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2010 IEEE International Conference on Robotics and Automation最新文献

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Robust hand-eye calibration for computer aided medical endoscopy 计算机辅助医学内窥镜的稳健手眼校准
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509331
Abed C. Malti, J. Barreto
{"title":"Robust hand-eye calibration for computer aided medical endoscopy","authors":"Abed C. Malti, J. Barreto","doi":"10.1109/ROBOT.2010.5509331","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509331","url":null,"abstract":"Endoscopic camera for surgical navigation and 3D visualization requires precise and stable estimates of the calibration parameters. The estimation of the hand-eye transform between the camera frame and the opto-tracked body of the endoscope is an important issue of the calibration. This paper presents a new stable method for the hand-eye calibration problem. The most popular method estimates the transform directly in the special euclidean group SE(3) by computing separately the rotation and the translation. The second famous approach formulates the problem in the dual quaternion space and estimates jointly the rotation and the translation. In a first glance, the simultaneous estimation seems to be always advantageous. However, and according to the experiments, this is not the case for the rotation estimation that is affected by the noise in translation. Our approach takes advantage of the both methods and uses the dual quaternion to estimate separately the rotation and the translation. We show experimentally that our algorithm is more stable with minimal number and small amplitude of motions.1","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"486 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":"115880281","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
Graphical state-space programmability as a natural interface for robotic control 图形状态空间可编程性作为机器人控制的自然接口
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509269
Junaed Sattar, Anqi Xu, G. Dudek, G. Charette
{"title":"Graphical state-space programmability as a natural interface for robotic control","authors":"Junaed Sattar, Anqi Xu, G. Dudek, G. Charette","doi":"10.1109/ROBOT.2010.5509269","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509269","url":null,"abstract":"We present an interface for controlling mobile robots that combines aspects of graphical trajectory specification and state-based programming. This work is motivated by common tasks executed by our underwater vehicles, although we illustrate a mode of interaction that is applicable to mobile robotics in general. The key aspect of our approach is to provide an intuitive linkage between the graphical visualization of regions of interest in the environment, and activities relevant to these regions. In addition to introducing this novel programming paradigm, we also describe the associated system architecture developed on-board our amphibious robot. We then present a user interaction study that illustrates the benefits in usability of our graphical interface, compared to conventionally established programming techniques.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"22 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":"131938064","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: 4
Performances of the central-axis approach in grasp analysis 中心轴法在抓取分析中的性能
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509665
B. Bounab, D. Sidobre, A. Zaatri
{"title":"Performances of the central-axis approach in grasp analysis","authors":"B. Bounab, D. Sidobre, A. Zaatri","doi":"10.1109/ROBOT.2010.5509665","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509665","url":null,"abstract":"In this paper, we consider a 3D grasping problem. In previous work, we presented the central-axis approach and proven its capability to analyze multifingered grasps. In the present paper, we extend our study by developing and analyzing modified force-closure algorithms, and giving rigorous theoretical demonstrations. Through numerical simulations, we show that the proposed approach is computationally efficient when comparing with the qualitative ray-shooting algorithm. The proposed quantitative force-closure test offers a good quality metric without computing the convex hull of the primitive contact wrenches in R6, which efficiently reduces the amount of computation. Several simulation examples showing the efficiency of the proposed approach are included in the paper.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"101 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":"132041114","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: 0
Cooperative tracking of moving objects and face detection with a dual camera sensor 双摄像头传感器协同跟踪运动物体和人脸检测
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509849
S. Ghidoni, A. Pretto, E. Menegatti
