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2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献

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Foreground segmentation with efficient selection from ICP outliers in 3D scene 3D场景中有效选择ICP离群点的前景分割
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418962
H. Sahloul, J. Heredia, Shouhei Shirafuji, J. Ota
{"title":"Foreground segmentation with efficient selection from ICP outliers in 3D scene","authors":"H. Sahloul, J. Heredia, Shouhei Shirafuji, J. Ota","doi":"10.1109/ROBIO.2015.7418962","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418962","url":null,"abstract":"Foreground segmentation enables dynamic reconstruction of the moving objects in static scenes. After KinectFusion had proposed a novel method that constructs the foreground from the Iterative Closest Point (ICP) outliers, numerous studies proposed filtration methods to reduce outlier noise. To this end, the relationship between outliers and the foreground is investigated, and a method to efficiently extract the foreground from outliers is proposed. The foreground is found to be directly connected to ICP distance outliers rather than the angle and distance outliers that have been used in past research. Quantitative results show that the proposed method outperforms prevalent foreground extraction methods, and attains an average increase of 11.8% in foreground quality. Moreover, real-time speed of 50 fps is achieved without heavy graph-based refinements, such as GrabCut. The proposed depth features surpass current 3D GrabCut, which only uses RGB-N.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133703306","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: 1
Gait planning and control for biped robots based on modifiable key gait parameters from human motion analysis 基于人体运动分析的关键步态参数可修改的双足机器人步态规划与控制
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418864
Hongbo Zhu, Minzhou Luo, T. Mei, Tao Li
{"title":"Gait planning and control for biped robots based on modifiable key gait parameters from human motion analysis","authors":"Hongbo Zhu, Minzhou Luo, T. Mei, Tao Li","doi":"10.1109/ROBIO.2015.7418864","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418864","url":null,"abstract":"In this paper, effective gait planning and control is established for biped robots. First, an experiment of human locomotion is carried out using a motion capture system for analysis of human gait features. We found modifiable key gait parameters affecting the dominant performance of biped robots walking from extracted features. Then, we proposed an effective bio-inspired gait planning (BGP) algorithm using modifiable key gait parameters. In final, the proposed method has been verified through simulations and experiment in a real biped robot DRC-XT.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133952492","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
Online and incremental contextual task learning and recognition for sharing autonomy to assist mobile robot teleoperation 基于共享自主性的在线和增量上下文任务学习和识别辅助移动机器人遥操作
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7419076
Ming Gao, T. Schamm, Johann Marius Zöllner
{"title":"Online and incremental contextual task learning and recognition for sharing autonomy to assist mobile robot teleoperation","authors":"Ming Gao, T. Schamm, Johann Marius Zöllner","doi":"10.1109/ROBIO.2015.7419076","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419076","url":null,"abstract":"This contribution proposes a fast online approach to learn and recognize the contextual tasks incrementally, with the aim of assisting mobile robot teleoperation by efficiently facilitating autonomy sharing, which improves our previous approach, where a batch mode was adopted to obtain the model for task recognition. We employ a fast online Gaussian Mixture Regression (GMR) model combined with a recursive Bayesian filter (RBF) to infer the most probable contextual task the human operator executes across multiple candidate targets, which is capable of incorporating demonstrations incrementally. The overall system is evaluated with a set of tests in a cluttered indoor scenario and shows good performance.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132208620","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
A novel robot hand with the magneto-rheological fluid solidification 一种新型的具有磁流变流体固化的机械手
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7419714
Qingyun Liu, Tiantian Jing, An Mo, Xiangrong Xu, Wenzeng Zhang
{"title":"A novel robot hand with the magneto-rheological fluid solidification","authors":"Qingyun Liu, Tiantian Jing, An Mo, Xiangrong Xu, Wenzeng Zhang","doi":"10.1109/ROBIO.2015.7419714","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419714","url":null,"abstract":"The conventional passively underactuated hand can self-adaptively grasp an object under the reaction force produced by other active joints or the grasped objects, but it may reject the object if the force disappears, and cannot grasp independently. In order to overcome this serious disadvantage, a novel kind design of the passively self-adaptive underactuated hand is proposed, called the magneto-rheological fluid (MRF) hand. The MRF can be instantaneously solidified while a fitful magnetic field being produced, and liquidized shortly after the magnetic field disappearing. Based on this characteristic, the MRF is applied to a self-adaptive hand which can solidify the shape of the joint grasping the object and keep the grasping force under the help of springs. The MRF Hand is actuated initially by the reaction force from the grasped object and locked by the solidified MRF ultimately. The MRF Hand can keep the shape of the grasping object securely during the grasping process.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134337871","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
Non-binding lower extremity exoskeleton (NextExo) for load-bearing 用于承重的非绑定下肢外骨骼(NextExo)
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7419119
Du-Xin Liu, Xinyu Wu, Min Wang, Chunjie Chen, Ting Zhang, Ruiqing Fu
{"title":"Non-binding lower extremity exoskeleton (NextExo) for load-bearing","authors":"Du-Xin Liu, Xinyu Wu, Min Wang, Chunjie Chen, Ting Zhang, Ruiqing Fu","doi":"10.1109/ROBIO.2015.7419119","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419119","url":null,"abstract":"In this paper, we present a novel non-binding lower extremity exoskeleton (NextExo) for bearing load, where there is no binding point between the NextExo and human. With the innovative structure, the NextExo is able to stand in balance without attaching human, and bear the weights of its own and load completely. This also avoids the damage to operator caused by long-time binding. The NextExo has eight degrees of freedom, all of which are active joints powered by hydraulic actuators. It shadows human motion by one-to-one joints mapping. The man is as the core in the system to keep the NextExo in balance. Meanwhile, the constraint based on Zero Moment Point theory is adopted. The design concept, hardware structure, control scheme and preliminary experiments of NextExo are discussed.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"271 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134555484","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 hand-arm teleoperation system using human arm/hand with a novel data glove 一种利用人的手臂/手和一种新型数据手套的机器人手臂远程操作系统
