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2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)最新文献

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The MIT super mini cheetah: A small, low-cost quadrupedal robot for dynamic locomotion 麻省理工学院的超级迷你猎豹:一种小型，低成本的四足机器人，用于动态运动
2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2015-10-01 DOI: 10.1109/SSRR.2015.7443018
Will Bosworth, Sangbae Kim, N. Hogan
{"title":"The MIT super mini cheetah: A small, low-cost quadrupedal robot for dynamic locomotion","authors":"Will Bosworth, Sangbae Kim, N. Hogan","doi":"10.1109/SSRR.2015.7443018","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7443018","url":null,"abstract":"We present the MIT Super Mini Cheetah, a small (sub-10kg) and low-cost (sub-10k$) quadrupedal robot for dynamic locomotion. The robot can control vertical and horizontal force and impedance at each foot and performs dynamically stable walking, jumping, pronking, turning and braking using simple force and impedance trajectories. We present design specifications for dynamic legs which were used to guide the selection of leg components (e.g., motor, gearbox, and limb geometry). We demonstrate experimental evidence of accurate force control during foot-ground impact and present video of locomotion gaits performed by the robot. To the best of our knowledge, this is the first small (sub-10kg), power autonomous quadrupedal robot to perform such a wide range of ballistic locomotion behaviors and demonstrate foot force control during impact.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134212895","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: 48
Hybrid motions by a quadruped tracked mobile robot 四足履带式移动机器人的混合运动
2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2015-10-01 DOI: 10.1109/SSRR.2015.7443010
Toyomi Fujita, Taiga Sasaki, Yuichi Tsuchiya
{"title":"Hybrid motions by a quadruped tracked mobile robot","authors":"Toyomi Fujita, Taiga Sasaki, Yuichi Tsuchiya","doi":"10.1109/SSRR.2015.7443010","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7443010","url":null,"abstract":"We have developed a tracked mobile robot which is equipped with four legs at its body. This robot is able to not only move on rough terrain robustly, but also perform variety of working motions by using the legs as manipulation arms. This paper describes several possible leg-track hybrid working and movement motions. Specifically, we consider the motion of running over a gap and retrieving a target object under a big board. The retrieving motion is a typical example which represents working ability of this type of robot. Necessary joint torques were simulated in these motions based on statics. Several experimental results of these motions by the developed robot showed the ability of the robot in hybrid locomotion and work.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128527202","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
Navigation around an unknown obstacle for autonomous surface vehicles using a forward-facing sonar 自主水面车辆使用前置声纳绕过未知障碍物进行导航
2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2015-10-01 DOI: 10.1109/SSRR.2015.7443014
Patrick A. Plonski, J. V. Hook, Cheng Peng, Narges Noori, Volkan Isler
{"title":"Navigation around an unknown obstacle for autonomous surface vehicles using a forward-facing sonar","authors":"Patrick A. Plonski, J. V. Hook, Cheng Peng, Narges Noori, Volkan Isler","doi":"10.1109/SSRR.2015.7443014","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7443014","url":null,"abstract":"A robotic boat is moving between two points when it encounters an obstacle of unknown size. The boat must find a short path around the obstacle to resume its original course. How should the boat move when it can only sense the proximity of the obstacle, and does not have prior information about the obstacle's size? We study this problem for a robotic boat with a forward-facing sonar. We study two versions of the problem. First, we solve a simplified case when the obstacle is a rectangle of known orientation but unknown dimensions. Second, we study a more general case where an arbitrarily shaped obstacle is contained between two known parallel lines. We study the performance of the algorithms analytically using competitive analysis and present results from field experiments. The experimental setup is relevant for harbor patrol or autonomous navigation in shallow water.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128766232","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
Human roles for robot augmented first response 人类对机器人增强第一反应的作用
2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2015-10-01 DOI: 10.1109/SSRR.2015.7443001
C. Humphrey, J. Adams
