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2008 IEEE International Conference on Robotics and Automation最新文献

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Multimodal saliency-based bottom-up attention a framework for the humanoid robot iCub 基于多模态显著性的自底向上关注:仿人机器人iCub的框架
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543329
Jonas Ruesch, M. Lopes, A. Bernardino, J. Hörnstein, J. Santos-Victor, R. Pfeifer
{"title":"Multimodal saliency-based bottom-up attention a framework for the humanoid robot iCub","authors":"Jonas Ruesch, M. Lopes, A. Bernardino, J. Hörnstein, J. Santos-Victor, R. Pfeifer","doi":"10.1109/ROBOT.2008.4543329","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543329","url":null,"abstract":"This work presents a multimodal bottom-up attention system for the humanoid robot iCub where the robot's decisions to move eyes and neck are based on visual and acoustic saliency maps. We introduce a modular and distributed software architecture which is capable of fusing visual and acoustic saliency maps into one egocentric frame of reference. This system endows the iCub with an emergent exploratory behavior reacting to combined visual and auditory saliency. The developed software modules provide a flexible foundation for the open iCub platform and for further experiments and developments, including higher levels of attention and representation of the peripersonal space.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"39 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120891960","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: 156
Active gaze control for attentional visual SLAM 注意视觉SLAM的主动凝视控制
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543777
S. Frintrop, P. Jensfelt
{"title":"Active gaze control for attentional visual SLAM","authors":"S. Frintrop, P. Jensfelt","doi":"10.1109/ROBOT.2008.4543777","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543777","url":null,"abstract":"In this paper, we introduce an approach to active camera control for visual SLAM. Features, detected by a biologically motivated attention system, are tracked over several frames to determine stable landmarks. Matching of features to database entries enables global loop closing. The focus of this paper is the active camera control module, which supports the system with three behaviours: (i) A tracking behaviour tracks promising landmarks and prevents them from leaving the field of view, (ii) A redetection behaviour directs the camera actively to regions where landmarks are expected and thus supports loop closing, (iii) Finally, an exploration behaviour investigates regions without landmarks and enables a more uniform distribution of landmarks. Several real-world experiments show that the active camera control outperforms the passive system considerably.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"25 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121004907","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: 30
Practical robust control for flexible joint robot manipulators 柔性关节机器人的实用鲁棒控制
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543726
J. Yeon, J. Park
{"title":"Practical robust control for flexible joint robot manipulators","authors":"J. Yeon, J. Park","doi":"10.1109/ROBOT.2008.4543726","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543726","url":null,"abstract":"In this paper we proposed a practical robust controller which has simple structure, more easy tuning factor, and control forms having direct relation with control performance. This robust control is designed using the motor side dynamics directly. The design procedure consists of three parts. A model based computed torque control part to decrease stead-state errors, a feedback based control part to increase control accuracy, and robust control part to maintain the tracking performance using the nonlinear H-infinity control. The designed robust control is applied to a 6 DOF robot manipulator with joint flexibilities. The proposed robust controller has better tracking performance and advantage in its application.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"166 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":"121064425","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: 54
Assemblable pursestring suture instrument for laparoscopic surgery 用于腹腔镜手术的组合式荷包缝合器
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543811
T. Takayama, T. Omata, K. Kojima, N. Tanaka
