2023 IEEE International Conference on Robotics and Automation (ICRA)最新文献_第3页

Multi-Objective Ergodic Search for Dynamic Information Maps 动态信息地图的多目标遍历搜索

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160642

Ananya Rao, Abigail Breitfeld, A. Candela, Benjamin Jensen, David S. Wettergreen, H. Choset

{"title":"Multi-Objective Ergodic Search for Dynamic Information Maps","authors":"Ananya Rao, Abigail Breitfeld, A. Candela, Benjamin Jensen, David S. Wettergreen, H. Choset","doi":"10.1109/ICRA48891.2023.10160642","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10160642","url":null,"abstract":"Robotic explorers are essential tools for gathering information about regions that are inaccessible to humans. For applications like planetary exploration or search and rescue, robots use prior knowledge about the area to guide their search. Ergodic search methods find trajectories that effectively balance exploring unknown regions and exploiting prior information. In many search based problems, the robot must take into account multiple factors such as scientific information gain, risk, and energy, and update its belief about these dynamic objectives as they evolve over time. However, existing ergodic search methods either consider multiple static objectives or consider a single dynamic objective, but not multiple dynamic objectives. We address this gap in existing methods by presenting an algorithm called Dynamic Multi-Objective Ergodic Search (D-MO-ES) that efficiently plans an ergodic trajectory on multiple changing objectives. Our experiments show that our method requires up to nine times less compute time than a naïve approach with comparable coverage of each objective.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"24 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":"123728623","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

Embedded Active Stiffening Mechanisms to Modulate Kresling Tower Kinetostatic Properties 调节Kresling塔动静态特性的嵌入式主动加劲机构

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160882

J. Berre, L. Rubbert, F. Geiskopf, P. Renaud

引用次数: 0

Local Layer Splitting: An Additive Manufacturing Method to Define the Mechanical Properties of Soft Pneumatic Actuators During Fabrication 局部层分裂:一种增材制造方法来定义柔性气动执行器在制造过程中的机械性能

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161245

Brice Parilusyan, M. Teyssier, Zacharie Guillaume, Thibault Charlet, Clément Duhart, Marcos Serrano

{"title":"Local Layer Splitting: An Additive Manufacturing Method to Define the Mechanical Properties of Soft Pneumatic Actuators During Fabrication","authors":"Brice Parilusyan, M. Teyssier, Zacharie Guillaume, Thibault Charlet, Clément Duhart, Marcos Serrano","doi":"10.1109/ICRA48891.2023.10161245","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161245","url":null,"abstract":"Additive manufacturing of silicone is increasingly being explored to complement the traditional molding fabrication technique for Soft Pneumatic Actuators (SPAs). However, the mechanical behavior of SPAs is defined by their 3D form, which leads to prioritizing the SPAs mechanical properties over their aspect. In this paper, we propose a novel SPA fabrication method where the mechanical properties of a silicone part are defined during the fabrication phase rather than the 3D modeling phase, leading to the object's mechanical properties being independent of the object's aspect. This novel SPA fabrication method, named Local Layer Splitting (LLS), consists of local modifications of the printing layer height to integrate stiffness variation, thus generating controlled mechanical deformation when pressured. We discovered that silicone printing layer height impacts the final stiffness of the material, and it could be used to program bending deformation to actuators during printing. We first characterize the effect of the layer height parameters on 3D-printed silicone stiffness with tensile tests. Then, we present a custom slicer we developed to generate G-codes with local layer height variations depending on the x and y positions. We then characterize the bending and force achievable by SPAs made with the LLS process and find that they match those of state-of-the-art SPAs. Finally, we present and discuss how the LLS method impacts the SPAs design by shifting the bending behavior integration from the SPAs 3D conception to their fabrication phase.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"85 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":"125500565","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

Towards Efficient Gas Leak Detection in Built Environments: Data-Driven Plume Modeling for Gas Sensing Robots 在建筑环境中实现高效气体泄漏检测:气体传感机器人的数据驱动羽流建模