{"title":"Cooperative tracking of moving objects and face detection with a dual camera sensor","authors":"S. Ghidoni, A. Pretto, E. Menegatti","doi":"10.1109/ROBOT.2010.5509849","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509849","url":null,"abstract":"This paper describes a sensor for autonomous surveillance capable of continuously monitoring the environment, while acquiring detailed images of specific areas. This is achieved by exploiting an omnidirectional camera and a PTZ camera, assembled together on a single mount. The two cameras form a single vision sensor, since data obtained processing the two images are used in a cooperative way. This system solves the problem affecting systems based on PTZ cameras only, since it does not exist a tracking system working reliably on PTZ images: the problem is solved here by performing the tracking in the omnidirectional image. This vision sensor is used in a surveillance application, that detects moving objects, and records all the faces of the people walking close to the sensor. It could be used to navigate or instruct a security or a service mobile robot.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"68 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":"132237474","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: 18
Boundary detection based on supervised learning 基于监督学习的边界检测
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509379
K. Kwak, Daniel F. Huber, J. Chae, T. Kanade
{"title":"Boundary detection based on supervised learning","authors":"K. Kwak, Daniel F. Huber, J. Chae, T. Kanade","doi":"10.1109/ROBOT.2010.5509379","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509379","url":null,"abstract":"Detecting the boundaries of objects is a key step in separating foreground objects from the background, which is useful for robotics and computer vision applications, such as object detection, recognition, and tracking. We propose a new method for detecting object boundaries using planar laser scanners (LIDARs) and, optionally, co-registered imagery. We formulate boundary detection as a classification problem, in which we estimate whether a boundary exists in the gap between two consecutive range measurements. Features derived from the LIDAR and imagery are used to train a support vector machine (SVM) classifier to label pairs of range measurements as boundary or non-boundary. We compare this approach to an existing boundary detection algorithm that uses dynamically adjusted thresholds. Experiments show that the new method performs better even when only LIDAR features are used, and additional improvement occurs when image-based features are included, too. The new algorithm performs better on difficult boundary cases, such as obliquely viewed objects.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"21 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":"132352207","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: 12
Outer shell type 2 DOF bending manipulator using spring-link mechanism for medical applications 采用弹簧连杆机构的外壳型2自由度医用弯曲机械手
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509705
J. Arata, Yoshitaka Saito, H. Fujimoto
{"title":"Outer shell type 2 DOF bending manipulator using spring-link mechanism for medical applications","authors":"J. Arata, Yoshitaka Saito, H. Fujimoto","doi":"10.1109/ROBOT.2010.5509705","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509705","url":null,"abstract":"In recent years, robotic technology has been introduced to medical fields and many surgical robots have been presented not only in academic fields but also as commercialized products. In this paper, an outer shell type 2 DOF bending manipulator using a spring-link mechanism is presented. The mechanism was developed for a surgical robot, which can implement various surgical treatment devices inside of the manipulator. The spring-link mechanism is a simple combination of a flat spring and a rigid link with a passive joint connection. The outer shell type 2 DOF bending manipulator is composed by four spring-link mechanisms. The most unique feature of the manipulator is that these four springs are interconnected in the kinematics. Therefore, it is possible to realize a robust and backlash-free motion by taking into account the interconnections of springs such as an internal stress of the structure. In addition, by locating four spring-link mechanisms around the manipulator, it is possible to place medical devices inside of the manipulator.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"16 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":"132486741","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: 29
Parallel grid-based recursive Bayesian estimation using GPU for real-time autonomous navigation 基于GPU的并行网格递归贝叶斯估计实时自主导航
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509396
T. Furukawa, Benjamin Lavis, H. Durrant-Whyte
{"title":"Parallel grid-based recursive Bayesian estimation using GPU for real-time autonomous navigation","authors":"T. Furukawa, Benjamin Lavis, H. Durrant-Whyte","doi":"10.1109/ROBOT.2010.5509396","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509396","url":null,"abstract":"This paper presents the parallelization of grid-based recursive Bayesian estimation (RBE) using a graphics processing unit (GPU) for real-time control of autonomous vehicles. Although the grid-based method has been effectively used for autonomous search due to its ability to represent search space explicitly, heavy computational load has been a bottleneck for real-time application similarly to other non-Gaussian RBE techniques. The proposed RBE, which parallelizes grid-wise computations using GPU upon the analysis of mathematical operations, removes sequential processes and accelerates RBE significantly. Numerical examples have first demonstrated the validation of the proposed RBE and investigated its performance through parametric studies. The proposed RBE was then applied to the cooperative search by autonomous unmanned ground vehicles (UGVs), and its real-time capability has been demonstrated.","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":"130096008","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: 12