{"title":"Human roles for robot augmented first response","authors":"C. Humphrey, J. Adams","doi":"10.1109/SSRR.2015.7443001","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7443001","url":null,"abstract":"Emergency incident response varies dramatically based on incident type, size, and response duration. Robots will facilitate response planning and maintaining awareness, remove responders from dangerous situations, and allow for immediate site feedback prior to human responder entry. Introducing new robots to emergency incident response can affect the human responder command hierarchy's workflow, decision-making, and responsibilities. Thus, understanding the relationship and interaction roles humans in the response system can assume when robots are added is critical. Large-scale emergency incidents (or response systems) can involve thousands of responders and many thousands of civilians and victims. The primary contribution is the classification, based on five components, of response system individuals to ten roles that encapsulate the hundreds of potential responders, bystanders and victims. A new role, the abstracted supervisor is also defined.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121284840","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: 2
Shape-constrained whole-body adaptivity 形状约束的全身适应性
2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2015-10-01 DOI: 10.1109/SSRR.2015.7442945
M. Travers, Chaohui Gong, H. Choset
{"title":"Shape-constrained whole-body adaptivity","authors":"M. Travers, Chaohui Gong, H. Choset","doi":"10.1109/SSRR.2015.7442945","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7442945","url":null,"abstract":"The unique mobility characteristics that make novel robotic platforms potential assets to the search and rescue community can also, unfortunately, provide obstacles in transitioning them from use in the lab to effective use in the field. For example, snake-like robots have small-cross sectional areas that enable them to weave through extremely tightly-packed volumes, e.g., collapsed buildings. Unfortunately, the small size of these robot makes it difficult to incorporate traditional drive mechanisms, like tracks or wheels, and thus makes intuitively driving the robots quite difficult. This paper hypothesizes that, for snake-like robots, one way to extend their overall usefulness is to add layers of mobile autonomy based on biologically inspired behavioral design. A biologically-inspired control architecture that utilizes a novel snake-like robotic platform's ability to locally sense distributed forces along its body is introduced. Preliminary results highlighting how this architecture can be used to facilitate autonomous locomotion in tightly-packed volumes are presented.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115196595","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
Environmental sensing using millimeter wave sensor for extreme conditions 极端条件下使用毫米波传感器的环境传感
2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2015-10-01 DOI: 10.1109/SSRR.2015.7442947
Muhammad Shakeel, D. Nardi, K. Ohno, S. Tadokoro
{"title":"Environmental sensing using millimeter wave sensor for extreme conditions","authors":"Muhammad Shakeel, D. Nardi, K. Ohno, S. Tadokoro","doi":"10.1109/SSRR.2015.7442947","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7442947","url":null,"abstract":"The aim of this work is to investigate rotational millimeter wave sensor for autonomous navigation in extreme environmental and weather conditions. The proposed research describes the development and deployment of efficient millimeter wave radar system for mobile robotics as a primary range sensor to allow for localization and mapping. In fact, in highly demanding weather conditions, conventional sensors for outdoor navigation, like ultrasound, lasers and optical sensors have known limitations, that may be at least overcome using the Millimeter Wave Radars. Specifically, our contribution focuses on the extraction of range and velocity information from the data collected by rotating the antennas of a millimeter wave radar at different speed profiles: 360° rps, 180° rps and 36° rps. Experimental validation was performed in foggy conditions to test the robustness of the proposed sensor in a realistic scenario, showing that distances can be acquired in the range of 1 to 40m, at a suitable rate.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"48 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131258515","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: 3
Autonomous MAV navigation in complex GNSS-denied 3D environments 复杂gnss拒绝3D环境中的自主MAV导航
2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2015-10-01 DOI: 10.1109/SSRR.2015.7443012
Matthias Nieuwenhuisen, David Droeschel, Marius Beul, Sven Behnke
{"title":"Autonomous MAV navigation in complex GNSS-denied 3D environments","authors":"Matthias Nieuwenhuisen, David Droeschel, Marius Beul, Sven Behnke","doi":"10.1109/SSRR.2015.7443012","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7443012","url":null,"abstract":"Micro aerial vehicles, such as multirotors, are particular well suited for the autonomous exploration, examination, and surveillance of otherwise inaccessible areas, e.g., for search and rescue missions in indoor disaster sites. Key prerequisites for the fully autonomous operation of micro aerial vehicles in restricted environments are 3D mapping, real-time pose tracking, obstacle detection, and planning of collision-free trajectories. In this work, we propose a complete navigation system with a multimodal sensor setup for omnidirectional environment perception. Measurements of a 3D laser scanner are aggregated in egocentric local multiresolution grid maps. Local maps are registered and merged to allocentric maps in which the MAV localizes. For autonomous navigation, we generate trajectories in a multi-layered approach: from mission planning over global and local trajectory planning to reactive obstacle avoidance. We evaluate our approach in a GNSS-denied indoor environment where multiple collision hazards require reliable omnidirectional perception and quick navigation reactions.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115849882","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
