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Proceedings of the 2005 IEEE International Conference on Robotics and Automation最新文献

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Vision-Based Control of a Gough-Stewart Parallel Mechanism using Legs Observation 基于腿观察的Gough-Stewart并联机构视觉控制
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570494
N. Andreff, A. Marchadier, P. Martinet
{"title":"Vision-Based Control of a Gough-Stewart Parallel Mechanism using Legs Observation","authors":"N. Andreff, A. Marchadier, P. Martinet","doi":"10.1109/ROBOT.2005.1570494","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570494","url":null,"abstract":"This paper presents a novel approach for vision-based control of the end-effector of parallel mechanisms. It is based on the metrological redundancy paradigm, which simplifies their kinematic models by introducing additional proprioceptive sensors. By observing the mechanism legs, vision replaces advantageously these sensors by delivering, in a Cartesian frame, an exteroceptive measurement of the internal state of the mechanism. Formally, the latter is expressed by an original concept of vision-based kinematics for parallel mechanisms. Based on it, control is derived that visually servoes the direction of the legs, rather than the end-effector pose. The method is illustrated and validated on a Gough-Stewart platform simulation.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116752991","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: 31
Motion Study of an Omni-Directional Rover for Step Climbing 全向爬坡探测车的运动研究
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570340
H. Low, W. K. Loh, J. Angeles, Heng Wang
{"title":"Motion Study of an Omni-Directional Rover for Step Climbing","authors":"H. Low, W. K. Loh, J. Angeles, Heng Wang","doi":"10.1109/ROBOT.2005.1570340","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570340","url":null,"abstract":"In this paper, a study of a wheeled mobile robot (WMR) with omni-directional mobility and rover-like climbing ability is presented. Various rovers with robust locomotion design had been developed. However, the rover locomotion design with omni-directional mobility has not been addressed commonly. Shrimp suspension system and parallel bogies were employed as robot locomotion. It adapts to the terrain profile passively and it has better climbing capability than other rovers. To achieve a singularityless motion, the kinematic model of a wheeled mobile robot (WMR), including a platform equipped with six omni-directional wheels (ODWs), is formulated. The contents of this study are the design principle, kinematics, and motion studies. Also, experimental results have been employed to verify the model developed.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129758535","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
Automated Desktop Manufacturing: Direct Metallic Rapid Tooling System 自动化桌面制造:直接金属快速加工系统
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570181
R. Luo, C. Chang, J. Tzou, Z. Huang
{"title":"Automated Desktop Manufacturing: Direct Metallic Rapid Tooling System","authors":"R. Luo, C. Chang, J. Tzou, Z. Huang","doi":"10.1109/ROBOT.2005.1570181","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570181","url":null,"abstract":"In recent years, Rapid Tooling (RT) has become more important because of the requirement of rapid manufacturing. RT can be used to produce temporary mold, even permanent mold in mass production. RT makes more benefit from design stage to mass production. The objective of this research is to develop the Direct Metallic Rapid Tooling System and identify process parameters of laser cladding. A metallic powder feeder system, a three-axis motion control system, a 500W Nd-YAG laser system, a shielding gas supply system, and a powder nozzle are incorporated for the hardware architecture in Direct Metallic Rapid Tooling System. Besides, the designed software that includes slicing algorithm with bucket sorting, contour generation and tool path generation algorithm are presented briefly. Effort was attempted to find out the better process parameters of laser cladding using single clad and cladding layer techniques. Based on the investigation, some metallic RT parts were fabricated and discussed.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128593262","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: 8
Enhanced Robot Speech Recognition Based on Microphone Array Source Separation and Missing Feature Theory 基于麦克风阵列源分离和缺失特征理论的增强机器人语音识别
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570323
S. Yamamoto, J. Valin, K. Nakadai, J. Rouat, F. Michaud, T. Ogata, HIroshi G. Okuno
