2008 IEEE International Conference on Robotics and Automation最新文献_第6页

A particle filtering method for wireless sensor network localization with an aerial robot beacon 基于航拍机器人信标的无线传感器网络定位粒子滤波方法

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543271

F. Caballero, L. Merino, I. Maza, A. Ollero

引用次数: 84

Driving skill characterization: A feasibility study 驾驶技能表征:可行性研究

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543600

Yilu Zhang, William C. Lin, Y. Chin

引用次数: 23

Improving force feedback fidelity in wave-variable-based teleoperation 改进基于波动变量的遥操作力反馈保真度

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543208

Y. Ye, P. X. Liu

引用次数: 3

Design and control of a multifunction myoelectric hand with new adaptive grasping and self-locking mechanisms 具有新型自适应抓握和自锁机构的多功能肌电手的设计与控制

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543294

J. Chu, Dong-Hyun Jung, Yun-Jung Lee

引用次数: 46

Methods for end-effector coupling in robot assisted interventions 机器人辅助干预中末端执行器耦合的方法

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543729

J. Burgner-Kahrs, Yaokun Zhang, J. Raczkowsky, H. Wörn, G. Eggers, J. Mühling

引用次数: 3

Caging rigid polytopes via finger dispersion control 笼刚性多晶体通过手指分散控制

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543364

Peam Pipattanasomporn, Pawin Vongmasa, A. Sudsang

引用次数: 22

Tracking hidden agents through shadow information spaces 通过影子信息空间追踪隐藏的特工

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543562

Jingjin Yu, S. LaValle

引用次数: 21

Towards detection of orthogonal planes in monocular images of indoor environments 室内环境单眼图像中正交平面的检测研究

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543335

B. Micusík, H. Wildenauer, M. Vincze

{"title":"Towards detection of orthogonal planes in monocular images of indoor environments","authors":"B. Micusík, H. Wildenauer, M. Vincze","doi":"10.1109/ROBOT.2008.4543335","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543335","url":null,"abstract":"In this paper, we describe the components of a novel algorithm for the extraction of dominant orthogonal planar structures from monocular images taken in indoor environments. The basic building block of our approach is the use of vanishing points and vanishing lines imposed by the frequently observed dominance of three mutually orthogonal vanishing directions in man-made world. Vanishing points are found by an improved approach, taking no assumptions on known internal or external camera parameters. The problem of detecting planar patches is attacked using a probabilistic framework, searching for the maximum a posteriori probability (MAP) in a Markov Random Field (MRF). For this, we propose a novel formulation fusing geometric information obtained from vanishing points and features, such as rectangles and partial rectangles, together with a color-homogeneity criteria imposed by an image over-segmentation. The method was evaluated on a set of images exhibiting largely varying characteristics concerning image quality and scene complexity. Experiments show that the method, despite the variations, works in a stable manner and that its performance compares favorably to the state-of-the-art.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"64 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":"117117721","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: 29

Concurrent multi-link deployment of a gravity-assisted underactuated snake robot for aircraft assembly 飞机装配用重力辅助欠驱动蛇形机器人多连杆并行部署

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543835

B. Roy, H. Asada

{"title":"Concurrent multi-link deployment of a gravity-assisted underactuated snake robot for aircraft assembly","authors":"B. Roy, H. Asada","doi":"10.1109/ROBOT.2008.4543835","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543835","url":null,"abstract":"This paper presents algorithms for concurrent deployment of multiple links of a gravity-assisted underactuated robot arm. The joints of the hyper-articulated arm have no dedicated actuators, but are activated with gravity. By tilting the base link appropriately, multiple unactuated links may be steered simultaneously to desired angular positions. This underactuated arm design was motivated by the need for a compact snake-like robot that can go into aircraft wings and perform assembly operations using heavy end-effecters. The dynamics of the unactuated links are essentially 2nd order non- holonomic constraints, for which there are no general control algorithms. We perform a controllability analysis to establish the feasibility of multi-link positioning using the available inputs, viz., the biaxial tilts of the base link. We propose a feed-forward control algorithm for simultaneous positioning of multiple links. We also propose an intermittent feedback control scheme to compensate for disturbances acting on the system. We built a 4 link prototype where the base is tilted using a Stewart Platform. The proposed control schemes are implemented on our prototype system. The experimental results indicate the efficacy of the control 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":"117187544","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: 0

Toward designing a robot that learns actions from parental demonstrations 设计一个机器人，可以从父母的示范中学习动作

2008 IEEE International Conference on Robotics and Automation Pub Date : 2008-05-19 DOI: 10.1109/ROBOT.2008.4543753

Y. Nagai, C. Muhl, K. Rohlfing

{"title":"Toward designing a robot that learns actions from parental demonstrations","authors":"Y. Nagai, C. Muhl, K. Rohlfing","doi":"10.1109/ROBOT.2008.4543753","DOIUrl":"https://doi.org/10.1109/ROBOT.2008.4543753","url":null,"abstract":"How to teach actions to a robot as well as how a robot learns actions is an important issue to be discussed in designing robot learning systems. Inspired by human parent-infant interaction, we hypothesize that a robot equipped with infant-like abilities can take advantage of parental proper teaching. Parents are known to significantly alter their infant-directed actions versus adult-directed ones, e.g. make more pauses between movements, which is assumed to aid the infants' understanding of the actions. As a first step, we analyzed parental actions using a primal attention model. The model based on visual saliency can detect likely important locations in a scene without employing any knowledge about the actions or the environment. Our statistical analysis revealed that the model was able to extract meaningful structures of the actions, e.g. the initial and final state of the actions and the significant state changes in them, which were highlighted by parental action modifications. We further discuss the issue of designing an infant-like robot that can induce parent-like teaching, and present a human-robot interaction experiment evaluating our robot simulation equipped with the saliency model.","PeriodicalId":351230,"journal":{"name":"2008 IEEE International Conference on Robotics and Automation","volume":"320 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":"125774259","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