Cheetah-cub-S: Steering of a quadruped robot using trunk motion Cheetah-cub-S:用躯干运动操纵四足机器人
2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2015-10-01 DOI: 10.1109/SSRR.2015.7443021
Karl Weinmeister, P. Eckert, H. Witte, A. Ijspeert
{"title":"Cheetah-cub-S: Steering of a quadruped robot using trunk motion","authors":"Karl Weinmeister, P. Eckert, H. Witte, A. Ijspeert","doi":"10.1109/SSRR.2015.7443021","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7443021","url":null,"abstract":"A reliable concept for steering was realized by integrating a spine-like structure with one DoF into a quadruped robot - Cheetah-cub-S. We increased maneuverability dramatically compared to a robot with rigid spine, while keeping controlling effort low. The robot weights 1160 g at 0.1 m (height), 0.105 m (width) and 0.205 m (length). Based on qualitative tests, it is able to run 0.36 m/s and turn within a radius of 0.51 m (equivalent to 2.48 body lengths) at 0.31 m/s (equivalent to 34°/s). We could steer the quadruped around three objects in a 7.13 m (23 s @ 0.31 m/s) slalom within our test area. Due to its modularity, Cheetah-cub-S is a versatile mobile platform and components such as the spine segment, legs, motors or steering mechanism can be exchanged, leading to easier development of even higher performing robot-versions.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"237 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115648140","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: 33
Appearance-based person identification algorithm to search for persons using a flying robot 基于外观的人识别算法，利用飞行机器人搜索人
2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2015-10-01 DOI: 10.1109/SSRR.2015.7442995
T. Yonezawa, E. Takeuchi, K. Ohno, S. Tadokoro
{"title":"Appearance-based person identification algorithm to search for persons using a flying robot","authors":"T. Yonezawa, E. Takeuchi, K. Ohno, S. Tadokoro","doi":"10.1109/SSRR.2015.7442995","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7442995","url":null,"abstract":"This paper proposes a person identification algorithm that can be used when searching for persons from multiple images captured by flying robots. The images taken by such robots have low resolution and contain various viewing angles of people because they fly at a safe distance from and often move around people. The proposed person identification algorithm is based on appearance and can identify a person from low-resolution images of the upper body. In appearance-based person identification, the accuracy is low when a single image is used. Therefore, the accuracy is improved by accumulating the score. Experimental results obtained using 40 subjects show that the identification accuracy based on images having different view angles is better than that based on images having similar view angles. Further, the identification accuracy increase even when rear images of the person that are barely distinguishable from those of another person are added to the input images. In addition, it can identify persons even when the size of the upper body image is as small as 15 pixels. We performed the identification experiment using images taken by an aerial-robot while it was actually flying and proved the effectiveness of the algorithm.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"20 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129104611","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
Friction binding study and remedy design for tethered search and rescue robots 系留搜救机器人摩擦约束研究与补救设计
2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2015-10-01 DOI: 10.1109/SSRR.2015.7442940
A. Specian, Mark H. Yim
{"title":"Friction binding study and remedy design for tethered search and rescue robots","authors":"A. Specian, Mark H. Yim","doi":"10.1109/SSRR.2015.7442940","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7442940","url":null,"abstract":"Mobile robots in search and rescue (SAR) are often tethered for power communications and recovery. This tether can often cause problems getting snagged in the environment. This study characterize tether snagging and proposes a novel tether managing robot (TMR) as a means of preventing snags and potentially delivering payloads. Data on tether interaction with obstacles inspired design features for the TMR which will allow an SAR robot attached to a tether to travel more easily. The proposed TMR can easily integrate to any tethered SAR robot.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127145831","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: 4
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