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

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Usability Study of a Control Framework for an Intelligent Wheelchair 智能轮椅控制框架的可用性研究
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570853
S. P. Parikh, V. Grassi, Vijay R. Kumar, J. Okamoto
{"title":"Usability Study of a Control Framework for an Intelligent Wheelchair","authors":"S. P. Parikh, V. Grassi, Vijay R. Kumar, J. Okamoto","doi":"10.1109/ROBOT.2005.1570853","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570853","url":null,"abstract":"We describe the development and assessment of a computer controlled wheelchair called the SMARTCHAIR. A shared control framework with different levels of autonomy allows the human operator to stay in complete control of the chair at each level while ensuring her safety. The framework incorporates deliberative motion plans or controllers, reactive behaviors, and human user inputs. At every instant in time, control inputs from these three different sources are blended continuously to provide a safe trajectory to the destination, while allowing the human to maintain control and safely override the autonomous behavior. In this paper, we present usability experiments with 50 participants and demonstrate quantitatively the benefits of human-robot augmentation.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"16 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":"130765007","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: 60
Design and Characterization of a Six-axis Accelerometer 六轴加速度计的设计与表征
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570465
Ming Meng, Zhongcheng Wu, Yong Yu, Y. Ge, Y. Ge
{"title":"Design and Characterization of a Six-axis Accelerometer","authors":"Ming Meng, Zhongcheng Wu, Yong Yu, Y. Ge, Y. Ge","doi":"10.1109/ROBOT.2005.1570465","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570465","url":null,"abstract":"External force at the end-effector is often required for the force control of robotic manipulator. In some cases, the force information measured by wrist force sensor consists of the external force and the undesired inertial force arising from the acceleration of the end-effector. Up to now, it is still difficult to extract the external force exactly for the insufficiency of acceleration information. A novel six-axis accelerometer in the type of dual annular membranes structure is presented in this paper. It can simultaneously measure all three linear acceleration components ax, ay, az and three angular acceleration components αx, αy, αz, which can be used to extract the external forces. The sensor structure and its sensing principle are described. The rated strains and interference strains obtained from Finite Element Method (FEM) simulations indicate that the accelerometer has a low level cross-sensitivity. The characteristic experiments reveal that the experimental sensitivities are in good correspondence with the results of the FEM simulations. It also shows that this accelerometer has a good linearity and minor interference errors as well as principle errors.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"34 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":"130881027","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: 23
A Simulation/Experimental Study of the Noisy Behavior of the Time Domain Passivity Controller for Haptic Interfaces 触觉界面时域无源控制器噪声行为的仿真/实验研究
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570785
J. Ryu, Jong-Hwan Kim, D. Kwon, B. Hannaford
{"title":"A Simulation/Experimental Study of the Noisy Behavior of the Time Domain Passivity Controller for Haptic Interfaces","authors":"J. Ryu, Jong-Hwan Kim, D. Kwon, B. Hannaford","doi":"10.1109/ROBOT.2005.1570785","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570785","url":null,"abstract":"A noisy behavior of the time domain passivity controller during the period of low velocity is analyzed. Main reasons of the noisy behavior are investigated through a simulation with a one-DOF haptic interface model. It is shown that the PO/PC is ineffective in dissipating the produced energy when the sign of the velocity, which is numerically calculated from the measured position, is suddenly changed, and when this velocity is zero. These cases happen during the period of low velocity due to the limited resolution of the position sensor. New methods, ignoring the produced energy from the velocity sign change, and holding the control force while the velocity is zero, are proposed for removing the noisy behavior. The feasibility of the developed methods is proved with both a simulation and a real experiment.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"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":"131014297","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
Direct Kinematic Singularity Detection of a Hexa Parallel Robot 六边形并联机器人的直接运动奇异性检测
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570609
J. Hesselbach, C. Bier, A. Campos, H. Löwe
