2007 IEEE Workshop on Advanced Robotics and Its Social Impacts最新文献

SIFT-based monocluar SLAM with inverse depth parameterization for robot localization 基于sift的反深度参数化单凸SLAM机器人定位

2007 IEEE Workshop on Advanced Robotics and Its Social Impacts Pub Date : 2007-12-01 DOI: 10.1109/ARSO.2007.4531427

Chen Chwan-Hsen, Yung-Pyng Chan

{"title":"SIFT-based monocluar SLAM with inverse depth parameterization for robot localization","authors":"Chen Chwan-Hsen, Yung-Pyng Chan","doi":"10.1109/ARSO.2007.4531427","DOIUrl":"https://doi.org/10.1109/ARSO.2007.4531427","url":null,"abstract":"We have developed a monocular SLAM method which uses the scale-invariant feature transform (SIFT) algorithm to detect salient features within the scene. Only feature points with large scales are considered as worth-tracking features to reduce the computation load and enhance the robustness. These feature information are input to an extended Kalman filter with the spatial coordinates of the feature points and that of the observing camera as its state variables. The angular and translational velocity and acceleration of the camera are also included as the state variables. Compared to previous approaches, we use the reciprocal of the depth, instead of the depth itself, as the state variable, together with other state variables, in the extended Kalman filter to represent the relative distance between the camera and the feature points. The extended Kalman filter can accurately estimate the spatial location of the feature points and that of the camera with only one camera after a very short period for those feature points experiencing significant change in parallax. We have tested the proposed method with a hand-held camera walking in both indoor and outdoor environment. The outdoor environment for the experiment is populated with both close and distant objects. The results show very accurate estimates on the spatial locations of the camera and feature points within seconds.","PeriodicalId":344670,"journal":{"name":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123099266","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

The modular design of the distributed edutainment biped humanoid robot system 分布式教育娱乐双足仿人机器人系统的模块化设计

2007 IEEE Workshop on Advanced Robotics and Its Social Impacts Pub Date : 2007-12-01 DOI: 10.1109/ARSO.2007.4531430

An-Ping Wang, P. Hsu

引用次数: 2

Multi-objective genetic algorithms applied for optimal design of 2 DOF micro parallel robots 应用多目标遗传算法进行二自由度微型并联机器人的优化设计

2007 IEEE Workshop on Advanced Robotics and Its Social Impacts Pub Date : 2007-12-01 DOI: 10.1109/ARSO.2007.4531420

S. Stan, V. Maties, R. Balan

引用次数: 1

Workspace analysis of the Biglide mini parallel robot with 2 DOF 二自由度微型并联机器人Biglide的工作空间分析

2007 IEEE Workshop on Advanced Robotics and Its Social Impacts Pub Date : 2007-12-01 DOI: 10.1109/ARSO.2007.4531419

S. Stan, V. Maties, R. Balan

引用次数: 1

Intelligent battery management system with parallel-connected cell-balance algorithm on the humanoid robot 基于并联电池平衡算法的人形机器人智能电池管理系统

2007 IEEE Workshop on Advanced Robotics and Its Social Impacts Pub Date : 2007-12-01 DOI: 10.1109/ARSO.2007.4531410

Ching-Kuo Wang, Sheng Chen, Han-Pang Huang

引用次数: 5

HERM: Heterogeneous nEtwork-based Robot Middleware HERM:基于异构网络的机器人中间件

2007 IEEE Workshop on Advanced Robotics and Its Social Impacts Pub Date : 2007-12-01 DOI: 10.1109/ARSO.2007.4531412

S. Kim, K. Lee, V. Li, S. Choe, H. Park

{"title":"HERM: Heterogeneous nEtwork-based Robot Middleware","authors":"S. Kim, K. Lee, V. Li, S. Choe, H. Park","doi":"10.1109/ARSO.2007.4531412","DOIUrl":"https://doi.org/10.1109/ARSO.2007.4531412","url":null,"abstract":"On developing modern robot systems, intellectual robots can be designed as multiple modules, where the module means the autonomous hardware units performing robot specific tasks. Further, each module can be connected with non-unified network interfaces due to a heterogeneous feature of robot system. In this manner, one of technical challenges is interoperability to support stable and effective communication between heterogeneous network interfaces. Focusing on this issue, this paper proposes a middleware named HERM (heterogeneous network-based robot middleware). HERM is divided into three layers; (i) network interface layer, which abstracts various heterogeneous network interfaces as logical channels, (ii) network adaptation layer, which provides addressing strategies, module discovery, and routing service for communication between modules, and (iii) application support layer, which manages robot applications and transforms application data into a standard format for transmitting over a network. By this layered design, HERM provides standardized interfaces to control other modules over heterogeneous network interfaces and facilitates integration of different module which constitute a robot system. The results of implementation and case study show that HERM is suitable for a module-based robot.","PeriodicalId":344670,"journal":{"name":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127979043","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

