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2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)最新文献

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Robonaut task learning through teleoperation 通过远程操作学习机器人任务
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242017
R. Peters, C. Campbell, W. Bluethmann, E. Huber
{"title":"Robonaut task learning through teleoperation","authors":"R. Peters, C. Campbell, W. Bluethmann, E. Huber","doi":"10.1109/ROBOT.2003.1242017","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242017","url":null,"abstract":"This paper addresses the problem of automatic skill acquisition by a robot. It reports that six trials of a reach-grasp-release-retract skill are sufficient for learning a canonical description of the task under the following circumstances: The robot is Robonaut, NASA's space-capable, dexterous humanoid. Robonaut was teleoperated by a person using full immersion Virtual Reality technology that transforms the operator's arm and hand motions into those of the robot. The operator's sole source of real-time feedback was visual. During the six trials all of the Robot's sensory inputs and motor control parameters were recorded as time-series. Later the time-series from each trial was partitioned into the same number of episodes as a function of changes in the motor parameter sequence. The episodes were time normalized and averaged across trials The resultant motor parameter sequence and sensor signals were used to control the robot without the teleoperator. The robot was able to perform the task autonomously with robot starting positions and object locations both similar to, and different from the original trials.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125583734","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: 83
Moving obstacle detection for a skid-steered vehicle endowed with a single 2-D laser scanner 具有单一二维激光扫描仪的滑动驾驶车辆的移动障碍物检测
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241565
K. Kyriakopoulos, Nikos Skounakis
{"title":"Moving obstacle detection for a skid-steered vehicle endowed with a single 2-D laser scanner","authors":"K. Kyriakopoulos, Nikos Skounakis","doi":"10.1109/ROBOT.2003.1241565","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241565","url":null,"abstract":"We present a methodology that simultaneously provides estimates of the self-motion of a skid-steered mobile robot and detects a moving obstacle estimating its velocity, exclusively based on laser scanner measurements. We assume an environment of linear segments and since the vehicle is skid-steered we make no use of its encoder readings. The constraints/assumptions are discussed and extensive experimental results are presented.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126696834","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
Automated multisensor polyhedral model acquisition 自动多传感器多面体模型采集
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241724
Diego Ortin, J. Montiel, Andrew Zisserman
{"title":"Automated multisensor polyhedral model acquisition","authors":"Diego Ortin, J. Montiel, Andrew Zisserman","doi":"10.1109/ROBOT.2003.1241724","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241724","url":null,"abstract":"We describe a method for automatically generating accurate piecewise planar models for indoor scenes using a combination of a 2D laser scanner and a camera on a mobile platform. The method exploits the complementarity of the sensors. Mapping techniques applied to 2D laser scans simultaneously compute a map and the location of the sensor in the unknown environment. This provides an initial estimate for the vision algorithms by compensating the rotation, foreshortening and the scale change between images. The vision algorithms are then able to compute a very accurate registration (via a plane to plane homography), which is used to segment the model into planar facets, and to improve the estimate of the model and sensor position. Results are demonstrated on a man made scene using a 2D laser scanner and a calibrated camera mounted on a trolley.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"C-19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126769317","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
Co-operative control of internet based multi-robot systems with force reflection 基于网络的多机器人系统力反射协同控制
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242284
W. Lo, Yun-hui Liu, I. Elhajj, N. Xi, Yinghai Shi, Yuechao Wang
{"title":"Co-operative control of internet based multi-robot systems with force reflection","authors":"W. Lo, Yun-hui Liu, I. Elhajj, N. Xi, Yinghai Shi, Yuechao Wang","doi":"10.1109/ROBOT.2003.1242284","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242284","url":null,"abstract":"With the rapid development of information technology, Internet has evolved from a simple data-sharing media to an amazing information world where people can enjoy different kinds of services. Recently, the use of the Internet has been expanded to the field of automation, i.e. using the Internet as a tool to control equipment located at remote sites. This paper presents a cooperative robot system consisting of a robot hand and a mobile robot carrying a stereo vision, which can be tele-operated by operators at different sites via the Internet. To overcome the instability and reliability problem caused by the random time delay of the Internet communication, we adopt an event as the reference for controller design of the system. A vision-based method is adopted to maintain interactions among the operations. Results obtained in teleoperation experiments among Hong Kong, the mainland China, and USA will be demonstrated to confirm the usefulness and effectiveness of the developed method and system.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126864581","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
Kinematic modelling of wheeled mobile manipulators 轮式移动机械臂的运动学建模
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241575
B. Bayle, J. Fourquet, M. Renaud
{"title":"Kinematic modelling of wheeled mobile manipulators","authors":"B. Bayle, J. Fourquet, M. Renaud","doi":"10.1109/ROBOT.2003.1241575","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241575","url":null,"abstract":"We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. It extends the fundamental notions of nonholonomy, mobility and maneuverability to the case of these hybrid holonomic/nonholonomic systems. It offers unambiguous definitions and models to the designer of kinematic control laws.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123196615","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
Improved analysis of D* 改进了D*的分析
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242111
