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2011 IEEE International Conference on Robotics and Biomimetics最新文献

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Pushing around a robot: Force-based manual control of the six-legged walking robot LAURON 推动机器人:基于力的六足步行机器人劳伦的手动控制
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181704
M. Göller, A. Rönnau, Anton Gorbunov, G. Heppner, R. Dillmann
{"title":"Pushing around a robot: Force-based manual control of the six-legged walking robot LAURON","authors":"M. Göller, A. Rönnau, Anton Gorbunov, G. Heppner, R. Dillmann","doi":"10.1109/ROBIO.2011.6181704","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181704","url":null,"abstract":"Robots are built to assist people. Up to now the circle of people benefiting is still rather small because operating a robot is a very difficult task. To enable untrained people to operate a robot, an intuitive user interface has to be provided. Besides enlarging the number of people which are actually able to operate the robot, the operators are less burdened by controlling the robot and therefore are able to concentrate better on the task they actually have to perform. This paper presents a method of applying the maybe most intuitive modality of control: the operator can give commands to the six-legged walking robot LAURON by pushing or pulling its body. To achieve this the robot's 18 joint torques are calculated based on the motor currents. These are then transformed and merged in a 6D force vector corresponding to LAURON's CoG. This vector is finally fed into a classifier which identifies the user's intention out of a set of possible commands and triggers corresponding behaviors.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"120 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":"131659656","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 high level trajectory indexing method for real time 3D motion recognition 一种用于实时三维运动识别的高级轨迹索引方法
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181595
Jianyu Yang, Youfu Li, Keyi Wang
{"title":"A high level trajectory indexing method for real time 3D motion recognition","authors":"Jianyu Yang, Youfu Li, Keyi Wang","doi":"10.1109/ROBIO.2011.6181595","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181595","url":null,"abstract":"Motion trajectory description plays an important role in motion recognition for many robotic tasks. The previous methods are too high in computational cost for real time recognition. In this paper, we propose a novel indexing method for motion trajectories as a high level descriptor for real time 3D motion recognition. Trajectories are segmented into basic segments and represented in segment level rather than point level. We index the trajectories by their segment sequences to recognize them. The computational cost is significantly decreased and the experimental results show that this method is effective and it can be used for real time motion recognition.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"47 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":"129037708","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
Laser-based pedestrian tracking with multiple mobile robots using outdoor SLAM 基于户外SLAM的多移动机器人激光行人跟踪
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181418
K. Kakinuma, M. Ozaki, M. Hashimoto, Takumi Yokoyama, Kazuhiko Takahashi
{"title":"Laser-based pedestrian tracking with multiple mobile robots using outdoor SLAM","authors":"K. Kakinuma, M. Ozaki, M. Hashimoto, Takumi Yokoyama, Kazuhiko Takahashi","doi":"10.1109/ROBIO.2011.6181418","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181418","url":null,"abstract":"This paper presents laser-based pedestrian tracking with multiple mobile robots in outdoor environments. Each robot finds pedestrians using its own laser scan image by an occupancy-grid-based method, and it tracks the detected pedestrians via Kalman filtering and Global nearest neighbor based data association. In addition, it generates a local map using EKF-SLAM, where cylindrical objects in outdoor environments, such as trees and poles, are used as landmarks. When the robots are located near each other, they exchange their local maps and pedestrians tracking information through intercommunication. Tracking data are combined using Covariance Intersection, and a global map is built by merging the local maps, thus tracking performance can be improved. In our tracking method, all robots share tracking data with each other, so that they can recognize pedestrians that are invisible to any robots. The experimental results of tracking two pedestrians with three mobile robots validate the proposed method.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"15 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":"126864540","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 method for slip and tire force estimation of wheeled mobile robot on inclined terrain 轮式移动机器人在倾斜地形上的滑移和轮胎力估算新方法
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181635
Xiaorui Zhu, Chunxin Qiu, Leiming Guo, Yanmin Zhang
