2022 International Conference on Robotics and Automation (ICRA)最新文献_第2页

Assisting Operators of Articulated Machinery with Optimal Planning and Goal Inference 辅助关节机械操作者进行最优规划和目标推理

2022 International Conference on Robotics and Automation (ICRA) Pub Date : 2022-05-23 DOI: 10.1109/icra46639.2022.9811864

E. Yousefi, Dylan P. Losey, I. Sharf

{"title":"Assisting Operators of Articulated Machinery with Optimal Planning and Goal Inference","authors":"E. Yousefi, Dylan P. Losey, I. Sharf","doi":"10.1109/icra46639.2022.9811864","DOIUrl":"https://doi.org/10.1109/icra46639.2022.9811864","url":null,"abstract":"Operating an articulated machine is a complex and hierarchical task, involving several levels of decision making. Motivated by the timber-harvesting applications of these machines, we are interested in developing a collaborative framework for operating an articulated machine/robot in order to increase its level of autonomy. In this paper, we consider two problems in the context of collaborative operation of a feller-buncher: first, the problem of planning a sequence of cut/grasp/bunch tasks for the trees in the vicinity of the machine. Here we propose a human-inspired planning algorithm based on our observations of the operators in the field. Then, a Markov Decision Process (MDP) framework is provided, which enables us to obtain an optimal sequence of tasks. We provide numerical illustrations of how our MDP framework works. Second is the problem of inferring the operator's goal from the motions of the machine. The goal inference algorithm presented here enables the robot equipped with the planning intelligence to perceive the human's intent in real-time. We evaluate the performance of our goal inference algorithm through a user-study with a feller-buncher simulator. The results show the benefits of our algorithm over a robot that assumes the human is moving to the closest target.","PeriodicalId":341244,"journal":{"name":"2022 International Conference on Robotics and Automation (ICRA)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122338986","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

Inside LineRanger: Mechanism Design to Optimize Operation and Performances of Powerline Inspection Robot 内部线路管理员:优化电力线巡检机器人运行和性能的机构设计

2022 International Conference on Robotics and Automation (ICRA) Pub Date : 2022-05-23 DOI: 10.1109/icra46639.2022.9811366

P. Richard, François Morin, M. Lepage, P. Hamelin, G. Lambert, A. Sartor, Camille Hébert, N. Pouliot

引用次数: 1

Charting the trade-off between design complexity and plan execution under probabilistic actions 在概率行为下绘制设计复杂性和计划执行之间的权衡图

2022 International Conference on Robotics and Automation (ICRA) Pub Date : 2022-05-23 DOI: 10.1109/icra46639.2022.9811751

Fatemeh Zahra Saberifar, Dylan A. Shell, J. O’Kane

引用次数: 2

Kinematics Learning of Massive Heterogeneous Serial Robots 海量异构串联机器人的运动学学习

2022 International Conference on Robotics and Automation (ICRA) Pub Date : 2022-05-23 DOI: 10.1109/icra46639.2022.9812021

Dengpeng Xing, Wannian Xia, Bo Xu

引用次数: 0

Design of an Autonomous Latching System for Surface Vessels 水面舰艇自动闭锁系统设计

2022 International Conference on Robotics and Automation (ICRA) Pub Date : 2022-05-23 DOI: 10.1109/icra46639.2022.9811754

D. Fernández‐Gutiérrez, Niklas Hagemann, Wei Wang, Rens M. Doornbusch, Joshua Jordan, Jonathan Schiphorst, Pietro Leoni, Fábio Duarte, C. Ratti, D. Rus

引用次数: 2

Adaptive Impedance Controller for Human-Robot Arbitration based on Cooperative Differential Game Theory 基于合作微分博弈论的人机仲裁自适应阻抗控制器

2022 International Conference on Robotics and Automation (ICRA) Pub Date : 2022-05-23 DOI: 10.1109/icra46639.2022.9811853

P. Franceschi, N. Pedrocchi, M. Beschi

引用次数: 8

Enhanced Spatial Attention Graph for Motion Planning in Crowded, Partially Observable Environments 在拥挤、部分可观察环境中运动规划的增强空间注意图

2022 International Conference on Robotics and Automation (ICRA) Pub Date : 2022-05-23 DOI: 10.1109/icra46639.2022.9812322