{"title":"Enhanced Robot Speech Recognition Based on Microphone Array Source Separation and Missing Feature Theory","authors":"S. Yamamoto, J. Valin, K. Nakadai, J. Rouat, F. Michaud, T. Ogata, HIroshi G. Okuno","doi":"10.1109/ROBOT.2005.1570323","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570323","url":null,"abstract":"A humanoid robot under real-world environments usually hears mixtures of sounds, and thus three capabilities are essential for robot audition; sound source localization, separation, and recognition of separated sounds. While the first two are frequently addressed, the last one has not been studied so much. We present a system that gives a humanoid robot the ability to localize, separate and recognize simultaneous sound sources. A microphone array is used along with a real-time dedicated implementation of Geometric Source Separation (GSS) and a multi-channel post-filter that gives us a further reduction of interferences from other sources. An automatic speech recognizer (ASR) based on the Missing Feature Theory (MFT) recognizes separated sounds in real-time by generating missing feature masks automatically from the post-filtering step. The main advantage of this approach for humanoid robots resides in the fact that the ASR with a clean acoustic model can adapt the distortion of separated sound by consulting the post-filter feature masks. Recognition rates are presented for three simultaneous speakers located at 2m from the robot. Use of both the post-filter and the missing feature mask results in an average reduction in error rate of 42% (relative).","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129000398","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: 79
Kinematic Redundancy in Robot Grasp Synthesis. An Efficient Tree-based Representation 机器人抓取综合中的运动冗余。一种高效的树状表示法
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570276
C. F. Peris, Ó. Reinoso, M. A. Vicente, R. Aracil
{"title":"Kinematic Redundancy in Robot Grasp Synthesis. An Efficient Tree-based Representation","authors":"C. F. Peris, Ó. Reinoso, M. A. Vicente, R. Aracil","doi":"10.1109/ROBOT.2005.1570276","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570276","url":null,"abstract":"A redundancy resolution technique devoted to grasp synthesis is presented. Given a set of contact points and a certain robot arm and gripper, the goal is to select both the best assignment of gripper fingers to contact points and the best joint values that allow the fingers to reach such contact points. The system proposed is based on the generation of an inverse kinematics tree where fast searches can be performed in order to find the optimum configuration. Optimality is defined as similarity to previously stored examples over a hierarchical structure of configuration data, which includes finger assignments and robot joints.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129197532","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
Control of Ground Interaction at the Zero-Moment Point for Dynamic Control of Humanoid Robots 仿人机器人动态控制中零力矩点地面相互作用控制
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570362
Jonghoon Park, Y. Youm, W. Chung
{"title":"Control of Ground Interaction at the Zero-Moment Point for Dynamic Control of Humanoid Robots","authors":"Jonghoon Park, Y. Youm, W. Chung","doi":"10.1109/ROBOT.2005.1570362","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570362","url":null,"abstract":"In order for stable control of humanoid robots, ground contact forces should be properly controlled for compensating the dynamic disturbances caused by unactuated body movement. The stability in the sense of the zero-moment point (ZMP), guaranteeing secure contacts during control, is a necessary condition for stable motion control. Therefore, we propose a method to control the ground interaction at the ZMP, or ZMP interaction in short, by modifying the system reference acceleration. We also show that simultaneous control of the ZMP interaction and the body movements is not allowed in general. Simulation result is provided to corroborate the theoretical result.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129292213","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: 21
Modeling the Static and the Dynamic Parts of the Environment to Improve Sensor-based Navigation 对环境的静态和动态部分进行建模以改进基于传感器的导航
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570822
L. Montesano, J. Minguez, L. Montano
{"title":"Modeling the Static and the Dynamic Parts of the Environment to Improve Sensor-based Navigation","authors":"L. Montesano, J. Minguez, L. Montano","doi":"10.1109/ROBOT.2005.1570822","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570822","url":null,"abstract":"This paper addresses the modeling of the static and dynamic parts of the scenario and how to use this information within a real sensor-based navigation system. The contribution in the modeling aspect is a formulation of the Detection and Tracking of Mobile Objects and the Simultaneous Localization and Map Building in such a way that the nature (static/dynamic) of the observations is included in the estimation process. This is achieved by a set of filters tracking the moving objects and a map of the static structure constructed on line. In addition, this paper discusses how this modeling module is integrated in a real sensor-based navigation system taking advantage selectively of the dynamic and static information. The experimental results confirm that the complete navigation system is able to move a vehicle in unknown and dynamic scenarios. Furthermore, the system overcomes many of the limitations of previous systems associated to the ability to distinguish the nature of the parts of the scenario.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123454420","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: 64
