2023 IEEE International Conference on Robotics and Automation (ICRA)最新文献_第5页

An Analysis of Unified Manipulation with Robot Arms and Dexterous Hands via Optimization-based Motion Synthesis 基于优化运动合成的机械臂与灵巧手统一操作分析

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161325

Vatsal V. Patel, D. Rakita, A. Dollar

{"title":"An Analysis of Unified Manipulation with Robot Arms and Dexterous Hands via Optimization-based Motion Synthesis","authors":"Vatsal V. Patel, D. Rakita, A. Dollar","doi":"10.1109/ICRA48891.2023.10161325","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161325","url":null,"abstract":"Robot manipulation today generally focuses on motions exclusively with a robot arm or a dexterous hand, but usually not a combination of both. However, complex manipulation tasks can require coordinating arm and hand motions that leverage capabilities of both, much like the coordinated arm and hand motions carried out by humans to perform everyday tasks. In this work, we evaluate unified manipulation with robot arms and dexterous hands, using a motion optimization framework that synthesizes a series of configuration states over the entire manipulation system. We characterize the possible benefits of unifying arm and dexterous hand capabilities within a single model via metrics such as pose accuracy, manipulability, joint-space smoothness, distance to joint-limits, distance to collisions, and more. Several arm-hand combinations are quantitatively compared in simulation on a variety of experiment tasks and performance measures. Our results suggest that combining motions from robot arms and dexterous hands indeed has compelling benefits, highlighting the exciting potential of continued progress in unified arm-hand motion synthesis for robotics applications.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"70 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":"116347569","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

Fast Extrinsic Calibration for Multiple Inertial Measurement Units in Visual-Inertial System 视觉-惯性系统中多惯性测量单元的快速外部定标

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161187

Youwei Yu, Yanqing Liu, Fengjie Fu, Sihan He, Dongchen Zhu, Lei Wang, Xiaolin Zhang, Jiamao Li

{"title":"Fast Extrinsic Calibration for Multiple Inertial Measurement Units in Visual-Inertial System","authors":"Youwei Yu, Yanqing Liu, Fengjie Fu, Sihan He, Dongchen Zhu, Lei Wang, Xiaolin Zhang, Jiamao Li","doi":"10.1109/ICRA48891.2023.10161187","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161187","url":null,"abstract":"In this paper, we propose a fast extrinsic calibration method for fusing multiple inertial measurement units (MIMU) to improve visual-inertial odometry (VIO) localization accuracy. Currently, data fusion algorithms for MIMU highly depend on the number of inertial sensors. Based on the assumption that extrinsic parameters between inertial sensors are perfectly calibrated, the fusion algorithm provides better localization accuracy with more IMUs, while neglecting the effect of extrinsic calibration error. Our method builds two non-linear least-squares problems to estimate the MIMU relative position and orientation separately, independent of external sensors and inertial noises online estimation. Then we give the general form of the virtual IMU (VIMU) method and propose its propagation on manifold. We perform our method on datasets, our self-made sensor board, and board with different IMUs, validating the superiority of our method over competing methods concerning speed, accuracy, and robustness. In the simulation experiment, we show that only fusing two IMUs with our calibration method to predict motion can rival nine IMUs. Real-world experiments demonstrate better localization accuracy of the VIO integrated with our calibration method and VIMU propagation on manifold.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"22 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":"121461131","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

Optimal Multi-Robot Coverage Path Planning for Agricultural Fields using Motion Dynamics 基于运动动力学的多机器人农田覆盖路径优化规划

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160265

Jahid Chowdhury Choton, P. Prabhakar

引用次数: 1

An Open Approach to Energy-Efficient Autonomous Mobile Robots 节能自主移动机器人的开放方法

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161110

Liangkai Liu, Ren Zhong, Aaron Willcock, N. Fisher, Weisong Shi

{"title":"An Open Approach to Energy-Efficient Autonomous Mobile Robots","authors":"Liangkai Liu, Ren Zhong, Aaron Willcock, N. Fisher, Weisong Shi","doi":"10.1109/ICRA48891.2023.10161110","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161110","url":null,"abstract":"Autonomous mobile robots (AMRs) have the capability to execute a wide range of tasks with minimal human intervention. However, one of the major limitations of AMRs is their limited battery life, which often results in interruptions to their task execution and the need to reach the nearest charging station. Optimizing energy consumption in AMRs has become a critical challenge in their deployment. Through empirical studies on real AMRs, we have identified a lack of coordination between computation and control as a major source of energy inefficiency. In this paper, we propose a comprehensive energy prediction model that provides real-time energy consumption for each component of the AMR. Additionally, we propose three path models to address the obstacle avoidance problem for AMRs. To evaluate the performance of our energy prediction and path models, we have developed a customized AMR called Donkey, which has the capability for fine-grained (millisecond-level) end-to-end power profiling. Our energy prediction model demonstrated an accuracy of over 90% in our evaluations. Finally, we applied our energy prediction model to obstacle avoidance and guided energy-efficient path selection, resulting in up to a 44.8% reduction in energy consumption compared to the baseline.","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":"115806042","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

