Proceedings of the 2005 IEEE International Conference on Robotics and Automation最新文献_第5页

Robust Object Detection at Regions of Interest with an Application in Ball Recognition 兴趣区域鲁棒目标检测及其在球识别中的应用

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570107

Sara Mitri, S. Frintrop, Kai Pervölz, H. Surmann, A. Nüchter

引用次数: 59

A New Perspective on O(n) Mass-Matrix Inversion for Serial Revolute Manipulators 系列回转机械臂O(n)质量矩阵反演的新视角

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570849

Kiju Lee, G. Chirikjian

{"title":"A New Perspective on O(n) Mass-Matrix Inversion for Serial Revolute Manipulators","authors":"Kiju Lee, G. Chirikjian","doi":"10.1109/ROBOT.2005.1570849","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570849","url":null,"abstract":"This paper describes a new algorithm for the efficient mass-matrix inversion of serial manipulators. Whereas several well-known O(n) algorithms already exist, our presentation is an alternative and completely different formulation that builds on Fixman’s theorem from the polymer physics literature. The main contributions here are therefore adding a new perspective to the manipulator dynamics literature and providing an alternative to existing algorithms. The essence of this theory is to consider explicitly the band-diagonal structure of the inverted mass matrix of a manipulator with no constraints on link length, offsets or twist angles, and then build in constraints by appropriate partitioning of the inverse of the unconstrained mass matrix. We present the theory of the partitioned mass matrix and inverse of the mass matrix for serial revolute manipulators. The planar N-link manipulator with revolute joints is used to illustrate the procedure. Numerical results verify the O(n) complexity of the algorithm. Exposure of the robotics community to this approach may lead to new ways of thinking about manipulator dynamics and control.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"49 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":"115936066","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: 17

Virtual Power Limiter System which Guarantees Stability of Control Systems 保证控制系统稳定性的虚拟功率限制器系统

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570308

K. Kanaoka, M. Uemura

引用次数: 7

A Sample-based Convex Cover for Rapidly Finding an Object in a 3-D Environment 在三维环境中快速寻找物体的基于样本的凸盖

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570649

A. Sarmientoy, R. Murrieta-Cidz, S. Hutchinsony

引用次数: 20

Steady-State Throughput and Scheduling Analysis of Multi-Cluster Tools for Semiconductor Manufacturing: A Decomposition Approach 半导体制造多集群工具的稳态吞吐量和调度分析:一种分解方法

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570134

J. Yi, Shengwei Ding, Dezhen Song

引用次数: 43

Dynamic Sensing of Human Eye 人眼动态感知

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570549

M. Kaneko, K. Tokuda, T. Kawahara

引用次数: 40

A 3D IR Camera with Variable Structured Light for Home Service Robots 一种用于家庭服务机器人的可变结构光三维红外相机

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570384

Sukhan Lee, Jongmoo Choi, Seungmin Baek, Byungchan Jung, Changsik Choi, Hunmo Kim, Jeongtaek Oh, Seungsub Oh, DaeSik Kim, Jaekeun Na

{"title":"A 3D IR Camera with Variable Structured Light for Home Service Robots","authors":"Sukhan Lee, Jongmoo Choi, Seungmin Baek, Byungchan Jung, Changsik Choi, Hunmo Kim, Jeongtaek Oh, Seungsub Oh, DaeSik Kim, Jaekeun Na","doi":"10.1109/ROBOT.2005.1570384","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570384","url":null,"abstract":"There has shown a significant interest in a high performance of, at the same time, a compact size and low cost of, 3D sensor, in reflection of a growing need of 3D environmental sensing for service robotics. One of the important requirements associated with such a 3D sensor is that sensing does not irritate or disturb human in any way while working in close and continuous contact with human. Furthermore, such a 3D sensor should be reliable and robust to the change of environmental illumination as service robots are required to work day and night. This paper presents a 3D IR camera with variable structured light that is human friendly and robust enough for application to home service robots. Infrared is chosen as the sensing medium in order to meet the requirement of human friendliness and robustness to illumination change. A Digital Mirror Device (DMD) is employed to generate and project variable patterns at a high speed for real-time operation. In implementation, we emphasize the integration of modular components to support real-time sensing and compactness in size. A number of real-world experimentations are conducted, including a human face, a statue, and a plastic model. The experimental results have demonstrated that the implemented 3D IR Camera is robust to illumination change, in addition to its advantage of human friendliness.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"360 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":"131577605","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

Stable Exploration for Bearings-only SLAM 纯轴承SLAM的稳定探索

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570474

Robert Sim

引用次数: 39

Tele-existence Vision System with Image Stabilization for Rescue Robots 基于图像稳定的救援机器人远存视觉系统

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.20965/jrm.2005.p0181

Koichiro Hayashi, Y. Yokokohji, T. Yoshikawa

{"title":"Tele-existence Vision System with Image Stabilization for Rescue Robots","authors":"Koichiro Hayashi, Y. Yokokohji, T. Yoshikawa","doi":"10.20965/jrm.2005.p0181","DOIUrl":"https://doi.org/10.20965/jrm.2005.p0181","url":null,"abstract":"The purpose of this research is to develop an intuitive interface to control rescue robots. We propose a new image stabilization system for easy operation of rescue robots. A promising method to search victims in rubble, is the use of teleoperated rescue robots. In the rescue activities with such robots, operators remotely control the robots through images captured by cameras mounted on the robots. Since the orientation of the robots change intensively while they move in rubble, image stabilization is necessary so that the operators can search victims without suffering from fatigue nor motion sickness. However, the orientation changes of the rescue robots are so intensive that conventional methods may not be capable of stabilizing the camera images. In this paper, we propose a new image stabilization system which can cancel the camera motion due to the intensive changes of the robot’s orientation on an uneven terrain. After a preliminary experiment, a 3-DOF camera system was designed based on the newly proposed mechanism. To verify the performance of the camera system, we conducted three experiments. The result of the experiments confirmed that the proposed mechanism shows good performance in motion stabilization as well as good performance in tracking the commanded head motion. Finally, we verified that the camera system works properly even when it was mounted on a crawler running on an uneven terrain.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"105 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":"132643730","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

Keeping Track of Humans: Have I Seen This Person Before? 跟踪人类:我以前见过这个人吗?

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570420

W. Zajdel, Z. Zivkovic, B. Kröse

引用次数: 115