2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献_第5页

One DoF robotic hand that makes human laugh by tickling through rubbing underarm 一只机械手臂，通过摩擦腋下挠痒痒来逗人笑

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2016-11-28 DOI: 10.1109/IROS.2016.7759086

T. Kishi, Takashi Nozawa, Ai Niibori, Hajime Futaki, Yusaku Miura, M. Shina, K. Matsuki, Hiroshi Yanagino, S. Cosentino, Kazuo Hashimoto, A. Takanishi

{"title":"One DoF robotic hand that makes human laugh by tickling through rubbing underarm","authors":"T. Kishi, Takashi Nozawa, Ai Niibori, Hajime Futaki, Yusaku Miura, M. Shina, K. Matsuki, Hiroshi Yanagino, S. Cosentino, Kazuo Hashimoto, A. Takanishi","doi":"10.1109/IROS.2016.7759086","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759086","url":null,"abstract":"This paper describes the development of one DoF robotic hand that makes human laugh by tickling through rubbing underarm. Laughter is attracting research attention because it enhances health by treating or preventing mental diseases. However, laughter has not been used effectively in healthcare because the mechanism of laughter is complicated and is yet to be fully understood. The development of a robot capable of making humans laugh is useful for clarifying the mechanism of laughter because the stimuli by the robot is quantitative and reproductive. Especially, tickling matches to this purpose because the relationship between stimuli and reaction is simpler compared to other techniques. Therefore, this research aimed to develop a robotic hand that can output quantitative and reproductive tickling stimuli for clarifying the mechanism of laughter. Rubbing underarm is selected as a target motion of robot because previous research suggested that this is the best way for making humans feel ticklish. In order to achieve the tickling motion by robots as humans, the required specifications were determined through experimental method. In order to develop a robot that achieves the required fingertip trajectory by simple mechanisms as much as possible, mechanism with crank and link driven by single motor was developed. The result of experimental evaluation shows that the developed robot could make humans laugh by its rubbing motion. In addition, the quantitative tickling motion by developed robotic hand was suggested to be effective for clarifying the mechanism of laughter.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132925786","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

Improving cable driven parallel robot accuracy through angular position sensors 利用角位置传感器提高缆索驱动并联机器人的精度

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2016-10-27 DOI: 10.1109/IROS.2016.7759640

Alexis Fortin-Côté, P. Cardou, A. Campeau-Lecours

引用次数: 20

Fast global optimality verification in 3D SLAM 3D SLAM的快速全局最优性验证

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2016-10-20 DOI: 10.1109/IROS.2016.7759681

Jesus Briales, Javier González

引用次数: 30

Ballistic motion planning 弹道运动规划

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2016-10-10 DOI: 10.1109/IROS.2016.7759230

Mylène Campana, J. Laumond

引用次数: 14

Differential flatness and control of protocentric aerial manipulators with any number of arms and mixed rigid-/elastic-joints 具有任意数量臂和混合刚性/弹性关节的原中心航空机械臂的差分平整度和控制

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2016-10-10 DOI: 10.1109/IROS.2016.7759109

Burak Yuksel, Gabriele Buondonno, A. Franchi

{"title":"Differential flatness and control of protocentric aerial manipulators with any number of arms and mixed rigid-/elastic-joints","authors":"Burak Yuksel, Gabriele Buondonno, A. Franchi","doi":"10.1109/IROS.2016.7759109","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759109","url":null,"abstract":"In this paper we introduce a particularly relevant class of aerial manipulators that we name protocentric. These robots are formed by an underactuated aerial vehicle, a planar-Vertical Take-Off and Landing (PVTOL), equipped with any number of different parallel manipulator arms with the only property that all the first joints are attached at the Center of Mass (CoM) of the PVTOL, while the center of actuation of the PVTOL can be anywhere. We prove that protocentric aerial manipulators (PAMs) are differentially flat systems regardless the number of joints of each arm and their kinematic and dynamic parameters. The set of flat outputs is constituted by the CoM of the PVTOL and the absolute orientation angles of all the links. The relative degree of each output is equal to four. More amazingly, we prove that PAMs are differentially flat even in the case that any number of the joints are elastic, no matter the internal distribution between elastic and rigid joints. The set of flat outputs is the same but in this case the total relative degree grows quadratically with the number of elastic joints. We validate the theory by simulating object grasping and transportation tasks with unknown mass and parameters and using a controller based on dynamic feedback linearization.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122571186","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: 46

