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2008 IEEE International Conference on Robotics and Automation最新文献

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Fusion tracking in color and infrared images using sequential belief propagation 彩色和红外图像融合跟踪采用顺序信念传播
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543550
Huaping Liu, F. Sun
{"title":"Fusion tracking in color and infrared images using sequential belief propagation","authors":"Huaping Liu, F. Sun","doi":"10.1109/ROBOT.2008.4543550","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543550","url":null,"abstract":"In this paper, we propose an approach to fuse the color and infrared images for visual tracking. The contribution of this paper is twofold: First, we use the covariance feature to construct the likelihood function under the framework of particle filter. This likelihood captures the spatial and statistical properties as well as their correlation within representation of covariance. Secondly, different from the existing fusion approaches, our approach automatically realizes the fusion by sequential belief propagation, which uses message passing scheme to exchange information between color and infrared image. The performance of the proposed approach is evaluated using real visual tracking examples.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"17 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131958610","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
POMDP-based long-term user intention prediction for wheelchair navigation 基于pomdp的轮椅导航长期用户意向预测
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543813
T. Taha, J. V. Miró, G. Dissanayake
{"title":"POMDP-based long-term user intention prediction for wheelchair navigation","authors":"T. Taha, J. V. Miró, G. Dissanayake","doi":"10.1109/ROBOT.2008.4543813","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543813","url":null,"abstract":"This paper presents an intelligent decision-making agent to assist wheelchair users in their daily navigation activities. Several navigational techniques have been successfully developed in the past to assist with specific behaviours such as \"door passing\" or \"corridor following\". These shared control strategies normally require the user to manually select the level of assistance required during use. Recent research has seen a move towards more intelligent systems that focus on forecasting users' intentions based on current and past actions. However, these predictions have been typically limited to locations immediately surrounding the wheelchair. The key contribution of the work presented here is the ability to predict the users' intended destination at a larger scale, that of a typical office arena. The systems relies on minimal user input - obtained from a standard wheelchair joystick - in conjunction with a learned Partially Observable Markov Decision Process (POMDP), to estimate and subsequently drive the user to his destination. The projection is constantly being updated, allowing for true user- platform integration. This shifts users' focus from fine motor- skilled control to coarse control broadly intended to convey intention. Successful simulation and experimental results on a real wheelchair robot demonstrate the validity of the approach.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"15 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":"132021179","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
Speed and height control for a special class of running quadruped robots 一种特殊类型四足机器人的速度和高度控制
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543307
N. Cherouvim, E. Papadopoulos
{"title":"Speed and height control for a special class of running quadruped robots","authors":"N. Cherouvim, E. Papadopoulos","doi":"10.1109/ROBOT.2008.4543307","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543307","url":null,"abstract":"In this work a novel control method is presented for controlling the forward speed and apex height of a special class of running quadruped robot, with a dimensionless inertia of 1, and one actuator per leg. Seeking to minimize the parasitic pitching motion in running, pronking is used as the target gait. The control design is based on the robot dynamics, allowing its application to a wide range of robots of the class studied. Moreover, the controller adjusts the robot speed and height, requiring knowledge only of the robot physical parameters. The control ensures that negative actuator work during the stance phase is zero, thereby reducing the power expenditure. Small, off-the-shelf DC motors are adequate for the control implementation, while results of application to a detailed robot model show good performance even when including leg mass, foot collision, motor limitations, foot slipping and other factors.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"30 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":"132460429","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
Continuous control law from unilateral constraints 单侧约束下的连续控制律
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543723
N. Mansard, O. Khatib
{"title":"Continuous control law from unilateral constraints","authors":"N. Mansard, O. Khatib","doi":"10.1109/ROBOT.2008.4543723","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543723","url":null,"abstract":"The control approaches based on tasks, and particularly based on a hierarchy of tasks, enable to build complex behaviors with some nice properties of robustness and portability. However it is difficult to consider directly unilateral constraints in such a framework. Unilateral constraints presents some strong irregularities (in particular at the level of their derivative) that prevents the insertion of unilateral-based tasks at the high-priority level of a hierarchy. In this paper, we present an original method to generalize the hierarchy-based control schemes to take unilateral constraint into account at the top-priority level. We develop our method first at the kinematic level then directly at the dynamic level using the operational space. The method is then validated on a various set of robots by realizing a visual servoing under the constraint of joint limits.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"157 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":"132469847","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
Cooperative anchoring in heterogeneous multi-robot systems 异构多机器人系统中的协同锚定
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543715
K. LeBlanc, A. Saffiotti
{"title":"Cooperative anchoring in heterogeneous multi-robot systems","authors":"K. LeBlanc, A. Saffiotti","doi":"10.1109/ROBOT.2008.4543715","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543715","url":null,"abstract":"Highly heterogeneous robotic systems are becoming increasingly common, as are robotic systems integrated with smart environments. In such distributed systems, there are many different sources and types of information, which need to be coordinated and combined effectively. The problem of cooperative anchoring is (roughly) the problem of, in a distributed system, determining which items of information refer to the same objects, and combining these items accordingly. In this paper, we define a general computational framework for cooperative anchoring inspired by work on conceptual spaces and (single-robot) perceptual anchoring. We also discuss an implementation of this framework which uses tools from fuzzy logic, and we present an illustrative experiment.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"30 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":"131504229","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: 49