Self-tuning saturation sliding controller for a two-link robot arm 双连杆机械臂的自调谐饱和滑动控制器

2007 IEEE Workshop on Advanced Robotics and Its Social Impacts Pub Date : 2007-12-01 DOI: 10.1109/ARSO.2007.4531428

Yao-Chu Hsueh, S. Su

引用次数: 0

The realization of a music reading and singing two-wheeled robot 实现了一个能读能唱的两轮音乐机器人

2007 IEEE Workshop on Advanced Robotics and Its Social Impacts Pub Date : 2007-12-01 DOI: 10.1109/ARSO.2007.4531431

Wei-chen Lee, H. Gu, Kuo-Liang Chung, Chyi-Yeu Lin, C. Fahn, Yah-Syun Lai, Chih-Cheng Chang, Chia-Lun Tsai, Kai-Jay Lu, Huang-Liang Liau, Mao-Kuo Hsu

引用次数: 5

Cooperative force control of a knee surgical robot for lateral milling of bone 膝关节侧磨骨手术机器人的协同力控制

2007 IEEE Workshop on Advanced Robotics and Its Social Impacts Pub Date : 2007-12-01 DOI: 10.1109/ARSO.2007.4531422

P. Yen, Chia-Hao Tsai

{"title":"Cooperative force control of a knee surgical robot for lateral milling of bone","authors":"P. Yen, Chia-Hao Tsai","doi":"10.1109/ARSO.2007.4531422","DOIUrl":"https://doi.org/10.1109/ARSO.2007.4531422","url":null,"abstract":"Robotic knee surgery performs bone resection without relying on mechanical jigs during bone preparation of TKA (total knee arthroplasty). The inaccuracy induced by loose jig fixation and slot width tolerance can, subsequently, be avoided. Mill is usually used as the bone cutter in most of the current knee surgical robots, in which all bones are milled out. This might not be desired. In some cases, the cut bone may be used by the surgeon for bone grafting for some patients. Therefore the existent bone resection method may not be adequate. Different scenarios of bone resection in order to preserve the cut-off bones to be in pieces should be developed. In the proposed cutting process, the side edge instead of the bottom edge of the mill is used to move and cut the bone along the designated boundary of the cutting plane. Thus cut-off bone is in the form of pieces rather than blurs or chips. However, this cutting process will give rise to large and non-uniform cut forces on the cutter. As a result, the cutter is under large bending and the cutting trajectory may be deviated or, even worse, the cutter may be broken. To overcome the problem, the paper proposed an cooperative impedance force control strategy between the robot and the surgeon to maintain the safety, stability and accuracy of bone resection process.","PeriodicalId":344670,"journal":{"name":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121563711","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

A fast and smooth walking pattern generator of biped robot using Jacobian inverse kinematics 基于雅可比逆运动学的双足机器人快速平滑行走模式生成器

2007 IEEE Workshop on Advanced Robotics and Its Social Impacts Pub Date : 2007-12-01 DOI: 10.1109/ARSO.2007.4531417

Jiu-Lou Yan, Han-Pang Huang

{"title":"A fast and smooth walking pattern generator of biped robot using Jacobian inverse kinematics","authors":"Jiu-Lou Yan, Han-Pang Huang","doi":"10.1109/ARSO.2007.4531417","DOIUrl":"https://doi.org/10.1109/ARSO.2007.4531417","url":null,"abstract":"In order to solve inverse kinematics of a multi- DOF (degree of freedom) mechanism, many methods have been proposed with the Jacobian linearization method. When solving inverse kinematics problems with this method, long computation time is needed because the Jacobian matrix should be updated in order to solve the configuration for each different end-effector trajectory knot. In this study, two smooth trajectories are generated as target positions, one for swing leg's ankle, and the other for center of mass. These generated knot points in the task space with appropriate distance to each other are used to solve inverse kinematics by the proposed modified Jacobian method-Fixed leg Jacobian. It can guarantee that only one iteration is needed to solve the configuration when it is away from singularity with a small position error (0.0712% of leg length). We propose an algorithm that can generate the gait in real time including singularity avoidance and joint limit avoidance. Simulations have been carried out. The results showed that the proposed method can generate a smooth gait for robot walking on real time implementation.","PeriodicalId":344670,"journal":{"name":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","volume":"2000 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129557521","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