{"title":"Assemblable pursestring suture instrument for laparoscopic surgery","authors":"T. Takayama, T. Omata, K. Kojima, N. Tanaka","doi":"10.1109/ROBOT.2008.4543811","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543811","url":null,"abstract":"We have proposed a novel concept of assemblable instruments for laparoscopic surgery, that is, their parts can be disassembled to pass through trocars and can be reassembled inside the abdominal cavity to become large instruments. By applying this concept, this paper proposes an assemblable pursestring suture instrument (PSI). In gastrectomy, a purse string suture on the esophagus is made preparatory to the anastomosis of the esophagus and the small intestine with a circular stapler. A traditional PSI cannot pass through a trocar because of its T-shaped jaws and a PSI that can be used in laparoscopic surgery is highly desired, which motivates us to develop the assemblable PSI. We have developed two prototypes of the assemblable PSI. The experiment with the first prototype verifies that it can be assembled in the abdominal cavity. However it cannot generate a grip force enough to hold the esophagus. We propose a two-DOF unfolding linkage mechanism for the gripper of the second prototype. The in vivo experiment with the second prototype verifies that it can make a satisfactory purse string suture.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"259 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":"116218465","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
A wearable, self-calibrating, wireless sensor network for body motion processing 一种可穿戴的、自校准的、用于身体运动处理的无线传感器网络
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543338
Kwang Yong Lim, F.Y.K. Goh, Wei Dong, K. Nguyen, I. Chen, S. Yeo, H. Duh, Chung Gon Kim
{"title":"A wearable, self-calibrating, wireless sensor network for body motion processing","authors":"Kwang Yong Lim, F.Y.K. Goh, Wei Dong, K. Nguyen, I. Chen, S. Yeo, H. Duh, Chung Gon Kim","doi":"10.1109/ROBOT.2008.4543338","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543338","url":null,"abstract":"A novel self-calibrating sensing technology using miniature linear encoders and inertial/magnetic measurement unit (IMU) provides the accuracy, fast response and robustness required by many body motion processing applications. Our sensor unit consists of an accelerometer, a 3-axis magnetic sensor, 2 gyroscopes and a miniature linear encoder. The fusion of data from the sensors is accomplished by extracting the gravity related term from the accelerometer and consistently calibrating the gyroscopes and linear encoder when the sensor unit is under static conditions. Using the fused sensors, we developed a complete motion processing system that consists of a gateway where the human kinematics modeling is embedded. A time divided multiple access wireless architecture is adopted to synchronize the sensor network at 100 Hz. Experimental results show that the combination of the IMU and linear encoder produces a low RMS error of 3.5deg and correlation coefficient of 99.01%. A video showing the capture a performer's upper body motion is also realized.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"517 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":"116232456","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: 36
Locomotion strategy for a peristaltic crawling robot in a 2-dimensional space 蠕动爬行机器人在二维空间中的运动策略
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543215
Taro Nakamura, Tomohide Iwanaga
{"title":"Locomotion strategy for a peristaltic crawling robot in a 2-dimensional space","authors":"Taro Nakamura, Tomohide Iwanaga","doi":"10.1109/ROBOT.2008.4543215","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543215","url":null,"abstract":"An earthworm moves by peristaltic crawling, which propagates a longitudinal wave from the front of the body to the back by varying the thickness and length of its segments. This locomotion mechanism can move while keeping a large area in contact with the ground. Further, the amount of space required by this locomotion mechanism is less than that by other locomotion mechanisms. Therefore, it is desirable to apply this mechanism not only to robots for rescue and limited environment exploration operations but also to locomotive endoscopic robots for medical engineering. In this study, we developed a peristaltic crawling robot that can move not only in a tube but also on a plane surface. Furthermore; we propose a peristaltic crawling robot and its locomotion strategy. As a result, the simulation and experimental results showed good performance.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"1 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":"121134685","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: 37
Odometry calibration using home positioning function for mobile robot 利用到家定位功能对移动机器人进行里程计校准
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543519
Youngmok Yun, Byungjae Park, W. Chung
{"title":"Odometry calibration using home positioning function for mobile robot","authors":"Youngmok Yun, Byungjae Park, W. Chung","doi":"10.1109/ROBOT.2008.4543519","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543519","url":null,"abstract":"Odometry calibration is a first and essential step to do for a successful navigation because most of control algorithms are based on odomety information. Odometry error can be categorized as systematic and non-systematic error. In this paper, we suggest a novel method to calibrate systematic error using inherent home positioning capability of home cleaning robot. The method is designed for a differential drive type and take advantage of Augmented extended Kalman Fil- ter(AKF) Algorithm to estimates systematic error parameters. Our approach has both characteristics of on-line and off-line. By simulation and experiment, we evaluate the method and the result shows that the proposed method gives odometry error reduction by several times.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"54 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":"121795301","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