Real-time visual loop-closure detection 实时视觉闭环检测
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543475
Adrien Angeli, S. Doncieux, Jean-Arcady Meyer, David Filliat
{"title":"Real-time visual loop-closure detection","authors":"Adrien Angeli, S. Doncieux, Jean-Arcady Meyer, David Filliat","doi":"10.1109/ROBOT.2008.4543475","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543475","url":null,"abstract":"In robotic applications of visual simultaneous localization and mapping, loop-closure detection and global localization are two issues that require the capacity to recognize a previously visited place from current camera measurements. We present an online method that makes it possible to detect when an image comes from an already perceived scene using local shape information. Our approach extends the bag of visual words method used in image recognition to incremental conditions and relies on Bayesian filtering to estimate loop-closure probability. We demonstrate the efficiency of our solution by real-time loop-closure detection under strong perceptual aliasing conditions in an indoor image sequence taken with a handheld camera.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"41 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":"127566140","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: 113
Programming modular robots with locally distributed predicates 用局部分布谓词编程模块化机器人
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543691
Michael DeRosa, S. Goldstein, Peter Lee, P. Pillai, Jason Campbell
{"title":"Programming modular robots with locally distributed predicates","authors":"Michael DeRosa, S. Goldstein, Peter Lee, P. Pillai, Jason Campbell","doi":"10.1109/ROBOT.2008.4543691","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543691","url":null,"abstract":"We present a high-level language for programming modular robotic systems, based on locally distributed predicates (LDP), which are distributed conditions that hold for a connected subensemble of the robotic system. An LDP program is a collection of LDPs with associated actions which are triggered on any subensemble that matches the predicate. The result is a reactive programming language which efficiently and concisely supports ensemble-level programming. We demonstrate the utility of LDP by implementing three common, but diverse, modular robotic tasks.","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":"125228245","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: 59
A haptic control interface for a motorized exercise machine 一种用于机动运动机的触觉控制界面
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543509
C. Carignan, Jonathan Tang
{"title":"A haptic control interface for a motorized exercise machine","authors":"C. Carignan, Jonathan Tang","doi":"10.1109/ROBOT.2008.4543509","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543509","url":null,"abstract":"A haptic interface is generated for a powered arm curl machine for modulating resistance \"on-the-fly\" during strength training and rehabilitation. Force signals from a load cell are input to an impedance loop based on the desired resistance law, which then outputs position commands to a servomotor. The kinematics between the actuator drive and arm curl angle are derived, and the admittance control implementation used for realizing the resistance laws is described. Preliminary experimental results are presented for viscous and inertial control laws.","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":"131015720","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: 14
A point-based POMDP planner for target tracking 目标跟踪的基于点的POMDP计划器
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543611
David Hsu, Wee Sun Lee, Nan Rong
{"title":"A point-based POMDP planner for target tracking","authors":"David Hsu, Wee Sun Lee, Nan Rong","doi":"10.1109/ROBOT.2008.4543611","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543611","url":null,"abstract":"Target tracking has two variants that are often studied independently with different approaches: target searching requires a robot to find a target initially not visible, and target following requires a robot to maintain visibility on a target initially visible. In this work, we use a partially observable Markov decision process (POMDP) to build a single model that unifies target searching and target following. The POMDP solution exhibits interesting tracking behaviors, such as anticipatory moves that exploit target dynamics, information- gathering moves that reduce target position uncertainty, and energy-conserving actions that allow the target to get out of sight, but do not compromise long-term tracking performance. To overcome the high computational complexity of solving POMDPs, we have developed SARSOP, a new point-based POMDP algorithm based on successively approximating the space reachable under optimal policies. Experimental results show that SARSOP is competitive with the fastest existing point-based algorithm on many standard test problems and faster by many times on some.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"70 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":"131111297","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: 92
Electroadhesive robots—wall climbing robots enabled by a novel, robust, and electrically controllable adhesion technology 电黏附机器人——一种新型的、强大的、可控的黏附技术使爬壁机器人成为可能
2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543670
H. Prahlad, R. Pelrine, S. Stanford, J. Marlow, R. Kornbluh
{"title":"Electroadhesive robots—wall climbing robots enabled by a novel, robust, and electrically controllable adhesion technology","authors":"H. Prahlad, R. Pelrine, S. Stanford, J. Marlow, R. Kornbluh","doi":"10.1109/ROBOT.2008.4543670","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543670","url":null,"abstract":"This paper describes a novel clamping technology called compliant electroadhesion, as well as the first application of this technology to wall climbing robots. As the name implies, electroadhesion is an electrically controllable adhesion technology. It involves inducing electrostatic charges on a wall substrate using a power supply connected to compliant pads situated on the moving robot. High clamping forces (0.2-1.4 Newton supported by 1 square centimeter of clamp area, depending on substrate) have been demonstrated on a wide variety of common building substrates, both rough and smooth as well as both electrically conductive and insulating. Unlike conventional adhesives or dry adhesives, the electroadhesion can be modulated or turned off for mobility or cleaning. The technology uses a very small amount of power (on the order of 20 microwatts/Newton weight held) and shows the ability to repeatably clamp to wall substrates that are heavily covered in dust or other debris. Using this technology, SRI International has demonstrated a variety of wall climbing robots including tracked and legged robots.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"37 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":"115326403","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: 275
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