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2008 IEEE International Conference on Robotics and Automation最新文献

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Decentralised fault tolerance and fault detection of modular and reconfigurable robots with joint torque sensing 关节扭矩传感模块化可重构机器人的分散容错与故障检测
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543749
S. Abdul, Guangjun Liu
{"title":"Decentralised fault tolerance and fault detection of modular and reconfigurable robots with joint torque sensing","authors":"S. Abdul, Guangjun Liu","doi":"10.1109/ROBOT.2008.4543749","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543749","url":null,"abstract":"A decentralised approach to fault tolerant control and fault detection is proposed for modular and reconfigurable robots with joint torque sensing. The proposed fault tolerant control scheme is independent of fault detection, avoiding the chances of delay being introduced by the detection scheme on the fault tolerant control algorithm. Based on a unique joint by joint control approach, the proposed fault tolerant controller for each module neither requires motion states of any other modules, nor the link dynamics. The addition or removal of modules does not affect the control of other joint modules. Uncalibrated torque sensor signals are utilized and actuator performance degradation is considered. Faults are detected and corrective measures are taken at the module level. An observer-based fault detection algorithm is proposed by using a residual generated from the joint velocity estimation and measured joint velocity. Simulation and experimental results have confirmed the effectiveness of the proposed fault tolerant control and fault detection schemes.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"35 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":"122017146","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
An explicit model to predict and interpret constraint force creation in pHRI with exoskeletons 一个明确的模型来预测和解释外骨骼在pHRI中产生的约束力
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543387
A. Schiele
{"title":"An explicit model to predict and interpret constraint force creation in pHRI with exoskeletons","authors":"A. Schiele","doi":"10.1109/ROBOT.2008.4543387","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543387","url":null,"abstract":"It is the goal of this paper to introduce an analytical model that allows predicting and interpreting the characteristics of constraint forces generated by misaligned joint axes between human operators and wearable robots during physical human-robot interaction (pHRI). The pHRI model is based on geometric parameters that describe the combined human-robot system. It is applied in this paper to measured constraint forces from a pHRI experiment. The model is validated with the experimental data. The geometrical model parameters are identified from force and position measurements by non-linear parameter optimization. The attachment stiffness and the actual offsets between the exoskeleton and the human joints are estimated. For the tested subject, the stiffness reaches 222 N/m and constraint forces are shown to be in the order of plusmn 10 N. It is shown in this paper how an ergonomically designed wearable robot with passive compensation joints can reduce such interaction forces.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"6 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":"117039447","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: 68
A biorobotic flapping fin for propulsion and maneuvering 用于推进和操纵的仿生扑翼
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543287
J. Tangorra, G. Lauder, P. Madden, R. Mittal, Meliha Bozkurttas, I. Hunter
{"title":"A biorobotic flapping fin for propulsion and maneuvering","authors":"J. Tangorra, G. Lauder, P. Madden, R. Mittal, Meliha Bozkurttas, I. Hunter","doi":"10.1109/ROBOT.2008.4543287","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543287","url":null,"abstract":"A series of biorobotic fins has been developed based on the pectoral fin of the bluegill sunfish. These robotic fins model physical properties of the biological fin, and execute kinematics derived from sunfish motions that were identified to be most responsible for thrust. When the physical properties of the robotic fin are tuned appropriately to operating conditions, the robotic fin, like the sunfish, produces positive thrust throughout the entire fin beat. Due to having many degrees of freedom, these fins can be used to generate and control forces for propulsion and maneuvering.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"73 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":"128447007","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: 27
Optimal design and implementation of an energy-efficient, semi-active biped 节能半主动双足机器人的优化设计与实现
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543375
Ting-Ying Wu, T. Yeh
{"title":"Optimal design and implementation of an energy-efficient, semi-active biped","authors":"Ting-Ying Wu, T. Yeh","doi":"10.1109/ROBOT.2008.4543375","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543375","url":null,"abstract":"In this paper, a semi-active biped which combines the merits of both powered and passive bipeds is proposed. The semi-activeness of the biped is due to the fact that, during most of a walking cycle, only half of the joints are actuated, and the other half remain unactuated, but have passive joint springs to induce their motions. To devise a systematic design methodology for the biped, its dynamics as well as the walking constraints are carefully studied. Furthermore, an optimization procedure is proposed to compute the optimal trajectories for the actuated joints and spring constants which can lead to minimum energy consumption. The feasibility of the proposed biped is verified by hardware implementation. Experiments indicate that the semi-active biped consumes 80% less the electrical power of the powered biped that performs the same gait and is more energy-efficient than several state-of-the-art bipeds.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"40 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":"128256044","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: 8
Automatic detection of assembly mode for a triglide-robot 三坐标机器人装配方式的自动检测
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543425
C. Budde, M. Rose, J. Maass, A. Raatz
{"title":"Automatic detection of assembly mode for a triglide-robot","authors":"C. Budde, M. Rose, J. Maass, A. Raatz","doi":"10.1109/ROBOT.2008.4543425","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543425","url":null,"abstract":"Robots based on parallel kinematic structures are known to have a small workspace compared to their installation space. To tackle this drawback a workspace enlargement approach using several workspaces going along with different working and assembly modes has been introduced in earlier publications. Robot structures designed for this approach are able to change their assembly modes. Using the drives' position feedback systems these assembly modes cannot be distinguished, which is necessary at least after startup of the robot control to correctly solve the structure's kinematic models. In this paper different approaches for a detection of the actual assembly mode of a kinematic structure are presented. Using the example of a Triglide-robot one of the approaches is demonstrated in more detail. It is based on a comparison of measured drive forces, necessary to hold the structure against gravity, with theoretical holding forces, calculated for all possible assembly modes. Experimental results show the effectiveness of the approach.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"32 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":"128274378","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