Skilled-motion plannings of multi-body systems based upon Riemannian distance 基于黎曼距离的多体系统熟练运动规划
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543372
M. Sekimoto, S. Arimoto, S. Kawamura, J. Bae
{"title":"Skilled-motion plannings of multi-body systems based upon Riemannian distance","authors":"M. Sekimoto, S. Arimoto, S. Kawamura, J. Bae","doi":"10.1109/ROBOT.2008.4543372","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543372","url":null,"abstract":"This paper focuses on the Riemannian distance and its application to skilled-motion plannings for the system. The Riemannian distance from one pose to another and vice versa is defined as the minimum curve-length measured by the Riemannian metric based upon the system inertia matrix among all curves connecting the two poses. The minimum-length curve in this meaning is called \"geodesic\" and reflects a movement of the system affected only by inertia-tensor-originated force (i.e., pure inertia, centrifugal, and Coriolis forces). In order to investigate in detail such a movement along the geodesic, some computer simulations are conducted in the cases of planar motions by a 4-DOF robot arm and biped walkings by a whole-body robot. It is shown through simulation results that movements attaining the Riemannian distance (natural movements in inertial actions) in the two cases tend to be similar to those in human skilled motions when human-scale robot models are chosen. Based upon the Riemannian distance, motion plannings for multi-body systems using physical properties inherent in their own physical structures are discussed.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"85 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":"121806209","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
Ultrasonic relative positioning for multi-robot systems 多机器人系统的超声相对定位
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543228
Frédéric Rivard, Jonathan Bisson, F. Michaud, D. Létourneau
{"title":"Ultrasonic relative positioning for multi-robot systems","authors":"Frédéric Rivard, Jonathan Bisson, F. Michaud, D. Létourneau","doi":"10.1109/ROBOT.2008.4543228","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543228","url":null,"abstract":"Coordination of a group of mobile robots is facilitated when they are able to determine their positions relative to each other. Instead of using an absolute positioning approach with fixed beacons in the operating environment, we have developed a ultrasonic relative positioning system that allows each robot to perceive the distance and the angle of other nearby robots in relation to its own position. The system is based on time-of-flight evaluation of ultrasonic pulses and a RF communication link. The system has a precision of 8 mm and of 3deg over a 6.7 m range. This paper describes the system, its performance and its use on four Pioneer 2 robots moving in formation.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"56 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":"123752438","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: 75
An approximation algorithm for the least overlapping p-Frame problem with non-partial coverage for networked robotic cameras 网络机器人摄像机非部分覆盖最小重叠p帧问题的近似算法
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543337
Yiliang Xu, Dezhen Song, J. Yi, A.F. van der Stappen
{"title":"An approximation algorithm for the least overlapping p-Frame problem with non-partial coverage for networked robotic cameras","authors":"Yiliang Xu, Dezhen Song, J. Yi, A.F. van der Stappen","doi":"10.1109/ROBOT.2008.4543337","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543337","url":null,"abstract":"We report our algorithmic development of the p-frame problem that addresses the need of coordinating a set of p networked robotic pan-tilt-zoom cameras for n, (n > p), competing polygonal requests. We assume that the p frames have almost no overlap on the coverage between frames and a request is satisfied only if it is fully covered. We then propose a Resolution Ratio with Non-Partial Coverage (RRNPC) metric to quantify the satisfaction level for a given request with respect to a set of p candidate frames. We propose a lattice-based approximation algorithm to search for the solution that maximizes the overall satisfaction. The algorithm builds on an induction-like approach that finds the relationship between the solution to the (p - 1)-frame problem and the solution to the p-frame problem. For a given approximation bound isin, the algorithm runs in O(n/isin3 +p2/isin6) time. We have implemented the algorithm and experimental results are consistent with our complexity analysis.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"36 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":"121354182","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: 13
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