Spring assisted modular and reconfigurable robot: Design, analysis and control 弹簧辅助模块化和可重构机器人:设计、分析和控制
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509974
Guangjun Liu, Yugang Liu
{"title":"Spring assisted modular and reconfigurable robot: Design, analysis and control","authors":"Guangjun Liu, Yugang Liu","doi":"10.1109/ROBOT.2010.5509974","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509974","url":null,"abstract":"This paper presents an innovative spring assisted modular and reconfigurable robot (MRR) design and control framework, which is developed based on a synergetic integration of robot control with a brake and an embedded spring at each modular joint. By activating the brake, static balancing can be established, allowing reinforced delicate operation in the neighborhood of a balanced configuration such as door opening, as well as spring assisted lift of heavy payload. The developed spring assisted MRR can improve the payload to weight ratio of the conventional robot manipulators without introducing sophisticated mechanisms. A distributed control method has been proposed to facilitate control of the spring assisted MRR. The developed control algorithm does not rely on a prior dynamic models and can suppress uncertainties introduced by module reconfigurations as well as uncertainties due to sensor inaccuracies and noises. With the developed controller, control parameters need not to be adjusted when adding modules to or removing modules from an MRR, or changing its configurations. Prototype modules have been developed, and the experimental results have confirmed the effectiveness of the proposed design and control.","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":"130276793","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
A Robotic Sensor Network for monitoring carp in Minnesota lakes 用于监测明尼苏达州湖泊鲤鱼的机器人传感器网络
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509499
D. Bhadauria, Volkan Isler, A. Studenski, Pratap Tokekar
{"title":"A Robotic Sensor Network for monitoring carp in Minnesota lakes","authors":"D. Bhadauria, Volkan Isler, A. Studenski, Pratap Tokekar","doi":"10.1109/ROBOT.2010.5509499","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509499","url":null,"abstract":"Robotic Sensor Networks (RSNs) find increasing use in environmental monitoring as RSNs can collect data from obscure, hard-to-reach places over long periods of time. This work reports progress in building a network of small, light-weight robotic rafts which will be used to monitor common carp tagged with radio transmitters across Minnesota lakes. We describe the design and architecture of the robotic raft, and demonstrate the robustness of our waypoint navigation algorithm through field tests conducted in various lakes. We also present results from experiments aimed towards localizing tagged fish.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"51 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":"130429287","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: 26
Development of power robot hand with shape adaptability using hydraulic McKibben muscles 利用液压McKibben肌肉开发具有形状适应性的动力机械手
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509489
M. Mori, K. Suzumori, S. Wakimoto, T. Kanda, Masayuki Takahashi, T. Hosoya, Emi Takematu
{"title":"Development of power robot hand with shape adaptability using hydraulic McKibben muscles","authors":"M. Mori, K. Suzumori, S. Wakimoto, T. Kanda, Masayuki Takahashi, T. Hosoya, Emi Takematu","doi":"10.1109/ROBOT.2010.5509489","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509489","url":null,"abstract":"We have developed a hydraulic McKibben artificial muscle which realizes great force density approximately ten times larger than the other conventional actuators. In this paper, we have applied this muscle to a power robot hand. The hand finger consists of metal links and the muscles. The contraction of the muscles generates the bending motion of the fingers. This hand has large holding capacity and shape adaptability to grasp objects. The experiments show that maximum holding force of the hand is 5000N. It can hold three types of different shaped objects; cylindrical objects of ø 267mm and ø165mm in diameter and a square cross section of width 200mm in side. This hand can be applied to various applications, for example rescue robots in disaster area and forestry industry.","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":"134154573","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: 30
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