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160816

Wanting Jin, F. Rahbar, Chiara Ercolani, A. Martinoli

{"title":"Towards Efficient Gas Leak Detection in Built Environments: Data-Driven Plume Modeling for Gas Sensing Robots","authors":"Wanting Jin, F. Rahbar, Chiara Ercolani, A. Martinoli","doi":"10.1109/ICRA48891.2023.10160816","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10160816","url":null,"abstract":"The deployment of robots for Gas Source Localization (GSL) tasks in hazardous scenarios significantly reduces the risk to humans and animals. Gas sensing using mobile robots focuses primarily on simplified scenarios, due to the complexity of gas dispersion, with a current trend towards tackling more complex environments. However, most state-of-art GSL algorithms for environments with obstacles only depend on local information, leading to low efficiency in large and more structured spaces. The efficiency of GSL can be improved dramatically by coupling it with a global knowledge of gas distribution in the environment. However, since gas dispersion in a built environment is difficult to model analytically, most previous work incorporating a gas dispersion model was tested under simplified assumptions, which do not take into consideration the impact of the presence of obstacles to the airflow and gas plume. In this paper, we propose a probabilistic algorithm that enables a robot to efficiently localize gas sources in built environments, by combining a state-of-the-art probabilistic GSL algorithm, Source Term Estimation (STE) with a learned plume model. The pipeline of generating gas dispersion datasets from realistic simulations, the training and validation of the model, as well as the integration of the learned model with the STE framework are presented. The performance of the algorithm is validated both in high-fidelity simulations and real experiments, with promising results obtained under various obstacle configurations.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"6 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":"125551333","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

Control of Shape Memory Alloy Actuator via Electrostatic Capacitive Sensor for Meso-scale Mirror Tilting System 基于静电电容式传感器的形状记忆合金致动器在中尺度倾镜系统中的控制

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160710

Baekgyeom Kim, Doohoe Lee, Dongjin Kim, Seungyong Han, Daeshik Kang, U. Kim, Je-sung Koh

引用次数: 0

A Hybrid Quadratic Programming Framework for Real-Time Embedded Safety-Critical Control 一种用于实时嵌入式安全关键控制的混合二次规划框架

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161020

Ryan M. Bena, Sushmit Hossain, Buyun Chen, Wei Wu, Quan Nguyen

{"title":"A Hybrid Quadratic Programming Framework for Real-Time Embedded Safety-Critical Control","authors":"Ryan M. Bena, Sushmit Hossain, Buyun Chen, Wei Wu, Quan Nguyen","doi":"10.1109/ICRA48891.2023.10161020","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161020","url":null,"abstract":"We present a new framework for implementing real-time embedded safety-critical controllers which utilizes hybrid computing to address the issue of limited computational resources, a problem that is particularly prevalent in microrobotics. In our approach, the nominal stabilizing control algorithm is implemented digitally while the safety-critical quadratic program is solved via a dedicated analog resistor array. We apply this hybrid computing architecture to a simulated collision avoidance task for a micro-aerial vehicle and show the benefit relative to a purely-digital implementation. By leveraging analog quadratic programming on the Crazyflie 2.1 micro quadrotor, a reduction in overall processing time from 8.9 ms to 0.6 ms is estimated for this computationally-limited system. We further display the viability of our proposed safety-critical control framework through real-time flight demonstrations, utilizing a novel prototype analog circuit tethered to the Crazyflie. The flight results confirm the functionality of the control structure and prototype circuit while highlighting the overall capabilities of hybrid computing.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"3 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":"114908609","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

Enhancing the Efficacy of Lower-body Assistive Devices Through the Understanding of Human Movement in the Real World 通过对真实世界中人体运动的理解来增强下半身辅助装置的功效