{"title":"Direct Kinematic Singularity Detection of a Hexa Parallel Robot","authors":"J. Hesselbach, C. Bier, A. Campos, H. Löwe","doi":"10.1109/ROBOT.2005.1570609","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570609","url":null,"abstract":"Besides a quantity of well-known positive characteristics, parallel robots also obtain a couple of negative properties which limit their efficient use in certain application areas nowadays. Direct kinematic singularities that constrain the internal workspace are one of these inconvenient properties. This paper establishes a unique index, with physical meaning, that indicates the entrance of the Hexa parallel robot, considering its joint limits, to all its direct kinematic singularities. For this, we complement two methods to detect singularities: the power inspired measure method and the Grassmann geometry method. The applied procedure uses screw theory and line geometry tools to represent movements, actions and lines, respectively, in the robot. This procedure is practically verified in Hexa robot and shows that some singularities are overlapped forming large singularities.","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":"131059311","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: 20
Adaptive Command and Generalization to Locomotion Aid Systems 运动辅助系统的自适应指挥与泛化
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570512
R. Thieffry, É. Monacelli, S. Delaplace
{"title":"Adaptive Command and Generalization to Locomotion Aid Systems","authors":"R. Thieffry, É. Monacelli, S. Delaplace","doi":"10.1109/ROBOT.2005.1570512","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570512","url":null,"abstract":"Due to technical progress and to the growth of the dependent population in our society (elderly and/or handicapped people), needs in advanced technical aids represent a great challenge for robotics. This article presents a study about technical systems for locomotion aid integrating robotic process and adaptive neural controller. The system specificities are an automatic auto-adaptation of the technical aid behavior with regard to the user characteristics. Different experiments have been realized with a robotic walker to evaluate our system. We also integrated it on a robotic wheelchair to show his portability on other technical aids. The obtained results present the possibilities of this adaptation on a walker system and on an electric wheelchair in order to take into account heavy difficulties of handicapped person commands (like Cerebral Motor Infirmity).","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":"131233031","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 Context-Based State Estimation Technique for Hybrid Systems 基于上下文的混合系统状态估计技术
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570720
Sarjoun Skaff, A. Rizzi, H. Choset, Pei-Chun Lin
{"title":"A Context-Based State Estimation Technique for Hybrid Systems","authors":"Sarjoun Skaff, A. Rizzi, H. Choset, Pei-Chun Lin","doi":"10.1109/ROBOT.2005.1570720","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570720","url":null,"abstract":"This paper proposes an approach to robust state estimation for mobile robots with intermittent dynamics. The approach consists of identifying the robot’s mode of operation by classifying the output of onboard sensors into mode-specific contexts. The underlying technique seeks to efficiently use available sensor information to enable accurate, high-bandwidth mode identification. Context classification is combined with multiple-model filtering in order to significantly improve the accuracy of state estimates for hybrid systems. This approach is validated in simulation and shown experimentally to produce accurate estimates on a jogging robot using low-cost sensors.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"194 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":"132764274","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: 18
Locomotion Analysis and Experiment for Climbing Motion of RPRS RPRS攀爬运动分析与实验
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570422
Liping Zhang, Shugen Ma, Bin Li, Guowei Zhang, Xinyuan He, Minghui Wang, Zhengyu Zhang, Bing-gang Cao
{"title":"Locomotion Analysis and Experiment for Climbing Motion of RPRS","authors":"Liping Zhang, Shugen Ma, Bin Li, Guowei Zhang, Xinyuan He, Minghui Wang, Zhengyu Zhang, Bing-gang Cao","doi":"10.1109/ROBOT.2005.1570422","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570422","url":null,"abstract":"A new Reconfigurable Planetary Robot System (RPRS) is introduced in this paper. The locomotion mechanism, especially the static force analysis and the climbing ability for different configurations of the multiple child-robots are presented in detail. The basic configurations of two child-robots systems were given in three modes: connecting in series with arm in front or back and combining to a loop with grasper. The simulation results of these three configurations based on static analysis demonstrate that the climbing ability is closely correlated to their configurations. Compared the results, the conclusion can be obtained that the loop configuration has the best effect than others on slope climbing. The actual experiments of the child-robots system have illustrated the simulating results, and an exciting phenomenon has emerged, which shows that all the configurations can climb bigger gradient than the simulating results. The phenomenon rightly discloses the characteristic of the novel architecture of the child-robot.","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":"128814661","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
