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2020 17th International Conference on Ubiquitous Robots (UR)最新文献

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Woody: Low-Cost, Open-Source Humanoid Torso Robot 伍迪:低成本、开源的人形躯干机器人
2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144924
D. Hayosh, Xiao Liu, Kiju Lee
{"title":"Woody: Low-Cost, Open-Source Humanoid Torso Robot","authors":"D. Hayosh, Xiao Liu, Kiju Lee","doi":"10.1109/UR49135.2020.9144924","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144924","url":null,"abstract":"This paper presents a humanoid torso robot, named Woody. It has two arms, each with five degrees of freedom (DoF) and a 2-DoF neck supporting the head with two moving eyebrows. Woody’s hardware is made primarily from laser-cut plywood. Two cameras, a microphone, a speaker, and a microprocessor board are embedded in the robot. The processor board also contains a wireless communication module for remote control and access to networked or cloudbased resources. The interactive functions include face tracking, facial emotion recognition, and several pre-programmed default gestures. Woody’s graphical user interface (GUI) provides its users with instructions on hardware construction and initial setup. Through this GUI, the user can also program the robot and record new gestures by its motion recording function. Woody is developed as an open-source hardware platform that can also utilize open-source software for educational purposes.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116143464","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
3D Printing an Assembled Biomimetic Robotic Finger 3D打印组装的仿生机器人手指
2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144774
Maryam Tebyani, Ash Robbins, William Asper, S. Kurniawan, M. Teodorescu, Zhongkui Wang, S. Hirai
{"title":"3D Printing an Assembled Biomimetic Robotic Finger","authors":"Maryam Tebyani, Ash Robbins, William Asper, S. Kurniawan, M. Teodorescu, Zhongkui Wang, S. Hirai","doi":"10.1109/UR49135.2020.9144774","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144774","url":null,"abstract":"We present a novel approach for fabricating cable-driven robotic systems. Particularly, we show that a biomimetic finger featuring accurate bone geometry, ligament structures, and viscoelastic tendons can be synthesized as a single part using a mutli-material 3D printer. This fabrication method eliminates the need to engineer an interface between the rigid skeletal structure and elastic tendon system. The artificial muscles required to drive the printed tendons of the finger can also be printed in place. MuJoCo, a physics simulation engine which can be used to generate control strategies, is used to develop a model of the non-linear platform. A physical test bed is used to compare the simulation results to a printed prototype. This lays the groundwork for a new robotics design approach, where the fabrication and assembly is automated.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128365906","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
Optimized Jumping of an Articulated Robotic Leg 铰接机器人腿的优化跳跃
2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144799
Junjie Shen, Yeting Liu, Xiaoguang Zhang, D. Hong
{"title":"Optimized Jumping of an Articulated Robotic Leg","authors":"Junjie Shen, Yeting Liu, Xiaoguang Zhang, D. Hong","doi":"10.1109/UR49135.2020.9144799","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144799","url":null,"abstract":"This paper proposes a nonlinear programming (NLP) formulation intended for the trajectory optimization of legged robot jumping applications during the stance phase, taking into consideration the detailed robot model, actuator capability, terrain condition, etc. The method is applicable to a wide class of jumping robots and was successfully implemented on an articulated robotic leg for jumping in terms of maximum reachable height, minimum energy consumption, as well as optimum energy efficiency. The simulation and experimental results demonstrate that this approach is capable of not only planning one single jumping trajectory, but also designing a periodic jumping gait for legged robots.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125803468","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
Cloud Services for Culture Aware Conversation: Socially Assistive Robots and Virtual Assistants 面向文化对话的云服务:社交辅助机器人和虚拟助手
2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144750
C. Recchiuto, Luna Gava, Lucrezia Grassi, Alberto Grillo, Marta Lagomarsino, Davide Lanza, Zijian Liu, C. Papadopoulos, I. Papadopoulos, Antonello Scalmato, A. Sgorbissa
