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2008 IEEE International Conference on Robotics and Biomimetics最新文献

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A biologically-inspired and resource-efficient vision system using mobile mini-robots for obstacle avoidance 一种生物启发和资源高效的视觉系统，使用移动微型机器人来避障
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-26 DOI: 10.1109/ROBIO.2009.4913168
T. Chinapirom, U. Witkowski, U. Rückert
{"title":"A biologically-inspired and resource-efficient vision system using mobile mini-robots for obstacle avoidance","authors":"T. Chinapirom, U. Witkowski, U. Rückert","doi":"10.1109/ROBIO.2009.4913168","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913168","url":null,"abstract":"This paper describes a resource-efficient vision system for the mini-robot “Khepera”. It is implemented to perform a fundamental approach of robotic navigation, which is obstacle detection by using an optical flow algorithm. This is inspired by visual perception of insects. The optical flow field is evaluated by implementing the sum of absolute differences (SAD) operation of block matching while the mobile mini-robot moves on texture plane. The SAD is realized in an additional processing module based on a Field Programmable Gate Array (FPGA) solution which can perform various tasks in parallel; for example, image processing, camera control and symbolic protocol transmission to the mini-robot. As a result, the Khepera equipped with 2D camera and the additional module is able to autonomously move avoiding collisions with obstacles, called ego-motion. The 30 × 16 SAD operation is processed by computing 16 pairs of pixels in each operation, which accomplishes the real-time approach. The proposed implementation reduces processing time and power consumption.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127179763","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
Pedundulatory robotic locomotion: Centipede and polychaete modes in unstructured substrates 足部机器人运动:非结构化基质中的蜈蚣和多毛类模式
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-26 DOI: 10.1109/ROBIO.2009.4913078
M. Sfakiotakis, D. Tsakiris
{"title":"Pedundulatory robotic locomotion: Centipede and polychaete modes in unstructured substrates","authors":"M. Sfakiotakis, D. Tsakiris","doi":"10.1109/ROBIO.2009.4913078","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913078","url":null,"abstract":"The present paper considers a novel class of robotic systems, termed pedundulatory locomotors, which can be thought of as undulatory robots augmented by multiple pairs of lateral paddle-like appendages (“parapodia”). Bio-inspired strategies for synchronizing the movement of the parapodia with the body undulations, emulating organisms like the centipedes and the polychaete worms, are presented, giving rise to distinct pedundulatory modes. These modes are investigated and comparatively assessed, both in simulation and via experiments with the Nereisbot prototype locomoting on sand and on several other unstructured substrates. Our studies demonstrate the rich gait repertoire and enhanced performance of pedundulatory systems, compared to purely undulatory ones.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"586 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121977612","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
Real-time multiple object tracking in smart environments 智能环境下的实时多目标跟踪
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-26 DOI: 10.1109/ROBIO.2009.4913105
Wei You, Hao Jiang, Ze-Nian Li
{"title":"Real-time multiple object tracking in smart environments","authors":"Wei You, Hao Jiang, Ze-Nian Li","doi":"10.1109/ROBIO.2009.4913105","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913105","url":null,"abstract":"We propose a real-time multiple object tracking method for smart environment applications. The proposed method combines identity features and tracking features for robust long-term object tracking. Face is a stable feature for identifying different subjects. However, face is not reliable for object tracking. Whole body color histogram is more resistant to object scale and pose changes, which has been widely applied in short-term object tracking. Unfortunately, color histograms are not stable over a relatively long period of time. In smart environments, same subjects may have different clothes over a long time span. We propose a method to combine these two features, the identity features and tracking features, to achieve reliable multiple object tracking in smart environments. A fast object labeling approach is proposed to track multiple objects in real time. The proposed method has clear advantage over traditional single feature methods. Experiments confirm that the proposed method can reliably track multiple human objects in real time through long video sequences.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131529632","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
Wireless data acquisitioning and inherent distributed control utilizing SS communication 利用SS通信的无线数据采集和固有的分布式控制
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-08 DOI: 10.1109/ROBIO.2009.4913313
Abdolazim Hasseli
{"title":"Wireless data acquisitioning and inherent distributed control utilizing SS communication","authors":"Abdolazim Hasseli","doi":"10.1109/ROBIO.2009.4913313","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913313","url":null,"abstract":"A theoretical concept of a networked integrated data acquisitioning and control system is outlined. It involves use of SS communication based transmitter/actuator structure to overcome on various problems within the current approach of plant signal transmission from transmitters/actuators to the main control room. Using the new offered view, then an inherent distributed control system is introduced.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116393350","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
Adaptive formation transition among a mobile robot group based on phase gradient 基于相位梯度的移动机器人群体自适应队形转换
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-08 DOI: 10.1109/ROBIO.2009.4913308
D. Kurabayashi, Tatsuki Choh, Jia Cheng, T. Funato
{"title":"Adaptive formation transition among a mobile robot group based on phase gradient","authors":"D. Kurabayashi, Tatsuki Choh, Jia Cheng, T. Funato","doi":"10.1109/ROBIO.2009.4913308","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913308","url":null,"abstract":"We propose an algorithm for adaptive formation transitions of a robot group composing autonomous, nonlabeled robots. In the proposed system, one leader robot that knows the target position guides the other robots; the other robots do not have any global information. Each individual robot is equipped with a nonlinear oscillator and a simple communication system realized by LED flashlights and photodetectors. In order to control these robots, we have used phase gradients and phase waves in a manner similar to that of a slime mold (amoeba). By controlling only the leader robot, we can generate and erase a phase gradient. We propose an algorithm to control the heading directions of the follower robots according to the phase gradients. By using this algorithm, a robot group can change its formation adaptively in an obstacle region. The algorithm enables the robots to move in a tight formation in free space and dissolve this formation in obstacle regions in order to avoid deadlocks. We have not only formulated the algorithm but also developed real hardware and analyzed the system design. We have verified the proposed system by simulations and by real implementations of 12 autonomous mobile robots.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114988810","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: 8