An Encounter-Type Multi-Fingered Master Hand Using Circuitous Joints 一种使用迂回关节的遭遇式多指主控手
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570516
Shuhei Nakagawara, H. Kajimoto, N. Kawakami, S. Tachi, I. Kawabuchi
{"title":"An Encounter-Type Multi-Fingered Master Hand Using Circuitous Joints","authors":"Shuhei Nakagawara, H. Kajimoto, N. Kawakami, S. Tachi, I. Kawabuchi","doi":"10.1109/ROBOT.2005.1570516","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570516","url":null,"abstract":"We have developed a new type of master hand to control a dexterous slave robot hand for telexistence. Our master hand has two features. One is a compact exoskeleton mechanism called “circuitous joint,” which covers wide workspace of an operator’s finger. Another is the encounter-type force feedback that enables unconstrained motion of the operator’s finger and natural contact sensation. In this paper, the mechanism and control method of our master hand are introduced and experimental master-slave finger control is conducted.","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":"128844396","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: 115
Frontier-Based Probabilistic Strategies for Sensor-Based Exploration 基于传感器的勘探中基于边界的概率策略
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570713
L. Freda, G. Oriolo
{"title":"Frontier-Based Probabilistic Strategies for Sensor-Based Exploration","authors":"L. Freda, G. Oriolo","doi":"10.1109/ROBOT.2005.1570713","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570713","url":null,"abstract":"We present a frontier-based modification of the SRT (Sensor-based Random Tree) method, a previously proposed probabilistic strategy for sensor-based exploration of unknown environments by a mobile robot. The idea is to improve the efficiency of the method by biasing the randomized generation of configurations towards unexplored areas. Effective implementations of this strategy are proposed for SRT-Ball and SRT-Star, two instances of the general SRT method corresponding to different perception attitudes and sensing equipments. Comparative simulations are presented to show the benefits of the proposed technique.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"45 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":"127661106","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: 121
MICRON: Small Autonomous Robot for Cell Manipulation Applications MICRON:用于细胞操作应用的小型自主机器人
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570222
J. Brufau-Penella, M. Puig-Vidal, J. López-Sánchez, J. Samitier, W. Driesen, J. Breguet, N. Snis, U. Simu, S. Johansson, T. Velten
{"title":"MICRON: Small Autonomous Robot for Cell Manipulation Applications","authors":"J. Brufau-Penella, M. Puig-Vidal, J. López-Sánchez, J. Samitier, W. Driesen, J. Breguet, N. Snis, U. Simu, S. Johansson, T. Velten","doi":"10.1109/ROBOT.2005.1570222","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570222","url":null,"abstract":"Manipulating in the micro- or even nano world still poses a great challenge to robotics. Conventional (stationary) systems suffer from drawbacks regarding integration into process supervision and multi-robot approaches, which become highly relevant to fight scaling effects. This paper describes work currently being carried out which aims to make automated manipulation of micrometer-scaled objects possible by robots with nanometer precision. The goal is to establish a small cluster of (up to five) micro robots equipped with on-board electronics, sensors and wireless power supply. Power autonomy has been reached using inductive energy transmission from an external wireless power supply system or a battery based system. Electronics requirements are fulfilled in the electronic module with the full custom integrated circuit design for the robot locomotion control and the closed loop force control for AFM tool in cell manipulation applications. The maximum velocity obtained is about 0.4 mm/s with a saw tooth voltage signals of 20Vpp and 2500 Hz. In order to keep a AFM tool on micro-robot a specific tip with integrated piezoresistance, instead of the classical laser beam methodology, is validated for force measurement.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"31 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":"127845497","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: 86
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