Robotics: Science and Systems XV最新文献_第2页

Hao Zhang: Robot Adaptation to Unstructured Terrains by Joint Representation and Apprenticeship Learning 张浩:基于联合表示和学徒学习的机器人对非结构化地形的适应

Robotics: Science and Systems XV Pub Date : 2019-06-22 DOI: 10.15607/RSS.2019.XV.030

S. Siva, Maggie B. Wigness, J. Rogers

{"title":"Hao Zhang: Robot Adaptation to Unstructured Terrains by Joint Representation and Apprenticeship Learning","authors":"S. Siva, Maggie B. Wigness, J. Rogers","doi":"10.15607/RSS.2019.XV.030","DOIUrl":"https://doi.org/10.15607/RSS.2019.XV.030","url":null,"abstract":"When a mobile robot is deployed in a field environment, e.g., during a disaster response application, the capability of adapting its navigational behaviors to unstructured terrains is essential for effective and safe robot navigation. In this paper, we introduce a novel joint terrain representation and apprenticeship learning approach to implement robot adaptation to unstructured terrains. Different from conventional learning-based adaptation techniques, our approach provides a unified problem formulation that integrates representation and apprenticeship learning under a unified regularized optimization framework, instead of treating them as separate and independent procedures. Our approach also has the capability to automatically identify discriminative feature modalities, which can improve the robustness of robot adaptation. In addition, we implement a new optimization algorithm to solve the formulated problem, which provides a theoretical guarantee to converge to the global optimal solution. In the experiments, we extensively evaluate the proposed approach in real-world scenarios, in which a mobile robot navigates on familiar and unfamiliar unstructured terrains. Experimental results have shown that the proposed approach is able to transfer human expertise to robots with small errors, achieve superior performance compared with previous and baseline methods, and provide intuitive insights on the importance of terrain feature modalities.","PeriodicalId":307591,"journal":{"name":"Robotics: Science and Systems XV","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116614059","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

Local Koopman Operators for Data-Driven Control of Robotic Systems 机器人系统数据驱动控制的局部Koopman算子

Robotics: Science and Systems XV Pub Date : 2019-06-22 DOI: 10.15607/RSS.2019.XV.054

Giorgos Mamakoukas, Maria L. Castaño, Xiaobo Tan, T. Murphey

引用次数: 57

Real-Time Reactive Trip Avoidance for Powered Transfemoral Prostheses 动力股骨假体的实时反应性避碰

Robotics: Science and Systems XV Pub Date : 2019-06-22 DOI: 10.15607/RSS.2019.XV.034

Nitish Thatte, Nandagopal Srinivasan, H. Geyer

引用次数: 13

A Modular Optimization Framework for Localization and Mapping 一种定位与映射的模块化优化框架

Robotics: Science and Systems XV Pub Date : 2019-06-22 DOI: 10.15607/RSS.2019.XV.043

J. Blanco-Claraco

{"title":"A Modular Optimization Framework for Localization and Mapping","authors":"J. Blanco-Claraco","doi":"10.15607/RSS.2019.XV.043","DOIUrl":"https://doi.org/10.15607/RSS.2019.XV.043","url":null,"abstract":"This work approaches the challenge of how to divide the problem of Simultaneous Localization and Mapping (SLAM) into its smallest possible constituents, in such a way that the reusability and interchangeability of each such module is maximized. In particular, most components in the proposed system should be not aware of details such that whether the map comprises a single global map or a set of local submaps, whether the state vector is defined in SE(2) or SE(3), with or without velocity, etc. Any number of heterogeneous sensors should be used together and their information fused seamlessly into a consistent localization solution. The resulting system would be useful for researchers, easing the development of reproducible research and enabling the quick adoption of state-of-the-art algorithms into product prototypes. Our implementation has been tested with different sensors against the KITTI, EuRoC, and KAIST datasets. In this paper we focus on an introduction to the framework and on experimental results for 3D LiDAR odometry and mapping. LiDAR SLAM for the KITTI datasets achieves typical translation errors of 1%–2% for most urban sequences, while processing the data at 1.5x the real-time rate with a reduced memory requirement thanks to our framework’s capability to dynamically swap out from memory the parts of the map that are not immediately required, transparently loading them again when required. The framework will be released as open-source at https://github.com/MOLAorg/mola","PeriodicalId":307591,"journal":{"name":"Robotics: Science and Systems XV","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130261480","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

