2023 IEEE International Conference on Robotics and Automation (ICRA)最新文献

A Non-planar Assembly of Modular Tetrahedral-shaped Aerial Robots 模块化四面体型空中机器人的非平面装配

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161301

Obadah Wali, Mohamad T. Shahab, Eric Feron

引用次数: 0

Modeling of a Robotic Transcatheter Delivery System 机器人经导管输送系统的建模

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161486

Namrata U. Nayar, Ronghuai Qi, J. Desai

{"title":"Modeling of a Robotic Transcatheter Delivery System","authors":"Namrata U. Nayar, Ronghuai Qi, J. Desai","doi":"10.1109/ICRA48891.2023.10161486","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161486","url":null,"abstract":"Intracardiac transcatheter systems guided by advanced imaging modalities are gaining popularity in treating mitral regurgitation in non-surgical candidates. Robotically steerable transcatheter systems must use model-based control strategies to ensure safer and more effective transcatheter procedures with less trauma while using smaller control gains. In this paper, a 4-DoF robotically steerable tendon-driven robot was fabricated, and the relationship between the tendon displacement and the joint angle was derived. This relation was derived in two parts to make this approach applicable to any other catheter system. A model was derived to determine the tendon tensions needed to achieve desired joint angles. Then, the tendon characteristics were studied, and a tendon elongation (TE) model was derived as a function of tendon length. Executing the modeling process in two steps makes it easy to introduce additional parameters like length, friction, and pose, to characterize complex systems like catheters. The TE model was used to actuate the joints of the robot and RMSE was computed to characterize its performance. Also, PID control was used along with the TE model to improve the system's performance, and the contribution of the model and the controller in the system was recorded.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123130073","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: 1

Repetitive Twisting Durability of Synthetic Fiber Ropes 合成纤维绳的重复扭转耐久性

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160745

Shinya Sadachika, Masahito Kanekiyo, Hiroyuki Nabae, G. Endo

引用次数: 0

Predictive Runtime Verification of Skill-based Robotic Systems using Petri Nets 基于Petri网的技能机器人系统预测运行时验证

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160434

Baptiste Pelletier, C. Lesire, Christophe Grand, D. Doose, M. Rognant

引用次数: 0

Monocular Reactive Collision Avoidance for MAV Teleoperation with Deep Reinforcement Learning 基于深度强化学习的机动机器人遥操作单眼反应性避碰

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160427

Raffaele Brilli, Marco Legittimo, F. Crocetti, Mirko Leomanni, M. L. Fravolini, G. Costante

{"title":"Monocular Reactive Collision Avoidance for MAV Teleoperation with Deep Reinforcement Learning","authors":"Raffaele Brilli, Marco Legittimo, F. Crocetti, Mirko Leomanni, M. L. Fravolini, G. Costante","doi":"10.1109/ICRA48891.2023.10160427","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10160427","url":null,"abstract":"Enabling Micro Aerial Vehicles (MAVs) with semi-autonomous capabilities to assist their teleoperation is crucial in several applications. Remote human operators do not have, in general, the situational awareness to perceive obstacles near the drone, nor the readiness to provide commands to avoid collisions. In this work, we devise a novel teleoperation setting that asks the operator to provide a simple high-level signal encoding the speed and the direction they expect the drone to follow. We then endow the MAV with an end-to-end Deep Reinforcement Learning (DRL) model that computes control commands to track the desired trajectory while performing collision avoidance. Differently from State-of-the-Art (SotA) works, it allows the robot to move freely in the 3D space, requires only the current RGB image captured by a monocular camera and the current robot position, and does not make any assumption about obstacle shape and size. We show the effectiveness and the generalization capabilities of our strategy by comparing it against a SotA baseline in photorealistic simulated environments.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127155730","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

