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2011 IEEE International Conference on Robotics and Biomimetics最新文献

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Modelling of multisection bionic manipulator: Application to RobotinoXT 多节仿生机械臂建模:在RobotinoXT中的应用
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-07 DOI: 10.1109/ROBIO.2011.6181268
C. Escande, P. Pathak, R. Merzouki, V. Coelen
{"title":"Modelling of multisection bionic manipulator: Application to RobotinoXT","authors":"C. Escande, P. Pathak, R. Merzouki, V. Coelen","doi":"10.1109/ROBIO.2011.6181268","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181268","url":null,"abstract":"This paper deals with geometric models of a class of multisection bionic manipulator applied to RobotinoXT. This bio-inspired flexible manipulator is a small version of a multisection pneumatically actuated, called Bionic Handling Assistant robot (BHA), where each segment is composed by a set of backbones tubes. Experimental results are presented to compare the analytical and practical analysis. These models are the first steps to synthesis of kinematic and dynamic model of this class of bionic manipulator, which will be used to design an adequate control for the whole robot.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"2260 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130234626","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: 22
Emulating human leg impairments and disabilities on humanoid robots walking 在仿人机器人上模拟人的腿部损伤和残疾
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-07 DOI: 10.1109/robio.2011.6181653
S. Lengagne, A. Kheddar, S. Druon, E. Yoshida
{"title":"Emulating human leg impairments and disabilities on humanoid robots walking","authors":"S. Lengagne, A. Kheddar, S. Druon, E. Yoshida","doi":"10.1109/robio.2011.6181653","DOIUrl":"https://doi.org/10.1109/robio.2011.6181653","url":null,"abstract":"In this paper, we present a method for emulating human walking motions with leg impairments or disabilities using humanoid robots. Our optimal dynamic multi-contact motion software generates the emulated motions. We take into account the full-body dynamic model of the robot and consider possible leg impairments as additional physical constraints in the optimization problem. The proposed approach is verified using HRP-2 humanoid robot. Simulations and experiments revealed extra energy consumption when constraints translating impairments are added, which is assessed using an infrared camera. Our research is the first step toward potential usage of humanoid robots in human-centric studies, diagnosis of human disabled motions, as well as an active mannequin for welfare instrument evaluation.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121075569","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
Online unsupervised cumulative learning for life-long robot operation 面向机器人终身运行的在线无监督累积学习
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-07 DOI: 10.1109/ROBIO.2011.6181678
Y. Gatsoulis, Christopher Burbridge, T. McGinnity
{"title":"Online unsupervised cumulative learning for life-long robot operation","authors":"Y. Gatsoulis, Christopher Burbridge, T. McGinnity","doi":"10.1109/ROBIO.2011.6181678","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181678","url":null,"abstract":"The effective life-long operation of service robots and assistive companions depends on the robust ability of the system to learn cumulatively and in an unsupervised manner. For a cumulative learning robot there are particular characteristics that the system should have, such as being able to detect new perceptions, being able to learn online and without supervision, expand when required, etc. Bag-of-Words is a generic and compact representation of visual perceptions which has commonly and successfully been used in object recognition problems. However in its original form, it is unable to operate online and expand its vocabulary when required. This paper describes a novel method for cumulative unsupervised learning of objects by visual inspection, using an online and expanding when required Bag-of-Words. We present a set of experiments with a real-world robot, which cumulatively learns a series of objects. The results show that the system is able to learn cumulatively and recall correctly the objects it was trained on.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127066452","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
Robust real-time lane detection based on lane mark segment features and general a priori knowledge 基于车道标记段特征和一般先验知识的鲁棒实时车道检测
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-07 DOI: 10.1109/ROBIO.2011.6181387
Hao Li, F. Nashashibi
{"title":"Robust real-time lane detection based on lane mark segment features and general a priori knowledge","authors":"Hao Li, F. Nashashibi","doi":"10.1109/ROBIO.2011.6181387","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181387","url":null,"abstract":"Lane detection plays an important role in vision based intelligent vehicle systems. A new lane detection method based on lane mark segment features and general a priori knowledge is proposed in this paper. Instead of detecting each feature point separately from limited local view, a lane mark segment detection method is designed for detecting each lane mark segment on the whole. Some a priori knowledge which is quite general for real traffic scenarios is used in the lane mark segment detection method as well as in the part of model fitting. The tracking process which ensures detection stability and robustness is carried out in the framework of particle filtering. The performance of the proposed method has been demonstrated based on the test on thousands of road images; these road images include scenarios with many kinds of uncertainties such as variation of lighting condition, existence of leading vehicles etc. The research direction for further improvements is also discussed.1","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"130 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114098241","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: 27
Mobile robot system realizing autonomous locomotion — Combination of person following and autonomous returning 实现自主运动的移动机器人系统——人跟随与自主返回相结合
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181479
R. Arai, M. Ding, H. Takemura, H. Mizoguchi
{"title":"Mobile robot system realizing autonomous locomotion — Combination of person following and autonomous returning","authors":"R. Arai, M. Ding, H. Takemura, H. Mizoguchi","doi":"10.1109/ROBIO.2011.6181479","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181479","url":null,"abstract":"In recent years, robots are entering into our daily life. Many researches have been carried out for human-robot coexistence and cooperation purpose. In our research, we proposed concept for autonomous mobile robot to carry luggage automatically to the destination and return to the original location from the destination automatically. This concept includes two main categories, outward moving and homeward moving. In this paper, we propose the autonomous mobile robot system in homeward moving phase because the outward moving system was already developed in our past research. We develop a new control method for the autonomous mobile robot to realize the homeward moving. Three basic functions are included in this method, Mapping, Navigation and Obstacle Detection and Avoidance. These functions have been implemented into our robot system, and the experimental result evaluated the effectiveness of our method.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"262 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115676214","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