Weixian Shi, Yanying Zhou, Xiangyu Zeng, Shijie Li, Maren Bennewitz

{"title":"Enhanced Spatial Attention Graph for Motion Planning in Crowded, Partially Observable Environments","authors":"Weixian Shi, Yanying Zhou, Xiangyu Zeng, Shijie Li, Maren Bennewitz","doi":"10.1109/icra46639.2022.9812322","DOIUrl":"https://doi.org/10.1109/icra46639.2022.9812322","url":null,"abstract":"Collision-free navigation while moving amongst static and dynamic obstacles with a limited sensor range is still a great challenge for modern mobile robots. Therefore, the ability to avoid collisions with obstacles in crowded, partially observable environments is one of the most important indicators to measure the navigation performance of a mobile robot. In this paper, we propose a novel deep reinforcement learning architecture that combines a spatial graph and attention rea-soning to tackle this problem. We take the relative positions and velocities of observed humans as nodes of the spatial graph and robot-human pairs as nodes of the attention graph to capture the spatial relations between the robot and the humans. In this way, our approach enhances the modeling of the relationship between the moving robot, static obstacles, and the people in the surrounding. As a result, our proposed navigation framework significantly outperforms state-of-the-art approaches [1], [2] in crowded scenarios when the robot has only a limited sensor range in terms of a reduced collision rate. Furthermore, we realize a seriously decreased training time by applying parallel Double Deep Q-Learning.","PeriodicalId":341244,"journal":{"name":"2022 International Conference on Robotics and Automation (ICRA)","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122201161","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: 4

An Assembly Sequence Planning Framework for Complex Data using General Voronoi Diagram 基于通用Voronoi图的复杂数据装配序列规划框架

2022 International Conference on Robotics and Automation (ICRA) Pub Date : 2022-05-23 DOI: 10.1109/icra46639.2022.9811867

S. Dorn, Nicola Wolpert, E. Schomer

{"title":"An Assembly Sequence Planning Framework for Complex Data using General Voronoi Diagram","authors":"S. Dorn, Nicola Wolpert, E. Schomer","doi":"10.1109/icra46639.2022.9811867","DOIUrl":"https://doi.org/10.1109/icra46639.2022.9811867","url":null,"abstract":"We present the first realization of an assembly sequence planning framework for large-scale and complex 3D real-world CAD scenarios. Other than in academic benchmark data sets, in our scenario each assembled part is allowed to contain flexible fastening elements and the number of assembled parts is quite high. With our framework we are able to derive a meaningful assembly priority graph for the parts. Our framework divides the disassembly motion of each part into a NEAR- and a subsequent FAR planning phase and uses existing specialized motion planners for each phase. To reduce the number of unsuccessful motion planning requests we use a general Voronoi diagram graph and a novel collision perceiving method which significantly speed up our framework. At the end, we create an assembly priority graph to indicate which parts must be disassembled before others. In our experiments, we show that our framework is the first one which is able to generate a priority graph for a representative data set from the automotive industry. Moreover, the reported disassembly motions for the individual parts are shorter and can be computed faster than with other state-of-the-art frameworks.","PeriodicalId":341244,"journal":{"name":"2022 International Conference on Robotics and Automation (ICRA)","volume":"142 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116591589","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

Online Assistance Control of a Pneumatic Gait Assistive Suit Using Physical Reservoir Computing Exploiting Air Dynamics 基于空气动力学的物理储层计算气动步态辅助服在线辅助控制

2022 International Conference on Robotics and Automation (ICRA) Pub Date : 2022-05-23 DOI: 10.1109/icra46639.2022.9812377

Hiroyuki Hayashi, Toshihiro Kawase, Tetsuro Miyazaki, Maina Sogabe, Y. Nakajima, K. Kawashima

{"title":"Online Assistance Control of a Pneumatic Gait Assistive Suit Using Physical Reservoir Computing Exploiting Air Dynamics","authors":"Hiroyuki Hayashi, Toshihiro Kawase, Tetsuro Miyazaki, Maina Sogabe, Y. Nakajima, K. Kawashima","doi":"10.1109/icra46639.2022.9812377","DOIUrl":"https://doi.org/10.1109/icra46639.2022.9812377","url":null,"abstract":"Wearable gait assistive devices have been im-proved by soft robotics in terms of safety and physical burden of the wearer. Currently, electrical sensors and computers around the wearer are bottlenecks in enhancing the wearer's activities. In this paper, we present a wearable gait assistive system using soft pneumatic system for all the actuation, sensing, and computation. Pneumatic artifical muscles (PAMs) on the thighs were used to generate assistance force, and thin PAMs on the whole legs were used for sensing the wearer's motion. All thin PAMs were connected to each other by tubes, and the pressure response in the tubes were exploited to compute the wearer's motion in manner of physical reservoir computing. The left thigh angular velocity estimated from the reservoir response was used for control the PAMs for actuation. Our experiment with the use of gait assistance showed that the system worked correctly. This paper shows that the pneumatic analog computation system for sensing soft body can help the functionality of soft wearable assistive devices.","PeriodicalId":341244,"journal":{"name":"2022 International Conference on Robotics and Automation (ICRA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129729510","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

Attentive One-Shot Meta-Imitation Learning From Visual Demonstration 从视觉示范中学习一次性元模仿

2022 International Conference on Robotics and Automation (ICRA) Pub Date : 2022-05-23 DOI: 10.1109/icra46639.2022.9812281

Vishal Bhutani, A. Majumder, M. Vankadari, S. Dutta, Aaditya Asati, Swagat Kumar

引用次数: 0