Distributed calibration of a camera sensor network 相机传感器网络的分布式标定
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-08 DOI: 10.1109/ROBIO.2009.4913303
Vimal Mehta, W. Sheng
{"title":"Distributed calibration of a camera sensor network","authors":"Vimal Mehta, W. Sheng","doi":"10.1109/ROBIO.2009.4913303","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913303","url":null,"abstract":"Wireless camera sensor networks are finding potential applications in the areas of sensing and control. Such applications require the camera nodes of the network be calibrated precisely. This paper proposes a simple algorithm to perform distributed calibration of a camera sensor network that has been deployed in an unknown environment. The camera sensor nodes use their imaging abilities in collaboration with a cooperative moving target to determine their positions and orientations. The proposed algorithm requires simple arithmetic calculations and hence, it can be programmed on to low power processors. Its correctness, reliability and scalability for a large scale network have been validated by performing simulations using Player/Stage robotic simulations software. The algorithm has been implemented practically on a real time camera sensor network.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"196 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120984941","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: 6
Dynamic simulation of a reconfigurable spherical robot 可重构球形机器人的动力学仿真
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-08 DOI: 10.1109/ROBIO.2009.4913336
P. Jearanaisilawong, S. Laksanacharoen
{"title":"Dynamic simulation of a reconfigurable spherical robot","authors":"P. Jearanaisilawong, S. Laksanacharoen","doi":"10.1109/ROBIO.2009.4913336","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913336","url":null,"abstract":"This paper describes the transformation process of a spherical robot into a configuration of two interconnected hemispheres with three omni-directional wheels. The spherical form of the robot facilitates ease of transport, storage and handling, whereas the wheeled configuration provides mobility and maneuverability. The transformation process is first analyzed in terms of an equation of motion, and its feasibility is validated using a dynamic simulation in MSC.ADAMS. The dynamic simulation results show that the robot can be reconfigured in any configuration. The largest torque required for the transformation occurs during the release of the robot legs while the flat sides of the two hemispheres facing the ground.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115023271","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
Development of a usar robot considering camera view angle and grouser shape of crawler 考虑摄像机视角和履带形状的usar机器人的研制
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-08 DOI: 10.1109/ROBIO.2009.4913306
Tetsuya Kimura, Wong Chon Vie, Y. Ukai
{"title":"Development of a usar robot considering camera view angle and grouser shape of crawler","authors":"Tetsuya Kimura, Wong Chon Vie, Y. Ukai","doi":"10.1109/ROBIO.2009.4913306","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913306","url":null,"abstract":"The development of a teleoperated robot for USAR(Urban Search And Rescue) activities has been discussed in the paper. Suitable camera view angle of the USAR robot has been examined by using simulation and it has been shown that wider angle than common usual camera is better for the robot. Isotropic Bumping and Touching Object(IBO) has been proposed for the grouser of the robot crawler in order to have better traveling performance on complex terrain. The performance has been measured through the climbing on a spiral stair. The effectiveness has been evaluated through Robocup Rescue Robot League(RRRL), and the developed robot had won 1st place in RRRL Japan Open 2007 and 2008, and 4th place in RRRL World Championship in 2008.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123928034","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
Development of four-wheel-type mobile robot for rough terrain and verification of its fundamental capability of moving on rough terrain 四轮式崎岖地形移动机器人的研制及其崎岖地形基本移动能力的验证
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-08 DOI: 10.1109/ROBIO.2009.4913302
S. Nakajima
{"title":"Development of four-wheel-type mobile robot for rough terrain and verification of its fundamental capability of moving on rough terrain","authors":"S. Nakajima","doi":"10.1109/ROBIO.2009.4913302","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913302","url":null,"abstract":"In many fields employing robots, e.g., wheelchair robots, rescue robots, and construction robots, robots that can move on rough terrains are desired. A robot with a simple mechanism and high mobility for all terrains is discussed in this paper. A four-wheel-type mobile robot is developed, and its design is discussed from a functional viewpoint. Its fundamental capability of moving on rough terrains is verified through simulations and experiments.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133424012","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: 17
Automatic counting method using fast radial symmetry transform 采用快速径向对称变换的自动计数方法
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-08 DOI: 10.1109/ROBIO.2009.4913339
Boonyarat Viriyasaksathian, Y. Wongsawat
{"title":"Automatic counting method using fast radial symmetry transform","authors":"Boonyarat Viriyasaksathian, Y. Wongsawat","doi":"10.1109/ROBIO.2009.4913339","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913339","url":null,"abstract":"This paper proposes an automatic but simple counting method for counting the symmetric objects. In stead of using the classical thresholding method to segment the area of interest, fast radial symmetry transform is employed to segment the symmetric areas which are also the areas of interest. Simulation results show that the proposed counting method yields 100% counting accuracy in pills counting even though the pills are overlapped and of different sizes.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122180424","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
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