Computational Modeling in System with Non-Circular Timing Pulleys 非圆同步皮带轮系统的计算建模

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160802

Renzo Caballero, Angelica Coronado, Eric Feron

引用次数: 0

Towards Autonomous UAV Railway DC Line Recharging: Design and Simulation 面向自主无人机的铁路直流线路充电:设计与仿真

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161506

F. F. Nyboe, N. Malle, G. V. Bögel, L. Cousin, T. Heckel, Konstantin Troidl, Anders Schack Madsen, E. Ebeid

{"title":"Towards Autonomous UAV Railway DC Line Recharging: Design and Simulation","authors":"F. F. Nyboe, N. Malle, G. V. Bögel, L. Cousin, T. Heckel, Konstantin Troidl, Anders Schack Madsen, E. Ebeid","doi":"10.1109/ICRA48891.2023.10161506","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161506","url":null,"abstract":"Autonomously recharging UAVs from existing infrastructure has enormous potential for various applications, such as infrastructure inspection, surveillance, and search and rescue. While it is an active area of research, most related work focuses on alternating current (AC) infrastructure while very little work has been done on investigating the potential of recharging UAVs from direct current (DC) infrastructure. This work proposes a UAV system designed to autonomously recharge from existing DC infrastructure. Two onboard powerline grippers and a motorized cable drum enable the UAV to perform a two-stage landing on railway DC lines where a wire is connected between them through the UAV for recharging. Light-weight electronics designed to be carried by the UAV are developed to harvest energy from up to 3kV DC railway lines. The recharge mission is autonomously executed using fully onboard and real-time perception and trajectory planning and tracking algorithms. The potential of the system is shown in lab setting validation, with hardware-in-the-loop simulation, and partly in a real overhead powerline environment, verifying the functionality of the sub-components.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"133 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127313013","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: 1

Towards a Finned-Swimming Exoskeleton: A Robotic Flutter Kicking Testbed and its Corresponding Thrust Generation 迈向鳍状游泳外骨骼:机器人颤振踢腿试验台及其相应推力的产生

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161195

Beau Johnson, M. Goldfarb

引用次数: 0

Flow-Based Rendezvous and Docking for Marine Modular Robots in Gyre-Like Environments 类环流环境下船舶模块化机器人基于流的交会对接

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161430

G. Knizhnik, Peihan Li, Mark H. Yim, M. A. Hsieh

引用次数: 0

WE-Filter: Adaptive Acceptance Criteria for Filter-based Shared Autonomy WE-Filter:基于过滤器的共享自治的自适应接受标准

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161228

Michael Bowman, Xiaoli Zhang

{"title":"WE-Filter: Adaptive Acceptance Criteria for Filter-based Shared Autonomy","authors":"Michael Bowman, Xiaoli Zhang","doi":"10.1109/ICRA48891.2023.10161228","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161228","url":null,"abstract":"Filter-based shared control aims to accept and augment an operator's ability to control a robot. Current solutions accept actions based on their direction aligning with the robot's optimal policy. These strategies reject a human's small corrective actions if they conflict with the robot's direction and accept too aggressive actions as long as they are consistent with the robot's direction. Such strategies may cause task failures and the operator's feeling of loss of control. To close the gap, we propose WE-Filter, which has flexible, adaptive criteria allowing the operator's small corrective actions and tempering too aggressive ones. Inspired by classical work-energy impact problems between two dynamic, interactive bodies, both inputs' properties (direction and magnitude) are inherently considered, creating intuitive, adaptive bounds to accept sensible actions. The model identifies behaviors before and after impact. The rationale is that each timestep of shared control acts as an impact between the operator's and the robot's policies, where post-impact behaviors depend on their previous behaviors. As time continues, a series of impacts occur. The aim is to minimize impacts that occur to reach an agreement faster and reduce strong reactionary behaviors. Our model determines flexible acceptance criteria to bound a mismatch of magnitude and finds a replacement action for conflicting policies. The WE-Filter achieves better task performance, the ratio of accepted actions, and action similarity than the existing methods.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127547194","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