{"title":"New method for slip and tire force estimation of wheeled mobile robot on inclined terrain","authors":"Xiaorui Zhu, Chunxin Qiu, Leiming Guo, Yanmin Zhang","doi":"10.1109/ROBIO.2011.6181635","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181635","url":null,"abstract":"This paper introduces a new method, based on extended Kalman filter (EKF), to estimate wheel slip and tire forces for a four-wheel drive mobile robot on rigid and continuously varying inclined terrain. The longitudinal and lateral forces are both considered in the proposed method. An empirical tire-terrain model from Pacejka's Magic Formula is used to represent the true model of the contact patch force. Simulation results show that the proposed technique can estimate the tire forces and the slip ratio effectively when robot is traveling on simulated inclined surface.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"44 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":"126393794","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
Localization and tracking for simultaneous speakers based on time-frequency method and Probability Hypothesis Density filter 基于时频法和概率假设密度滤波的同步说话人定位与跟踪
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181740
Quang Nguyen, Jong-suk Choi
{"title":"Localization and tracking for simultaneous speakers based on time-frequency method and Probability Hypothesis Density filter","authors":"Quang Nguyen, Jong-suk Choi","doi":"10.1109/ROBIO.2011.6181740","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181740","url":null,"abstract":"In this paper we present the two steps system of localization and tracking to work in context of simultaneous speakers. The localization algorithm is based on time-frequency method which uses an array of three microphones and it enables to locate multiple sound sources in a single time-frame. Localization results with missing detection and clutter are post-processed by the Probability Hypothesis Density (PHD) filter — based tracking algorithm to estimate the smoothed trajectory of each speaker. The experiments carried out on real data recording show that our method outperforms the multi-target particle filter (MTPF) — based algorithm and is effective in practical application of human-robot interaction.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"33 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":"126276213","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
Deformation simulation for the needle insertion into liver 针入肝变形模拟
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181331
Shaoli Liu, Zhiwen Qin, Jing Xu, Xiaowen Yu, Qiang Yi, Libin Song, Ken Chen
{"title":"Deformation simulation for the needle insertion into liver","authors":"Shaoli Liu, Zhiwen Qin, Jing Xu, Xiaowen Yu, Qiang Yi, Libin Song, Ken Chen","doi":"10.1109/ROBIO.2011.6181331","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181331","url":null,"abstract":"The study on the liver deformation during the needle inserted into the target lesion, plays an important role in the robot-assisted liver tumor coagulation therapy system, which impacts the operation simulation, the pre-operative surgical planning, the treatment accuracy, and the success rate. To this end, this paper presents a quasi-static finite element method to analyze the deformation of the soft tissue. According to the force modeling of the needle-insertion, the liver deformation can be divided into two states: the pre-penetration state and post — penetration state. First, both the realistic three-dimensional geometric model and the linear elastic physical model of the liver are established; second, the consecutive dynamic deformation of the liver is decomposed into several discrete quasi-static procedures, followed by the numerical simulation. The simulation results demonstrate the effectiveness and the feasibility of the proposed method.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"69 5 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":"126065949","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
Design of humanoid body trunk with “multiple spine structure” and “planar-muscle-driven” system for achievement of humanlike powerful and lithe motion “多脊柱结构”的仿人躯干设计，“平面肌肉驱动”系统，实现仿人的有力柔韧动作
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181621
M. Osada, H. Mizoguchi, Yuki Asano, Toyotaka Kozuki, Junichi Urata, Y. Nakanishi, K. Okada, M. Inaba
{"title":"Design of humanoid body trunk with “multiple spine structure” and “planar-muscle-driven” system for achievement of humanlike powerful and lithe motion","authors":"M. Osada, H. Mizoguchi, Yuki Asano, Toyotaka Kozuki, Junichi Urata, Y. Nakanishi, K. Okada, M. Inaba","doi":"10.1109/ROBIO.2011.6181621","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181621","url":null,"abstract":"In recent years, humanlike robots have recieved a lot of attension. For making humanlike robots, a muscu-loskeletal humanoid is an effective approach. However, many musculoskeletal humanoids have not yet been equipped with really humanlike bones and muscles, especially for the body trunk, which is the core of the robot. For making a powerful and lithe humanoid body trunk with really humanlike bones and muscles, we think an enhanced “planar-muscle-driven” system and “multiple spine” structure were keys. Planar-muscle-driven systems move several wires simultaneously by using two moving-pulley bars per motor, while the prior linear-muscle-driven system moved only one wire per motor. Using the planar-muscle-driven system, we were able to simplify prior complex composition and control systems. On the other hand, we proposed a multiple spine structure, which has an S-curve alignment like the human spine. In human, the S-curve is important for upper body stability while walking and shock relaxation of heavy human head. This paper describes the “planar muscle” unit and the “multiple spine” structures, and then the body trunk containing both elements. Using the model, we performed experiments to show the efficacy of those elements.