C. Tovey, Sam Greenberg, Sven Koenig
{"title":"Improved analysis of D*","authors":"C. Tovey, Sam Greenberg, Sven Koenig","doi":"10.1109/ROBOT.2003.1242111","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242111","url":null,"abstract":"D* is a planning method that always routes a robot in initially unknown terrain from its current location to a given goal location along a shortest presumed unblocked path. The robot moves along the path until it discovers new obstacles and then repeats the procedure. D* has been used on a large number of robots. It is therefore important to analyze the resulting travel distance. Previously, there has been only one analysis of D*, and it has two shortcomings. First, to prove the lower bound, it uses a physically unrealistic example graph which has distances that do not correspond to distances on a real map. We show that the lower bound is not smaller for grids, the kind of map-based graph on which D* is usually used. Second, there is a large gap between the upper and lower bounds on the travel distance. We considerably reduce this gap by decreasing the upper bound on arbitrary graphs, including grids. To summarize, we provide new, substantially tighter bounds on the travel distance of D* on grids, thus providing a realistic analysis for the way D* is actually used.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123464946","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
Real time data association for FastSLAM FastSLAM的实时数据关联
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241630
Juan I. Nieto, J. Guivant, E. Nebot, S. Thrun
{"title":"Real time data association for FastSLAM","authors":"Juan I. Nieto, J. Guivant, E. Nebot, S. Thrun","doi":"10.1109/ROBOT.2003.1241630","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241630","url":null,"abstract":"The ability to simultaneously localise a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. This paper presents a real-world implementation of FastSLAM, an algorithm that recursively estimates the full posterior distribution of both robot pose and landmark locations. In particular, we present an extension to FastSLAM that addresses the data association problem using a nearest neighbor technique. Building on this, we also present a novel multiple hypotheses tracking implementation (MHT) to handle uncertainty in the data association. Finally an extension to the multi-robot case is introduced. Our algorithm has been run successfully using a number of data sets obtained in outdoor environments. Experimental results are presented that demonstrate the performance of the algorithms when compared with standard Kalman filter-based approaches.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126431351","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: 146
A reliable position estimation method of the service robot by map matching 一种基于地图匹配的服务机器人可靠位置估计方法
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242021
Dongheui Lee, W. Chung, Munsang Kim
{"title":"A reliable position estimation method of the service robot by map matching","authors":"Dongheui Lee, W. Chung, Munsang Kim","doi":"10.1109/ROBOT.2003.1242021","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242021","url":null,"abstract":"In this paper, a reliable position estimation method of the indoor service robot is proposed. The service robot PSR1 is a wheeled mobile manipulator which navigates in office buildings. Our localization method is a map-matching scheme using scanned range data, without using any artificial landmark. The proposed algorithm can provide solutions for both a global localization problem and a local position tracking. A probabilistic position estimation scheme is designed based on MCL (Monte Carlo localization). Two measure functions are developed for computing positional probabilities. The robot automatically decides whether it uses geometric pattern matching (i.e. walls, pillars) by Hough transform. The proposed scheme shows reliable performance in both polygonal environments and non-polygonal environments even there exist many obstacles. Experimental results demonstrate the validity and feasibility of the proposed localization algorithm for the service robot to navigate in an office building, using the natural environmental characteristics.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"201 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123026484","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
Assistance of self-transfer of patients using a power-assisting device 使用动力辅助装置协助患者的自我转移
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242213
Kiyoshi Nagai, I. Nakanishi, Hideo Hanafusa
{"title":"Assistance of self-transfer of patients using a power-assisting device","authors":"Kiyoshi Nagai, I. Nakanishi, Hideo Hanafusa","doi":"10.1109/ROBOT.2003.1242213","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242213","url":null,"abstract":"A power-assisting device is being developed to help older persons and people with disabilities move themselves from beds to wheelchairs. The device is intended to contribute to a more independent life for these people and to greater utilization of their latent abilities. Self-support assistance, i.e., the support provided by a power-assisting device to the person without the need for aid from a caregiver, and capability of the device to assist the movements of the people are discussed. A method for the production of power assistance and motion guidance is then proposed for the device. Finally, a test of the performance of the developed system is described.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"9 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120908425","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
Dynamic analysis of Clavel's Delta parallel robot Clavel型Delta并联机器人的动力学分析
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242230
S. Staicu, D. Carp-Ciocardia
{"title":"Dynamic analysis of Clavel's Delta parallel robot","authors":"S. Staicu, D. Carp-Ciocardia","doi":"10.1109/ROBOT.2003.1242230","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242230","url":null,"abstract":"Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of a system of parallel chains. Supposing that the position and the translation motion of the platform are known, an inverse dynamic problem is solved using the virtual powers method. Finally, some recursive matrix relations and some graphs for the moments and the powers of the three active couples are determined.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"56 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120917230","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: 86
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