{"title":"Cloud Services for Culture Aware Conversation: Socially Assistive Robots and Virtual Assistants","authors":"C. Recchiuto, Luna Gava, Lucrezia Grassi, Alberto Grillo, Marta Lagomarsino, Davide Lanza, Zijian Liu, C. Papadopoulos, I. Papadopoulos, Antonello Scalmato, A. Sgorbissa","doi":"10.1109/UR49135.2020.9144750","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144750","url":null,"abstract":"This paper introduces a new Cloud platform providing services for culturally competent interaction, that has been developed to expand the capabilities of Socially Assistive Robots and virtual assistants interacting with older persons. The rationale behind the proposed architecture is discussed, by outlining key principles as well as the functionalities provided, with a specific focus on verbal interaction. Three case studies, the humanoid robot Pepper, a robotic medicine dispenser Pillo, and a custom-built Android-based virtual assistant, are analyzed in detail, by showing how robots and other assistants may easily access culturally competent Cloud services to expand their interaction capabilities. Transcripts of conversations are reported and commented, in order to outline both the positive features and the limitations of the system.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114551288","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
Jerk estimation for quadrotor based on differential flatness 基于微分平整度的四旋翼机颤振估计
2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144980
Juan Medrano, Francisco Yumbla, SeungYeop Jeong, Iksu Choi, Yonghee Park, Eugene Auh, H. Moon
{"title":"Jerk estimation for quadrotor based on differential flatness","authors":"Juan Medrano, Francisco Yumbla, SeungYeop Jeong, Iksu Choi, Yonghee Park, Eugene Auh, H. Moon","doi":"10.1109/UR49135.2020.9144980","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144980","url":null,"abstract":"In this work, we propose a method to estimate the inertial jerk of a multicopter vehicle using inertial measurement unit (IMU) measurements, without taking any time derivatives nor the need for motor rpm sensors. If an attitude estimate is not available, a jerk estimate expressed in the vehicle-fixed frame can still be obtained. Our main result comes from the differential flatness property of the vehicle dynamics, which provides an expression that relates jerk with acceleration, angular velocity and thrust dynamics. Dynamic simulation shows that a reasonable estimation of jerk is obtained at linear and angular speed as fast as 2 m/s and 2 rad/s, respectively, and degraded with speed beyond those values. The proposed sensing model could be used to improve control performance or state estimation pipelines in multicopter vehicles.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130266268","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
Trajectory Planning of Upper Limb Rehabilitation Robot Based on Human Pose Estimation 基于人体姿态估计的上肢康复机器人轨迹规划
2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144771
T. Tao, Xingyu Yang, Jiayu Xu, Wei Wang, Sicong Zhang, Ming Li, Guanghua Xu
{"title":"Trajectory Planning of Upper Limb Rehabilitation Robot Based on Human Pose Estimation","authors":"T. Tao, Xingyu Yang, Jiayu Xu, Wei Wang, Sicong Zhang, Ming Li, Guanghua Xu","doi":"10.1109/UR49135.2020.9144771","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144771","url":null,"abstract":"Stroke has become the second leading cause of death in the world, and timely rehabilitation can effectively help patients recover. At present, with the shortage of rehabilitation doctors, using rehabilitation robots to help patients recover has become a more feasible solution. In order to plan a bionic motion trajectory of an upper limb rehabilitation robot more conveniently, a teaching trajectory planning method was proposed based on human pose estimation in this paper. The teaching trajectories were collected by Kinect's depth camera and human bone joints were tracked using deep neural networks OpenPose. The processed trajectories were verified with modeling simulation and robot motion. The planar trajectories were evaluated using the minimum Jerk principle on bio-imitability, the position determination coefficient is more 0.99, the speed determination coefficient is more than 0.94, and the acceleration determination coefficient is more than 0.88. In the case of block, the recognition success rate has increased by more than 73.4% compared with Kinect's bone binding OpenPose algorithm for human bone joint recognition. The bioimitability of the trajectories planned by this method can conveniently and quickly meet the needs of rehabilitation doctors in hospitals to plan the rehabilitation robot trajectory.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131606892","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: 10
Vehicle Control with Prediction Model Based Monte-Carlo Tree Search 基于蒙特卡罗树搜索的预测模型车辆控制
2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144958
Timothy Ha, Kyunghoon Cho, Geonho Cha, Kyungjae Lee, Songhwai Oh
{"title":"Vehicle Control with Prediction Model Based Monte-Carlo Tree Search","authors":"Timothy Ha, Kyunghoon Cho, Geonho Cha, Kyungjae Lee, Songhwai Oh","doi":"10.1109/UR49135.2020.9144958","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144958","url":null,"abstract":"In this paper, we propose a model-based Monte-Carlo Tree Search (model-based MCTS) algorithm for the vehicle planning and control problem. While driving vehicles, we need to predict the future states of other vehicles to avoid collisions. However, because the movements of the vehicles are determined by the intentions of the human drivers, we need to use a prediction model which captures the intention of the human behavior. In our model-based MCTS algorithm, we introduce a neural-network-based prediction model which predicts the behaviors of the human drivers. Unlike conventional MCTS algorithms, our method estimates the rewards and Q-values based on intention-considering future states, not from the pre-defined deterministic models or self-play methods. For the evaluation, we use environments where the other vehicles follow the trajectories of pre-collected driver datasets. Our method shows novel results in the collision avoidance and success rate of the driving, compared to other reinforcement learning and imitation learning algorithms.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131880791","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