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"20 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":"121045676","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
Simple tension distribution converting workspace commands for 2-joint arm with 3 pairs of 6 tendons 具有3对6根肌腱的2关节臂的简单张力分配转换工作空间命令
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181550
Shota Mori, S. Komada, J. Hirai
{"title":"Simple tension distribution converting workspace commands for 2-joint arm with 3 pairs of 6 tendons","authors":"Shota Mori, S. Komada, J. Hirai","doi":"10.1109/ROBIO.2011.6181550","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181550","url":null,"abstract":"Safety and general versatility are necessary for robots to perform various tasks in human living area. There are tendon based manipulators with nonlinear springs as a manipulator for the requirement. In this paper, we propose simple tension distribution method utilizing an advantage of biological extremity structure for tendon mechanisms to overcome weaknesses of a conventional method using pseudo inverse matrix. The human body structure and a polar coordinate definition for workspace contribute to the simple calculation. The proposed method takes account not only of weaknesses of the conventional method such as tension limit problem, but also of workspace command priority. The capability to directly consider workspace command priority makes the proposed method more useful. Because in many cases where robots perform tasks, workspace commands will be given, not joint torque or stiffness. Effectiveness of the proposed method is confirmed by a numerical calculation.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"18 2 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":"116707270","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
Towards a biologically inspired open loop controller for dynamic biped locomotion 面向动态两足运动的生物启发开环控制器
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181336
Jonathan Spitz, Y. Or, M. Zacksenhouse
{"title":"Towards a biologically inspired open loop controller for dynamic biped locomotion","authors":"Jonathan Spitz, Y. Or, M. Zacksenhouse","doi":"10.1109/ROBIO.2011.6181336","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181336","url":null,"abstract":"Biped robots are usually controlled using a quasi-static approach. In contrast, dynamic walking robots display more natural gaits which make them faster and more energy efficient. Applying these concepts, a biomimetic open-loop controller based on a Central Pattern Generator (CPG) is designed and applied to a Compass-Gait walker. We use numerical simulations to investigate the resulting gaits and verify stability. The robustness of the system is tested by applying disturbances to the surface slope. The stability of the obtained limit cycles is demonstrated through the system's Poincaré Map.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"100 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":"116750104","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
A novel frame climbing robot: Frambot 一种新型框架攀爬机器人:Frambot
2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI: 10.1109/ROBIO.2011.6181690
Wingkwong Chung, Yangsheng Xu
{"title":"A novel frame climbing robot: Frambot","authors":"Wingkwong Chung, Yangsheng Xu","doi":"10.1109/ROBIO.2011.6181690","DOIUrl":"https://doi.org/10.1109/ROBIO.2011.6181690","url":null,"abstract":"In this paper, we present a novel frame climbing robot, called Frambot which aims to climb on non-enclosable rectangular trusses. Frambot weighs only 1.6kg and consists of two grippers connected by a body linkage. For the grippers of Frambot, it provides not only the grasp on a truss structure, but also allows a linear truss climbing motion. Based on the mobility of Frambot, we propose new climbing gaits which aim to enhance the stability of truss climbing by reducing the extra angular moment generated during the swing motions in traditional truss climbing gaits. Both motion and dynamic torque simulations are performed for the analysis of the proposed gaits. Finally, the proposed gaits are realized in our robot prototype. Experimental results show that Frambot is capable in climbing non-enclosable trusses with the new climbing gaits.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"10 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":"123810559","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
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