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161051

Loubna Baroudi, S. M. Cain, K. A. Shorter, Kira Barton

{"title":"Enhancing the Efficacy of Lower-body Assistive Devices Through the Understanding of Human Movement in the Real World","authors":"Loubna Baroudi, S. M. Cain, K. A. Shorter, Kira Barton","doi":"10.1109/ICRA48891.2023.10161051","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161051","url":null,"abstract":"In previous studies, researchers have successfully measured walking in healthy able-bodied humans to create safe control strategies for lower body assistive devices. measurements used to establish design requirements often come from testing and evaluation that takes place in laboratory settings during steady-state tasks, where participants often select movement strategies that minimize the cost of transport. However, human walking in these conditions does not neces-sarily represent the natural behavior of an individual in the real world. In this work, we conducted a study to characterize human walking in the real world. We combined week-scale free-living measurements of gait with in-lab data collection to: 1) quantify the proportion of steady-state walking in a population of healthy able-bodied adults, and 2) evaluate whether this population favors the selection of a range of walking speeds that minimize their cost of transport in the real world. We found that the majority of walking bouts contain mostly transient walking, suggesting that researchers should complement steady-state characterization with non-steady-state tasks. We also found that the most often used steady-state walking speeds for all participants were higher than the range that minimizes cost of transport, suggesting that individuals are influenced by more than energy economy when moving in the real world. Thus, when developing control strategies for these devices, researchers should consider a variety of optimization objectives to adapt for the multifarious situations of daily life.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"74 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":"116423875","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

Simplifying Aerial Manipulation Using Intentional Collisions 使用故意碰撞简化空中操作

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161462

Mark Nail, Nick Jänne, Olivia Ma, Gabriel Arellano, E. Atkins, R. Gillespie

{"title":"Simplifying Aerial Manipulation Using Intentional Collisions","authors":"Mark Nail, Nick Jänne, Olivia Ma, Gabriel Arellano, E. Atkins, R. Gillespie","doi":"10.1109/ICRA48891.2023.10161462","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161462","url":null,"abstract":"Aerial manipulation describes a process that includes physical interaction between an unmanned aircraft system (UAS) and its environment. We aim to apply aerial manipulation to sample leaves and small branches from rain forest trees. Current approaches to aerial manipulation involve extended periods of UAS-environment interaction, during which forces and moments can lead to a loss in attitude or position control in underactuated multicopters. By adapting intelligent foot placement strategies found in dynamically stable hopping robots, this work proposes a strategy involving carefully managed intentional collisions between the UAS and its environment. We designed an attitude controller denoted a Velocity Matching controller that aligns a UAS-mounted pogo-stick foot with the center of mass velocity vector during collision approach to maximize UAS ability to recover a hover state after collision. We propose the use of a flight envelope involving altitude and horizontal speed states to assess recoverability prior to initiating each approach to collision. We identify this flight envelope from a simulation study built on a model of flight in Conventional Waypoint Following and Velocity Matching control modes as well as a model of collision response. Experimental flight testing evaluates the simulation-based envelope resulting in an actual envelope that is somewhat smaller but similarly shaped to the envelope identified in simulation.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"347 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":"122530254","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

A Framework for Simultaneous Workpiece Registration in Robotic Machining Applications 机器人加工中工件同步配准的框架

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160445

Steffan Lloyd, R. Irani, M. Ahmadi

引用次数: 0

Fast, Reliable Constrained Manipulation Using a VSA Driven Planar Robot 基于VSA驱动平面机器人的快速、可靠约束操作

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160318

Andrew L. Bernhard, J. Schimmels

{"title":"Fast, Reliable Constrained Manipulation Using a VSA Driven Planar Robot","authors":"Andrew L. Bernhard, J. Schimmels","doi":"10.1109/ICRA48891.2023.10160318","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10160318","url":null,"abstract":"This paper presents the design and performance of a planar 3R robot capable of dexterous constrained manipulation when interacting with a stiff environment. A novel variable stiffness actuator (VSA) having a stiffness ratio of approximately 500 is also described. Variable stiffness actuation, together with a combined position/compliance manipulation path, is used to: 1) allow the robot to passively comply with its environment along kinematically constrained directions despite model error in constraint locations, and 2) generate high stiffness for accurate motion control along kinematically unconstrained directions despite resisting forces. This manipulation strategy provides dexterity for cases in which mechanical work must be performed while complying with constraints. The manipulation strategy and robot performance were evaluated with the task of turning a steel crank to lift a weight. Results show that, when using passive compliance control, the robot completed the task 29 times faster with constraint forces 80% lower than when using traditional active compliance control (with VSAs at their highest stiffness).","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"150 3-4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114034128","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