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

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Collision Avoidance of a Mobile Robot Using Intelligent Hybrid Force Control Technique 基于智能混合力控制技术的移动机器人避碰
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570800
Seul Jung, E. Jang, T. Hsia
{"title":"Collision Avoidance of a Mobile Robot Using Intelligent Hybrid Force Control Technique","authors":"Seul Jung, E. Jang, T. Hsia","doi":"10.1109/ROBOT.2005.1570800","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570800","url":null,"abstract":"In this paper, a novel collision avoidance algorithm of a mobile robot is proposed. Virtual force field between a robot and an obstacle is formed and regulated to maintain a desired distance. To avoid obstacles on the path of a mobile robot, intelligent hybrid force control is used to regulate force field of an accurate distance between a robot and an obstacle. Since uncertainties from robot dynamics and obstacles degrade the performance of a collision avoidance task, neural network is used to compensate for uncertainties. Simulation studies of avoiding obstacles by maintaining a desired distance on the path of a wheeled mobile robot are conducted to confirm the proposed algorithm.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"46 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":"125030134","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
Probabilistic Gaze Imitation and Saliency Learning in a Robotic Head 机器人头部的概率凝视模仿和显著性学习
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570548
A. P. Shon, David B. Grimes, Chris L. Baker, Matthew W. Hoffman, Shengli Zhou, Rajesh P. N. Rao
{"title":"Probabilistic Gaze Imitation and Saliency Learning in a Robotic Head","authors":"A. P. Shon, David B. Grimes, Chris L. Baker, Matthew W. Hoffman, Shengli Zhou, Rajesh P. N. Rao","doi":"10.1109/ROBOT.2005.1570548","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570548","url":null,"abstract":"Imitation is a powerful mechanism for transferring knowledge from an instructor to a naïve observer, one that is deeply contingent on a state of shared attention between these two agents. In this paper we present Bayesian algorithms that implement the core of an imitation learning framework. We use gaze imitation, coupled with task-dependent saliency learning, to build a state of shared attention between the instructor and observer. We demonstrate the performance of our algorithms in a gaze following and saliency learning task implemented on an active vision robotic head. Our results suggest that the ability to follow gaze and learn instructor-and task-specific saliency models could play a crucial role in building systems capable of complex forms of human-robot interaction.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"78 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":"128405200","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: 34
Competitive Multi-robot Teleoperation 竞争性多机器人远程操作
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570099
Jingtai Liu, Lei Sun, Tao Chen, Xingbo Huang, Chunying Zhao
{"title":"Competitive Multi-robot Teleoperation","authors":"Jingtai Liu, Lei Sun, Tao Chen, Xingbo Huang, Chunying Zhao","doi":"10.1109/ROBOT.2005.1570099","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570099","url":null,"abstract":"This paper proposes a novel kind of multi-operator multi-robot(MOMR) teleoperation systems - the competitive teleoperation system. Compared with the conventional collaborated MOMR teleoperation system, features and properties of the competitive teleoperation system are presented. Futhermore, major concerns of research and development for this kind of systems are discussed subsequently. Finally, telegame, a kind of Internet-based competitive teleoperation systems, is built as the prototype to support the future research on this aspect and some experimental results are presented to support the discussion.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"99 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":"127108702","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
A Grasp Planner Based On Inertial Properties 一种基于惯性特性的抓取规划方法
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570208
E. López-Damian, D. Sidobre, R. Alami
{"title":"A Grasp Planner Based On Inertial Properties","authors":"E. López-Damian, D. Sidobre, R. Alami","doi":"10.1109/ROBOT.2005.1570208","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570208","url":null,"abstract":"The future personal robot must be capable to work and take decisions in a dynamic human environment. One important capability of such a robot is manipulation. Grasp, as the beginning of any manipulation task is a key point. In this paper we present a grasp planner for manipulating real objects modeled by polyhedra. The algorithm is based on a random generation of grasp oriented by mass and inertial properties of the object. Recent techniques to filter and evaluate the quality of grasp are discussed.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"61 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":"127501711","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: 42
Rapid Transport of Suspended Payloads 悬挂有效载荷的快速运输
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570310
G. Starr, John E. Wood, R. Lumia
{"title":"Rapid Transport of Suspended Payloads","authors":"G. Starr, John E. Wood, R. Lumia","doi":"10.1109/ROBOT.2005.1570310","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570310","url":null,"abstract":"The topic of composing inputs for systems with mechanical flexibility has received attention for many years. Two popular methods are (1) shaping a nominal trajectory by convolution with an impulse sequence which itself cancels the flexibility, and (2) trajectory parameter optimization using structured basis functions, e.g. bang-coast-bang. However, each of these methods deteriorates in a different way when the motion is rapid compared to the natural period of the flexibility. Motions synthesized using dynamic programming offer clear advantages in these situations: (1) the resulting motions are smoother than those using impulse-convolution, and (2) dynamic programming is deterministic and does not rely on a convex objective function like gradient-based parameter optimization. Examples of the shortcomings of impulse-convolution and parameter-optimization will be shown; then we present both simulation and experimental evaluation of rapid transport of a suspended object using a robot manipulator and a minimum-energy trajectory obtained by dynamic programming.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"178 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":"127505897","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
Autonomous Helicopter Landing on a Moving Platform Using a Tether 使用系绳在移动平台上自主着陆的直升机
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570726