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7419712
Bin Fang, Di Guo, F. Sun, Huaping Liu, Yupei Wu
{"title":"A robotic hand-arm teleoperation system using human arm/hand with a novel data glove","authors":"Bin Fang, Di Guo, F. Sun, Huaping Liu, Yupei Wu","doi":"10.1109/ROBIO.2015.7419712","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419712","url":null,"abstract":"Data glove is one of the most commonly used techniques in the robotic teleoperation systems. In this paper, we propose a robotic hand-arm teleoperation system with a novel data glove called YoBu, which can acquire human motions from both the arm and the hand simultaneously. The proposed data glove is designed to be stable, compact and portable. It is composed of eighteen low-cost inertial and magnetic measurement units, among which fifteen units are attached to the human operator's finger joints for robotic hand teleoperation and three units are attached to the palm, upper arm and forearm respectively for robotic arm teleoperation. In the robotic hand-arm teleoperation system, the operating commands generated by the data glove are transmitted to the robot via a Bluetooth wireless communication, which makes the whole robotic teleoperation system simple and user friendly. Finally, several experiments are implemented to verify the efficiency of the proposed robotic teleoperation system.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133376163","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: 33
A simple technique for structured light calibration in welding robots 焊接机器人结构光标定的一种简单技术
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418833
P. Kiddee, Zaojun Fang, M. Tan
{"title":"A simple technique for structured light calibration in welding robots","authors":"P. Kiddee, Zaojun Fang, M. Tan","doi":"10.1109/ROBIO.2015.7418833","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418833","url":null,"abstract":"Structured light calibration is one of the most crucial parts in a visual sensing system of welding robots. And the main aspect of the structured light calibration is the accuracy. Besides, a practical and simplistic calibration approach is preferable. In this paper, we propose a simple technique for structured light calibration. The vertical and horizontal lines are added to the planar object to facilitate points detection. The information from the camera calibration is fully used to detect the points on the light stripe. Then parameters of the structured light plane are estimated based on three non-collinear points definition. It could be said that the computation in this study is straight forward. Furthermore, it does not require any additional equipment. Thus, it is a truly simple and practical calibration method. According to the experimental results, the calibration errors are less than 0.2 mm. It shows that our proposed method is acceptable to measurement system of welding robots.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115795377","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: 2
Generating grammars for natural language understanding from knowledge about actions and objects 从关于动作和对象的知识中生成用于自然语言理解的语法
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7419068
A. Perzylo, Sascha S. Griffiths, Reinhard Lafrenz, A. Knoll
{"title":"Generating grammars for natural language understanding from knowledge about actions and objects","authors":"A. Perzylo, Sascha S. Griffiths, Reinhard Lafrenz, A. Knoll","doi":"10.1109/ROBIO.2015.7419068","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419068","url":null,"abstract":"Many applications in the fields of Service Robotics and Industrial Human-Robot Collaboration, require interaction with a human in a potentially unstructured environment. In many cases, a natural language interface can be helpful, but it requires powerful means of knowledge representation and processing, e.g., using ontologies and reasoning. In this paper we present a framework for the automatic generation of natural language grammars from ontological descriptions of robot tasks and interaction objects, and their use in a natural language interface. Robots can use it locally or even share this interface component through the RoboEarth framework in order to benefit from features such as referent grounding, ambiguity resolution, task identification, and task assignment.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125592337","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
New connecting mechanism and deployable mechanism used for snakelike robot 蛇形机器人的新型连接机构和展开机构
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7419711
Shi Yuhang, Feng Baolin, Li Lu, Wang Zhong, Pei Wen
{"title":"New connecting mechanism and deployable mechanism used for snakelike robot","authors":"Shi Yuhang, Feng Baolin, Li Lu, Wang Zhong, Pei Wen","doi":"10.1109/ROBIO.2015.7419711","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419711","url":null,"abstract":"Chrysopelea ornate snake have a great skill that help them to switch their body from contractive status to expanding status quickly. It is very attractive and challenging to imitate and adopt this skill into making a bionic snake-like robot with a new deployable mechanism. In order to test and verify this technology, a snake robot was designed. This paper presents the detailed structural design of the parallel mechanism which is used to connect two adjacent units and the deployable mechanism of every units. Preliminary theoretical and simulation analysis are also presented to elaborate the kinematics parameters of the mechanisms. A prototype has been developed to investigate the working performance of the mechanisms.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"177 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134221729","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: 1
Understanding of Metric-Topological maps for mobile robot navigation 对移动机器人导航的度量拓扑地图的理解
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418762
E. Mattar, K. Mutib
{"title":"Understanding of Metric-Topological maps for mobile robot navigation","authors":"E. Mattar, K. Mutib","doi":"10.1109/ROBIO.2015.7418762","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418762","url":null,"abstract":"The research is presenting a technique through which to learn, hence understand mobile robot Metric-Topological navigation maps for the purpose of much understanding of navigated environments. The adopted learning technique is based on using Principles Components Analysis (PCA) technique. PCA is used to reduce navigated maps dimensionality, capture maps only important details, hence to learn inherent details and characteristics of the environment. Navigation maps were created as based on using a stereo vision measurement techniques (VSLAM), Al-Mutib et al. [1]. Maps sizes are fixed, however their inside details are not static, as the environment is a moving dynamic space. The adopted technique was useful in terms of learning and understanding the environments inherent characterizations. This will help to support an enhanced and improved mobile navigation.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"160 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134093794","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
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