Automatic deployment and formation control of decentralized multi-agent networks 分布式多智能体网络的自动部署与编队控制
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543198
B. Smith, M. Egerstedt, A. Howard
{"title":"Automatic deployment and formation control of decentralized multi-agent networks","authors":"B. Smith, M. Egerstedt, A. Howard","doi":"10.1109/ROBOT.2008.4543198","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543198","url":null,"abstract":"Novel tools are needed to deploy multi-agent networks in applications that require a high degree of accuracy in the achievement and maintenance of geometric formations. This is the case when deploying distributed sensing devices across large spatial domains. Through so-called embedded graph grammars (EGGs), this paper develops a method for automatically generating control programs that ensure that a multi-robot network is deployed according to the desired configuration. This paper presents a communication protocol needed for implementing and executing the control programs in an accurate and deadlock-free manner.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"13 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":"128560326","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
Design of a mobile mechanism possessing driving ability and detecting function for in-pipe inspection 一种具有驱动和检测功能的管道内检测移动机构的设计
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543824
Peng Li, Shugen Ma, Bin Li, Yuechao Wang
{"title":"Design of a mobile mechanism possessing driving ability and detecting function for in-pipe inspection","authors":"Peng Li, Shugen Ma, Bin Li, Yuechao Wang","doi":"10.1109/ROBOT.2008.4543824","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543824","url":null,"abstract":"In this paper, a mobile mechanism with driving capability and detecting function is proposed for in-pipe inspection task. Based on this mechanism, a robot is designed and fabricated. The advantage of this robot is that it has mobile ability in the pipe and detecting function for inspection, while only one DC motor is installed. This results in low energy consumption and low cost to make. The robot propels itself in the pipe under a driving mode, and it is used for finding the defect of the pipe under a detecting mode. By switching these two working modes, the robot performs the inspection task without other extra DC motors. Moreover, a velocity change mechanism is introduced to adapt the change of the payload through adjusting the incline angle of the roller. The characteristics of this mechanism are analyzed by comparison with a classical screw drive robot and a direct drive robot. Finally, basic experiments are conducted to testify the mobility and efficiency of this robot.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"12 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":"129344137","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: 32
A clustering method for efficient segmentation of 3D laser data 三维激光数据高效分割的聚类方法
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543832
Klaas Klasing, D. Wollherr, M. Buss
{"title":"A clustering method for efficient segmentation of 3D laser data","authors":"Klaas Klasing, D. Wollherr, M. Buss","doi":"10.1109/ROBOT.2008.4543832","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543832","url":null,"abstract":"In this paper we present a novel method for the efficient segmentation of 3D laser range data. The proposed algorithm is based on a radially bounded nearest neighbor strategy and requires only two parameters. It yields deterministic, repeatable results and does not depend on any initialization procedure. The efficiency of the method is verified with synthetic and real 3D data.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"107 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":"124661510","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: 181
Intrinsically motivated hierarchical manipulation 内在动机层次操纵
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543796
Stephen Hart, Shiraj Sen, R. Grupen
{"title":"Intrinsically motivated hierarchical manipulation","authors":"Stephen Hart, Shiraj Sen, R. Grupen","doi":"10.1109/ROBOT.2008.4543796","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543796","url":null,"abstract":"We present a framework for the programming of manipulation behavior by means of an intrinsic reward function that encourages the building of deep control knowledge. We show how this framework can be used to teach new manipulation skills in a hierarchical and incremental fashion. We demonstrate the contributions of this paper on a humanoid robot through three incremental learning stages.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"172 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":"124672080","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: 39
Fast 3D reconstruction of human shape and motion tracking by parallel fast level set method 基于并行快速水平集方法的人体形状快速三维重建与运动跟踪
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543332
Y. Iwashita, R. Kurazume, K. Hara, S. Uchida, K. Morooka, T. Hasegawa
{"title":"Fast 3D reconstruction of human shape and motion tracking by parallel fast level set method","authors":"Y. Iwashita, R. Kurazume, K. Hara, S. Uchida, K. Morooka, T. Hasegawa","doi":"10.1109/ROBOT.2008.4543332","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543332","url":null,"abstract":"This paper presents a parallel algorithm of the Level Set Method named the Parallel Fast Level Set Method, and its application for real-time 3D reconstruction of human shape and motion. The Fast Level Set Method is an efficient implementation algorithm of the Level Set Method and has been applied to several applications such as object tracking in video images and 3D shape reconstruction using multiple stereo cameras. In this paper, we implement the Fast Level Set Method on a PC cluster and develop a real-time motion capture system for arbitrary viewpoint image synthesis. To obtain high performance on a PC cluster, efficient load-balancing and resource allocation algorithms are crucial problems. We develop a novel optimization technique of load distribution based on the estimation of moving direction of object boundaries. In this technique, the boundary motion is estimated in the framework of the Fast Level Set Method, and the optimum load distribution is predicted and performed according to the estimated boundary motion and the current load balance. Experiments of human shape reconstruction and arbitrary viewpoint image synthesis using the proposed system are successfully carried out.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"46 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":"126795727","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: 7
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