So-Ryeok Oh, K. Pathak, S. Agrawal, H. Pota, M. Garratt
{"title":"Autonomous Helicopter Landing on a Moving Platform Using a Tether","authors":"So-Ryeok Oh, K. Pathak, S. Agrawal, H. Pota, M. Garratt","doi":"10.1109/ROBOT.2005.1570726","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570726","url":null,"abstract":"In this paper, we address the design of an autopilot for autonomous landing of a helicopter on a rocking ship, due to rough sea. The deck is modeled to have a sinusoidal motion. The goal of the helicopter is to land on it during motion. In this work, we use a tether to help in target tracking. Based on the measurement of the angle between the cable and the helicopter/ship, a novel hierarchical two time-scale controller has been proposed to ensure landing of the helicopter on the ship. The system is demonstrated by computer simulation. Currently, work is under progress to implement the algorithm using an instrumented model of a helicopter using a tether.","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":"129980651","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: 43
A Collision Detection System for a Mobile Robot Inspired by the Locust Visual System 受蝗虫视觉系统启发的移动机器人碰撞检测系统
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570705
Shigang Yue, F. Rind
{"title":"A Collision Detection System for a Mobile Robot Inspired by the Locust Visual System","authors":"Shigang Yue, F. Rind","doi":"10.1109/ROBOT.2005.1570705","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570705","url":null,"abstract":"The lobula giant movement detector (LGMD) is an identified neuron in the locust brain that responds most strongly to the image of an approaching object such as a predator. A computational neural network model based on the structure of the LGMD and its afferent inputs is also able to detect approaching objects. In order for the LGMD network to be used as a robust collision detector for robotic applications, we proposed a new mechanism to enhance the feature of colliding objects before the excitations are gathered by LGMD cell. The new model favours grouped excitation but tends to ignore isolated excitation with selective passing coefficients. Experiments with a Khepera robot showed the proposed collision detector worked in real time in an arena surrounded with blocks.","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":"130140003","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: 47
Task-space Feedback Control for A Two-link Arm Driven by Six Muscles with Variable Damping and Elastic Properties 六块可变阻尼和弹性肌肉驱动的两连杆机械臂的任务空间反馈控制
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570123
K. Tahara, Zhiwei Luo, S. Arimoto, H. Kino
{"title":"Task-space Feedback Control for A Two-link Arm Driven by Six Muscles with Variable Damping and Elastic Properties","authors":"K. Tahara, Zhiwei Luo, S. Arimoto, H. Kino","doi":"10.1109/ROBOT.2005.1570123","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570123","url":null,"abstract":"It is well-known that a human musculo-skeletal body is redundant in terms of both kinematics and dynamics. The former means that the degree of freedom in joint space is larger than that in task space, and the latter means that a joint is driven by a number of muscles. All human skillful movements can be performed by using both redundancies. However, these redundancies induce the underlying ill-posedness problem that each joint angle and muscle’s output forces cannot be uniquely determined. These ill-posedness problems are known as “Bernstein’s problem” and are important to understand how human multi-joint movements are produced. In this study, we address the latter redundancy problem on how muscle’s output forces can be determined from the viewpoint of robotics. In this paper, we consider a reaching movement by means of a two-link planar arm with six muscles and show that both damping and elastic properties coming from nonlinear dynamics of the muscles play a crucial role. By using a simple task space feedback control input together with an additional term to control the internal force to regulate damping and elasticity in joint space, we show some simulation results which exhibit human-like quasi-straight line movement.","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":"128949827","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: 15
PowerMate – A Safe and Intuitive Robot Assistant for Handling and Assembly Tasks PowerMate & # 8211;一个安全直观的机器人助手处理和组装任务
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570745
R. Schraft, C. Meyer, Christopher Parlitz, Evert Helms
{"title":"PowerMate – A Safe and Intuitive Robot Assistant for Handling and Assembly Tasks","authors":"R. Schraft, C. Meyer, Christopher Parlitz, Evert Helms","doi":"10.1109/ROBOT.2005.1570745","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570745","url":null,"abstract":"In this contribution a robot assistant for handling and assembly tasks is presented. The main emphasis of PowerMate was to create a robot assistant that works together with a human worker that is conform to safety category 3 according to DIN ISO 954 and to use components suitable for industrial use, which leads to certain constrains on the possible control mechanisms. An overview of existing concepts of man-machine-cooperation is given. Different architectures for these kinds of robot assistants are discussed. A user-customizable motion control for PowerMate is presented. A description of the force-movement-calculations, the hardware and software architecture and the safety system of the robot assistant is given.","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":"128974032","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: 87
Regrasp Planning of Four-Fingered Hand for Parallel Grasp of a Polygonal Object 四指手平行抓取多边形物体的再抓取规划
Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570212
T. Phoka, Peam Pipattanasomporn, N. Niparnan, A. Sudsang
{"title":"Regrasp Planning of Four-Fingered Hand for Parallel Grasp of a Polygonal Object","authors":"T. Phoka, Peam Pipattanasomporn, N. Niparnan, A. Sudsang","doi":"10.1109/ROBOT.2005.1570212","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570212","url":null,"abstract":"This paper proposes a necessary and sufficient condition for parallel grasps. We extend the use of this condition to the task of regrasp planning. In particular, we propose a graph structure called a switching graph which contains information about primitive grasping operations such as finger switching and finger sliding. The problem of regrasp planning is transformed to a graph search problem. Mainly, this work concentrates on a parallel grasp with force closure. Assuming frictional point contacts, the proposed method has been implemented and some preliminary results are presented.","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":"132371281","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: 12
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