High-Throughput Computation of Shannon Mutual Information on Chip 芯片上香农互信息的高通量计算

Robotics: Science and Systems XV Pub Date : 2019-06-22 DOI: 10.15607/RSS.2019.XV.058

Peter Zhi Xuan Li, Zhengdong Zhang, S. Karaman, V. Sze

{"title":"High-Throughput Computation of Shannon Mutual Information on Chip","authors":"Peter Zhi Xuan Li, Zhengdong Zhang, S. Karaman, V. Sze","doi":"10.15607/RSS.2019.XV.058","DOIUrl":"https://doi.org/10.15607/RSS.2019.XV.058","url":null,"abstract":"Exploration problems are fundamental to robotics, arising in various domains, ranging from search and rescue to space exploration. Many effective exploration algorithms rely on the computation of mutual information between the current map and potential future measurements in order to make planning decisions. Unfortunately, computing mutual information metrics is computationally challenging. In fact, a large fraction of the current literature focuses on approximation techniques to devise computationally-efficient algorithms. In this paper, we propose a novel computing hardware architecture to efficiently compute Shannon mutual information. The proposed architecture consists of multiple mutual information computation cores, each evaluating the mutual information between a single sensor beam and the occupancy grid map. The key challenge is to ensure that each core is supplied with data when requested, so that all cores are maximally utilized. Our key contribution consists of a novel memory architecture and data delivery method that ensures effective utilization of all mutual information computation cores. This architecture was optimized for 16 mutual information computation cores, and was implemented on an FPGA. We show that it computes the mutual information metric for an entire map of 20m× 20m at 0.1m resolution in near real time, at 2 frames per second, which is approximately two orders of magnitude faster, while consuming an order of magnitude less power, when compared to an equivalent implementation on a Xeon CPU.","PeriodicalId":307591,"journal":{"name":"Robotics: Science and Systems XV","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121489320","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

Real-Time Information-Theoretic Exploration with Gaussian Mixture Model Maps 基于高斯混合模型地图的实时信息论探索

Robotics: Science and Systems XV Pub Date : 2019-06-22 DOI: 10.15607/RSS.2019.XV.061

Wennie Tabib, K. Goel, John W. Yao, Mosam Dabhi, Curtis Boirum, Nathan Michael

引用次数: 28

Trajectory Optimization for Cable-Driven Soft Robot Locomotion 缆索驱动软机器人运动轨迹优化

Robotics: Science and Systems XV Pub Date : 2019-06-22 DOI: 10.15607/RSS.2019.XV.052

James M. Bern, P. Banzet, Roi Poranne, Stelian Coros

{"title":"Trajectory Optimization for Cable-Driven Soft Robot Locomotion","authors":"James M. Bern, P. Banzet, Roi Poranne, Stelian Coros","doi":"10.15607/RSS.2019.XV.052","DOIUrl":"https://doi.org/10.15607/RSS.2019.XV.052","url":null,"abstract":"Compliance is a defining characteristic of biological systems. Understanding how to exploit soft materials as effectively as living creatures do is consequently a fundamental challenge that is key to recreating the complex array of motor skills displayed in nature. As an important step towards this grand challenge, we propose a model-based trajectory optimization method for dynamic, cable-driven soft robot locomotion. To derive this trajectory optimization formulation, we begin by modeling soft robots using the Finite Element Method. Through a numerically robust implicit time integration scheme, forward dynamics simulations are used to predict the motion of the robot over arbitrarily long time horizons. Leveraging sensitivity analysis, we show how to efficiently compute analytic derivatives that encode the way in which entire motion trajectories change with respect to parameters that control cable contractions. This information is then used in a forward shooting method to automatically generate optimal locomotion trajectories starting from high-level goals such as the target walking speed or direction. We demonstrate the efficacy of our method by generating and analyzing locomotion gaits for multiple soft robots. Our results include both simulation and fabricated prototypes.","PeriodicalId":307591,"journal":{"name":"Robotics: Science and Systems XV","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131081644","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: 67