Takeoff and landing on slopes via inclined hovering with a tethered aerial robot 用系留的空中机器人通过倾斜悬停在斜坡上起飞和降落

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2016-10-10 DOI: 10.1109/IROS.2016.7759273

M. Tognon, Andrea Testa, Enrica Rossi, Antonio Franchi

引用次数: 13

Discovering affordances through perception and manipulation 通过感知和操纵发现启示

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2016-10-09 DOI: 10.1109/IROS.2016.7759583

R. García, Pierre Luce-Vayrac, R. Chatila

{"title":"Discovering affordances through perception and manipulation","authors":"R. García, Pierre Luce-Vayrac, R. Chatila","doi":"10.1109/IROS.2016.7759583","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759583","url":null,"abstract":"Considering perception as an observation process only is the very reason for which robotic perception methods are to date unable to provide a general capacity of scene understanding. Related work in neuroscience has shown that there is a strong relationship between perception and action. We believe that considering perception in relation to action requires to interpret the scene in terms of the agent's own potential capabilities. In this paper, we propose a Bayesian approach for learning sensorimotor representations through the interaction between action and observation capabilities. We represent the notion of affordance as a probabilistic relation between three elements: objects, actions and effects. Experiments for affordances discovery were performed on a real robotic platform in an unsupervised way assuming a limited set of innate capabilities. Results show dependency relations that connect the three elements in a common frame: affordances. The increasing number of interactions and observations results in a Bayesian network that captures the relationships between them. The learned representation can be used for prediction tasks.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124860648","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

Optimal control and inverse optimal control by distribution matching 基于分布匹配的最优控制和逆最优控制

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2016-10-09 DOI: 10.1109/IROS.2016.7759596

O. Arenz, Hany Abdulsamad, G. Neumann

{"title":"Optimal control and inverse optimal control by distribution matching","authors":"O. Arenz, Hany Abdulsamad, G. Neumann","doi":"10.1109/IROS.2016.7759596","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759596","url":null,"abstract":"Optimal control is a powerful approach to achieve optimal behavior. However, it typically requires a manual specification of a cost function which often contains several objectives, such as reaching goal positions at different time steps or energy efficiency. Manually trading-off these objectives is often difficult and requires a high engineering effort. In this paper, we present a new approach to specify optimal behavior. We directly specify the desired behavior by a distribution over future states or features of the states. For example, the experimenter could choose to reach certain mean positions with given accuracy/variance at specified time steps. Our approach also unifies optimal control and inverse optimal control in one framework. Given a desired state distribution, we estimate a cost function such that the optimal controller matches the desired distribution. If the desired distribution is estimated from expert demonstrations, our approach performs inverse optimal control. We evaluate our approach on several optimal and inverse optimal control tasks on non-linear systems using incremental linearizations similar to differential dynamic programming approaches.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117005148","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

I-RRT-C: Interactive motion planning with contact I-RRT-C:带接触的交互式运动规划

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2016-10-09 DOI: 10.1109/IROS.2016.7759625

N. Blin, M. Taïx, P. Fillatreau, J. Fourquet

引用次数: 5

Stiffness rendering on soft tangible devices controlled through inverse FEM simulation 通过有限元反模拟控制软实体装置的刚度绘制

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2016-10-09 DOI: 10.1109/IROS.2016.7759768

F. Largilliere, E. Coevoet, Mario Sanz-Lopez, L. Grisoni, C. Duriez

引用次数: 8