management of fall situations - i.e. fast instability detection, avoidance of unintentional falls, falling without damaging the body, fast recovering of the standing position after a fall - is an essential ability of biped humanoid robots. This issue is especially important for humanoid robots carrying out demanding movements such as walking in irregular surfaces, running or practicing a given sport (e.g. soccer). In a former contribution we have addressed the design of low-damage fall sequences, which can be activated/triggered by the robot in case of a detected unintentional fall or an intentional fall (common situation in robot soccer). In this article we tackle the detection of instability and the avoidance of falls in biped humanoids, as well as the integration of all components in a single framework. In this framework a fall can be avoided or a falling sequence can be triggered depending on the detected instability's degree. The proposed fall detection and fall avoidance subsystems are validated in real world-experiments with biped humanoid robots.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"5 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":"128174755","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: 39
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信
小红书