An Integrated Teleoperation Assistance System for Collision Avoidance of High-speed UAVs in Complex Environments 复杂环境下高速无人机避碰集成远操作辅助系统
2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144902
Min Wang, H. Voos
{"title":"An Integrated Teleoperation Assistance System for Collision Avoidance of High-speed UAVs in Complex Environments","authors":"Min Wang, H. Voos","doi":"10.1109/UR49135.2020.9144902","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144902","url":null,"abstract":"UAV teleoperation is a demanding task, especially for amateur operators who wish to successfully accomplish their mission without collision. In this work we present an integrated 2D LIDAR based Sense-and-Avoid system which actively assists unskilled human operator in obstacle avoidance, so that the operator can focus on higher-level decisions and global objectives in UAV applications such as search and rescue, farming etc. Specifically, with our perception-assistive vehicle control design, novel adaptive virtual cushion force field (AVCFF) based avoidance strategy, and integrated sensing solution, the proposed UAV teleoperation assistance system is capable of obstacle detection and tracking, as well as automatic avoidance in complex environment where both static and dynamic objects are present. The proposed system is constructed on the basis of Hector Quadrotor open source framework [1], and its effectiveness is demonstrated and validated on a realistic simulated UAV platform in Gazebo simulations where the UAV is operated at a high speed.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127177898","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
Real-time trajectory scaling for robot manipulators 机器人操纵臂的实时轨迹缩放
2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144889
M. Faroni, R. Pagani, G. Legnani
{"title":"Real-time trajectory scaling for robot manipulators","authors":"M. Faroni, R. Pagani, G. Legnani","doi":"10.1109/UR49135.2020.9144889","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144889","url":null,"abstract":"Recent developments in industrial robotics use real-time trajectory modification to improve throughput and safety in automatic processes. Online trajectory scaling is often used to this purpose. In this paper, we propose a feedback trajectory scaling approach that is able to recover from the delay introduced by the speed modulation and improves the path-following performance thanks to an additional inner control loop. Simulation and experimental results on an industrial 6-degree-of-freedom robot show the effectiveness of the proposed approach compared to standard algorithms.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116779903","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
Tripod gait using buffer area around leg workspace for flexible direction change 三脚架步态采用缓冲区域围绕腿的工作空间灵活的方向变化
2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144921
Kenichi Ishida, T. Takubo, Daiki Kobayashi, A. Ueno
{"title":"Tripod gait using buffer area around leg workspace for flexible direction change","authors":"Kenichi Ishida, T. Takubo, Daiki Kobayashi, A. Ueno","doi":"10.1109/UR49135.2020.9144921","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144921","url":null,"abstract":"The tripod gait using a buffer area around leg workspace is proposed to improve the mobility of the hexapod robot. The proposed method provides the buffer area for the support leg located near the border of the workspace to make a continuous walking motion when the walking direction is suddenly changed from the current walking direction. The change of direction is frequently occurred in the teleoperation by the operator to adapt to the remote environment and the required tasks. In the case of a fixed workspace, the group of the support leg when it located on the border of the workspace has to stop the motion until the group of the swing leg will reach to a new landing position corresponding to the commanded direction. Since the buffer area is given to the support leg, it can move until the swing leg will land to the new target position for the direction change. In this paper, the buffer area is defined around the workspace so that the trajectory generation method of the direction change of the support leg and the swing leg using the buffer area are implemented. The smooth direction change using the proposed method is shown based on the actual robot parameters.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130193928","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
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