A Magnetically-Actuated Untethered Jellyfish-Inspired Soft Milliswimmer 一个受水母启发的磁力驱动的无系绳软毫秒器

Robotics: Science and Systems XV Pub Date : 2019-06-22 DOI: 10.15607/RSS.2019.XV.013

Ziyu Ren, Tianlu Wang, Wenqi Hu, M. Sitti

{"title":"A Magnetically-Actuated Untethered Jellyfish-Inspired Soft Milliswimmer","authors":"Ziyu Ren, Tianlu Wang, Wenqi Hu, M. Sitti","doi":"10.15607/RSS.2019.XV.013","DOIUrl":"https://doi.org/10.15607/RSS.2019.XV.013","url":null,"abstract":"Untethered small-scale soft robots can potentially be used in healthcare and biomedical applications. They can access small spaces and reshape their bodies in a programmable manner to adapt to unstructured environments and have diverse dynamic behaviors. However, the functionalities of current miniature soft robots are limited, restricting their applications in medical procedures. Taking the advantage of the shape-programmable ability of magnetic soft composite materials, here we propose an untethered soft millirobot (jellyfishbot) that can swim like a jellyfish by timeand trajectory-asymmetric up and down beating of its lappets. Its swimming speed and direction can be controlled by tuning the magnitude, frequency, and direction of the external oscillating magnetic field. We demonstrate that such jellyfishbot can perform several tasks that could be useful towards medical applications, such as delivering drugs, clogging a narrow tube or vessel, and patching a target area under ultrasound imagingbased guiding. The millirobot presented in this paper could be used inside organs filled with fluids completely, such as a bladder or inflated stomach. KeywordsBio-inspired; soft robot; miniature robot; jellyfish","PeriodicalId":307591,"journal":{"name":"Robotics: Science and Systems XV","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126554238","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: 9

Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators 具有绝对状态和相对状态的连续机械臂的降阶与离散集总系统模型

Robotics: Science and Systems XV Pub Date : 2019-06-22 DOI: 10.15607/RSS.2019.XV.076

S. Sadati, A. Shiva, Seyedeh Elnaz Naghibi, Caleb Rucker, L. Renson, C. Bergeles, K. Althoefer, T. Nanayakkara, H. Hauser, I. Walker

{"title":"Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators","authors":"S. Sadati, A. Shiva, Seyedeh Elnaz Naghibi, Caleb Rucker, L. Renson, C. Bergeles, K. Althoefer, T. Nanayakkara, H. Hauser, I. Walker","doi":"10.15607/RSS.2019.XV.076","DOIUrl":"https://doi.org/10.15607/RSS.2019.XV.076","url":null,"abstract":"—A reliable, accurate, and yet simple dynamic model is important to analyze, design and control continuum manipulators. Such models should be fast, as simple as possible and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new mod- eling methods for continuum manipulators: a general reduced-order model (ROM) and a discretized model with absolute states and Euler-Bernoulli beam segments (EBA). Additionally, a new formulation is presented for a recently introduced discretized model based on Euler-Bernoulli beam segments and relative states (EBR). The models are validated in comparison to ex- perimental results for dynamics of a STIFF-FLOP continuum appendage. Our comparison shows higher simulation accuracy (8-14% normalized error) and numerical robustness of the ROM model for a system with small number of states, and computational efﬁciency of the EBA model with near real-time performances that makes it suitable for large systems. The challenges with designing control and observation scenarios are brieﬂy discussed in the end.","PeriodicalId":307591,"journal":{"name":"Robotics: Science and Systems XV","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114238727","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

Commonsense Reasoning and Knowledge Acquisition to Guide Deep Learning on Robots 常识推理和知识获取指导机器人的深度学习

Robotics: Science and Systems XV Pub Date : 2019-06-22 DOI: 10.15607/RSS.2019.XV.077

Tiago Mota, M. Sridharan

引用次数: 25