Reconstruction of Three Dimensional Models of Environments with a Mobile Robot 用移动机器人重建三维环境模型
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570385
J. Alferes, E. Casanova, J. García-Bermejo
{"title":"Reconstruction of Three Dimensional Models of Environments with a Mobile Robot","authors":"J. Alferes, E. Casanova, J. García-Bermejo","doi":"10.1109/ROBOT.2005.1570385","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570385","url":null,"abstract":"In this paper a method is presented for the three-dimensional reconstruction of environment, using a mobile platform equipped with an onboard laser scanner (for the scene geometry acquisition), and a webcam (for the texture registration). The used algorithm is based on calculating the 3D planes in the scene upon the measured 3D points, through the normal calculation, the projection of the points onto the found planes, and the 2D triangulation of the projected points. This way, the plane regions and the corresponding contours in the model are obtained. Concerning the texture, images are assigned to the plane regions, and the complete scene is built through a stitching algorithm. Images and 3D points are projected onto a sphere, in order the information loss on free form objects, and the distortion caused by points improperly assigned to planes, to be reduced.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"38 10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121168771","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
Collective Human Behavior in Interactive Spaces 互动空间中的集体人类行为
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570416
K. Eng, M. Mintz, P. Verschure
{"title":"Collective Human Behavior in Interactive Spaces","authors":"K. Eng, M. Mintz, P. Verschure","doi":"10.1109/ROBOT.2005.1570416","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570416","url":null,"abstract":"We extend the study of human-robot interaction into the area of large-scale, multi-user, robotic interactive environments. Using our experimental infrastructure – the interactive space Ada, an exhibit at the Swiss national expo in 2002 that received 553,700 visitors – we show that human movement is predictive of key attitudes towards a space and other humans, and that subjects’ behavior and attitudes are influenced by subtle modifications of environmental parameters. We also found several demographic effects on visitors’ opinions of interactive spaces. These findings enhance our quantitative understanding of collective human behavior in interactive spaces and are a first step towards the construction of active environments that can automatically influence human motion and experience. This knowledge will be important in the design and construction of future interactive environments for enhancing the safety and enjoyment of shared areas for large numbers of people.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"2011 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121459721","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
Dimensional Synthesis of Parallel Robots with a Guaranteed Given Accuracy over a Specific Workspace 在特定工作空间上保证给定精度的并联机器人尺寸综合
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570238
J. Merlet, D. Daney
{"title":"Dimensional Synthesis of Parallel Robots with a Guaranteed Given Accuracy over a Specific Workspace","authors":"J. Merlet, D. Daney","doi":"10.1109/ROBOT.2005.1570238","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570238","url":null,"abstract":"We are considering a n d.o.f. parallel robot that has to move within a given workspace and whose geometry is defined by a set of parameters. The motion of active joints of the manipulator are measured with sensors with a known accuracy ±Δρ. These errors together with bounded manufacturing errors on the parameters describing the geometry of the robot induces a positioning errors ΔX of the platform. We present an algorithm that allows one to determine geometries of the robot ensuring that these positioning errors will lie within pre-specified limits for any pose of the robot in its workspace even if the physical realization of the robot differs from the theoretical model while staying within the given manufacturing errors bounds. A by-product variant of this algorithm allows one to compute the maximal positioning errors of a given robot up to a predefined accuracy.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121607751","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: 70
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