2008 IEEE International Conference on Robotics and Automation最新文献

Consensus of multiple uncertain mechanical systems and its application in cooperative control of mobile robots 多不确定机械系统的一致性及其在移动机器人协同控制中的应用

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543493

Wenjie Dong, J. Farrell

引用次数: 3

Development of a compact vision system for “automated nuclear transplantation project” 用于“自动核移植工程”的紧凑型视觉系统研制

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543683

H. Uvet, T. Arai, Y. Mae, T. Takubo

引用次数: 0

Low-dimensional feature extraction for humanoid locomotion using kernel dimension reduction 基于核降维的人形运动低维特征提取

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543621

J. Morimoto, S. Hyon, C. Atkeson, G. Cheng

{"title":"Low-dimensional feature extraction for humanoid locomotion using kernel dimension reduction","authors":"J. Morimoto, S. Hyon, C. Atkeson, G. Cheng","doi":"10.1109/ROBOT.2008.4543621","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543621","url":null,"abstract":"We propose using the kernel dimension reduction (KDR) to extract a low-dimensional feature space for humanoid locomotion tasks. Although humanoids have many degrees of freedom, task relevant feature spaces can be much smaller than the number of dimension of the original state space. We consider an application of the proposed approach to improve the locomotive performance of humanoid robots using an extracted low-dimensional state space. To improve the locomotive performance, we use a reinforcement learning (RL) framework. While RL is a useful non-linear optimizer, it is usually difficult to apply RL to real robotic systems - due to the large number of iterations required to acquire suitable policies. In this study, we use the extracted low-dimensional feature space for RL so that the learning system can improve task performance quickly. The kernel dimension reduction method allows us to extract the feature space even if the task relevant mapping is non-linear. This is an essential property to improve humanoid locomotive performance since stepping or walking dynamics involves highly nonlinear dynamics. We show that we can improve stepping and walking policies by using a RL method on an extracted feature space by using KDR.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116925795","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

Towards a needle driver robot for radiofrequency ablation of tumors under continuous MRI 一种用于肿瘤连续MRI射频消融的穿刺机器人

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543590

Rebecca Kokes, K. Lister, R. Gullapalli, Bao Zhang, H. Richard, J. Desai

{"title":"Towards a needle driver robot for radiofrequency ablation of tumors under continuous MRI","authors":"Rebecca Kokes, K. Lister, R. Gullapalli, Bao Zhang, H. Richard, J. Desai","doi":"10.1109/ROBOT.2008.4543590","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543590","url":null,"abstract":"This paper presents an initial design and feasibility study for a 1-DOF Magnetic Resonance Imaging (MRI) compatible needle driver robot for radiofrequency ablation (RFA). This initial design and study is necessary to further understand how to improve on many of the shortcomings in the standard RFA procedure. Combining needle driving with advanced image tracking techniques could provide improved solutions to these clinical limitations. In this paper, we present a hydraulically-actuated 1-DOF needle driver robot that is capable of advancing a radiofrequency (RF) probe into tissue at controllable velocities and positions within an MRI scanner, while collecting force feedback data and maintaining all standards of MRI-compatible design. We also present a method of interfacing the robot with a PHANToM haptic feedback device controlled from outside the MRI scanning room. Experiments demonstrating the PHANToM's ability to receive force feedback and guide the RFA tool to a tumor nodule within a phantom breast model while continuously imaging within MRI have been presented. Our haptic feedback system enabled us to detect normal vs. tumor phantom tissue in the preliminary experiments. Our experimental results demonstrate the compatibility of the entire system for operation during continuous MRI imaging.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127106545","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

Adaptive grasping by multi fingered hand with tactile sensor based on robust force and position control 基于鲁棒力和位置控制的触觉传感器多指手自适应抓取

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543219

Taro Takahashi, Toshimitsu Tsuboi, T. Kishida, Yasunori Kawanami, Satoru Shimizu, M. Iribe, T. Fukushima, M. Fujita

引用次数: 71

Manipulating articulated objects with interactive perception 用交互感知操纵铰接物体

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543220

Dov Katz, O. Brock

引用次数: 164

Human-robot coordination through dynamic regulation 通过动态调节实现人机协调

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543526

Matt Johnson, P. Feltovich, J. Bradshaw, L. Bunch

引用次数: 23

Swimming capsule endoscope using static and RF magnetic field of MRI for propulsion

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543653

G. Kósa, P. Jakab, F. Jolesz, N. Hata

{"title":"Swimming capsule endoscope using static and RF magnetic field of MRI for propulsion","authors":"G. Kósa, P. Jakab, F. Jolesz, N. Hata","doi":"10.1109/ROBOT.2008.4543653","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543653","url":null,"abstract":"Capsule endoscopy is a promising technique for diagnosing diseases in the small intestines. Here we propose a miniature swimming mechanism that uses MRI's magnetic fields for both propulsion and wireless energy delivery. Our method uses both the static and radio frequency (RF) magnetic field inherently available in MRI to generate propulsion force. The propulsion force is produced by a swimming tail containing waving beam consisting of three coils in a row. Alternating current in the coils acting on the static magnetic field of the MRI will generate waving movement to produce a propulsion force. RF magnetic field will provide power to generate the alternating currents in the coils. We developed a theoretical model to predict sinusoidal waves produced by the waving beam using the Euler-Bernoulli beam equation and multiple- input multiple-output system were solved using antenna design theory. This numerical model predicted that the maximal propulsion from a 10 mm long tail can produce a velocity of 7.9 mm/s force of 5.5 mN when placed in a 3T static magnetic field. A validation study with a single coil demonstrated that the theoretical and numerical model predicts well the proposed swimming mechanism and it is useful for the fabrication of swimming tails.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125890237","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: 58

Robust and Efficient Stereo Feature Tracking for Visual Odometry 鲁棒和高效立体特征跟踪视觉里程计

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543184

Andrew E. Johnson, S. Goldberg, Yang Cheng, L. Matthies

引用次数: 136

An efficient decentralized learning by exploiting biarticular muscles - A case study with a 2D serpentine robot - 利用双关节肌肉的高效分散学习-以二维蛇形机器人为例研究

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543798

W. Watanabe, Takahide Sato, A. Ishiguro

引用次数: 2