A 3D simultaneous localization and mapping exploration system 一个三维同步定位和地图勘探系统
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181428
Gregor Michalicek, Denis Klimentjew, Jianwei Zhang
{"title":"A 3D simultaneous localization and mapping exploration system","authors":"Gregor Michalicek, Denis Klimentjew, Jianwei Zhang","doi":"10.1109/ROBIO.2011.6181428","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181428","url":null,"abstract":"In this work we develop a robot system capable of autonomously exploring and mapping an indoor environment. For this we apply a Simultaneous Localization and Mapping (SLAM) algorithm to build up a 3D map and use it to plan the navigation of the robot to further explore the environment. The system is realized in a modular and distributed architecture. Finally, we critically evaluate the system as a whole.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120954268","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
Analyses and testing of new mobility system for lunar rover 新型月球车机动系统的分析与测试
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181692
S. Nishida, Yuki Okabayashi, S. Wakabayashi
{"title":"Analyses and testing of new mobility system for lunar rover","authors":"S. Nishida, Yuki Okabayashi, S. Wakabayashi","doi":"10.1109/ROBIO.2011.6181692","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181692","url":null,"abstract":"JAXA is carrying out research and development of a mobile robot (rover) aimed at base construction and searching for rocks and soils on the lunar surface. The target areas for base construction and lunar exploration are mainly in mountainous zones, and the moon's surface is covered by regolith. Achieving a steady run on such irregular terrain is the big technical problem for rovers. A newly developed lightweight crawler mechanism is good for driving on such irregular terrain because of its low contact force with the ground. This was determined considering the mass and expected payload of the rover. This paper presents the results of study into methods of dynamics testing and analysis which are needed in its development. This paper gives results of analyses and testing for the lunar rover mobility system.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127193862","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
Development and application of a low-cost manual micro assembly system with integrated heater 低成本集成加热器人工微装配系统的开发与应用
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181756
M. Kagerer, Kenji L. Eiler, F. Irlinger, T. Lüth
{"title":"Development and application of a low-cost manual micro assembly system with integrated heater","authors":"M. Kagerer, Kenji L. Eiler, F. Irlinger, T. Lüth","doi":"10.1109/ROBIO.2011.6181756","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181756","url":null,"abstract":"This paper describes the development and the application of a low-cost manual micro assembly system with an integrated heater. The presented system consists basically of a massive frame to dampen vibrations, of an observation unit, of a heating element with a 2-point temperature controller, and of an exchangeable vacuum gripper for the deposition of a work piece on a target substrate which is mounted and correctly aligned on a vacuum plate. During the development we place considerable value on a modular system which is easy to use, highly accurate, and cost-efficient. In this connection, we will point out the labor and machine maintenance as well as the material costs. Present micro assembly system only weighs 21 kg and has an engine room of 28 × 35 × 56 cm (length × width × height). This makes it suitable for easy transportation. So it can be installed and used in almost every location. Although the labor and machine maintenance as well as the material costs only amount to less than 9.900 € a positioning accuracy of ± 15 μm is achievable. The maximum tooling-up time depends on the required operating temperature.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127439832","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
TPS-SURF-SAC matching approach of feature point applied to deformation measurement of nonrigid tissues from MR images 特征点TPS-SURF-SAC匹配方法在MR图像非刚性组织变形测量中的应用
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181344
Xubing Zhang, S. Hirai
{"title":"TPS-SURF-SAC matching approach of feature point applied to deformation measurement of nonrigid tissues from MR images","authors":"Xubing Zhang, S. Hirai","doi":"10.1109/ROBIO.2011.6181344","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181344","url":null,"abstract":"Due to the nonlinear deformation of the nonrigid and nonuniform biological tissues, it is difficult whereas important to correctly match a number of feature points distributed somewhat uniform in the tissues from MR images for deformation measurement. In this paper, the authors present TPS-SURF-SAC matching method and mismatching elimination method based on TPS clustering. Firstly the matching region is identified by a TPS for every query point. Then the SURF descriptors and the proposed Spatial Association Correspondence (SAC) method are combined to match the feature points. Finally, using clustering the coordinate differences between the matching points obtained using TPS-SURF-SAC method and the matching points matched by TPS model, most of wrong match points are eliminated. After every iterative processing of matching and mismatching elimination, the updated TPS model becomes more accurate and more correctly matched points can be identified than that of the previous iteration. The experimental results showed that the proposed method outperformed the single SURF and SIFT methods.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124850853","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
How to completely use the PAD space for socially interactive robots 如何将PAD空间完全用于社交互动机器人
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181762
J. Park, W. Kim, Won Hyong Lee, Ju Chang Kim, M. Chung
{"title":"How to completely use the PAD space for socially interactive robots","authors":"J. Park, W. Kim, Won Hyong Lee, Ju Chang Kim, M. Chung","doi":"10.1109/ROBIO.2011.6181762","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181762","url":null,"abstract":"Human-robot interaction (HRI) is becoming more complex and difficult due to the growing number of capabilities demonstrated by socially interactive robots. From this perspective, it is necessary for us to have simple and general methods that enable robots to interact with human beings at an emotional level. Therefore, this paper suggests a method that can efficiently use the PAD emotion space to generate artificial emotions based on a categorization of emotions using cluster analysis. After clustering, emotional appraisals can be extracted according to PAD input vectors using results of the categorization then we can generate blended emotions and calculate an intensity of each emotion. We evaluate the categorization results by using the Davies-Bouldin index and the patterns of emotions that are generated through categorization results. Furthermore, the generated emotions are expressed by a physical mascot-type head robot using our emotion expression model. We will also show how differently emotions are generated according to whether optimization is used or not.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124962111","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
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