Improving the Performance of Local Bundle Adjustment for Visual-Inertial SLAM with Efficient Use of GPU Resources 有效利用GPU资源提高视惯性SLAM局部束平差性能

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160499

Shishir Gopinath, Karthik Dantu, Steven Y. Ko

引用次数: 0

Supernumerary Robotic Limbs for Next Generation Space Suit Technology 用于新一代太空服技术的多余机械肢体

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161579

Erik Ballesteros, Brandon Man, H. Asada

{"title":"Supernumerary Robotic Limbs for Next Generation Space Suit Technology","authors":"Erik Ballesteros, Brandon Man, H. Asada","doi":"10.1109/ICRA48891.2023.10161579","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161579","url":null,"abstract":"This paper discusses the incorporation of a pair of Supernumerary Robotic Limbs (SuperLimbs) onto the next generation of NASA space suits. The wearable robots attached to the space suit assist an astronaut in performing Extra-Vehicular Activities (EVAs). The SuperLimbs grab handrails fixed to the outside of a space vehicle to securely hold the astronaut body. The astronaut can use both hands for performing an EVA task, rather than using one hand for securing the body or operating a tether. The SuperLimbs can also assist an astronaut in repositioning the body and stabilizing it during an EVA mission. A control algorithm based on Admittance Control is developed for a) virtually reducing the inertial load of the entire body so that an astronaut can reposition his/her body with reduced effort, and b) bracing the body stably despite reaction forces and disturbances acting on the astronaut during an EVA operation. A full-scale prototype of Space Suit SuperLimbs was constructed and tested. Results from the experimentation indicated that with the aid of SuperLimbs, energy consumption during EVAs is reduced significantly.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"29 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":"132395934","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

Dynamical System-based Imitation Learning for Visual Servoing using the Large Projection Formulation 基于动力系统的大投影公式视觉伺服模仿学习

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160935

Antonio Paolillo, P. Giordano, Matteo Saveriano

引用次数: 1

A Plug-In Weight-Shifting Module That Adds Emotional Expressiveness to Inanimate Objects in Handheld Interaction 一个插件重量转移模块，在手持交互中为无生命的物体增加情感表现力

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160659

Yohei Noguchi, Yijie Guo, F. Tanaka

引用次数: 0

Aligning Human Preferences with Baseline Objectives in Reinforcement Learning 在强化学习中将人类偏好与基线目标对齐

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161261

Daniel Marta, Simon Holk, Christian Pek, Jana Tumova, Iolanda Leite

{"title":"Aligning Human Preferences with Baseline Objectives in Reinforcement Learning","authors":"Daniel Marta, Simon Holk, Christian Pek, Jana Tumova, Iolanda Leite","doi":"10.1109/ICRA48891.2023.10161261","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161261","url":null,"abstract":"Practical implementations of deep reinforcement learning (deep RL) have been challenging due to an amplitude of factors, such as designing reward functions that cover every possible interaction. To address the heavy burden of robot reward engineering, we aim to leverage subjective human preferences gathered in the context of human-robot interaction, while taking advantage of a baseline reward function when available. By considering baseline objectives to be designed beforehand, we are able to narrow down the policy space, solely requesting human attention when their input matters the most. To allow for control over the optimization of different objectives, our approach contemplates a multi-objective setting. We achieve human-compliant policies by sequentially training an optimal policy from a baseline specification and collecting queries on pairs of trajectories. These policies are obtained by training a reward estimator to generate Pareto optimal policies that include human preferred behaviours. Our approach ensures sample efficiency and we conducted a user study to collect real human preferences, which we utilized to obtain a policy on a social navigation environment.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"14 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":"134331260","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

Finding the Optimal Incision Point in Robotic Assisted Surgery 机器人辅助手术中最佳切口点的寻找

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160936

Kyriakos Almpanidis, Theodora Kastritsi, Z. Doulgeri

{"title":"Finding the Optimal Incision Point in Robotic Assisted Surgery","authors":"Kyriakos Almpanidis, Theodora Kastritsi, Z. Doulgeri","doi":"10.1109/ICRA48891.2023.10160936","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10160936","url":null,"abstract":"In robotic assisted surgeries, surgical tools are inserted into the human body via an incision point in the abdominal wall, which is imposed as a remote center of motion (RCM). The selection of the incision's point location in the human body is critical for the success of the surgical procedure. In this paper, we propose a simulation tool for finding the optimal incision point location, which can be utilized by the surgeon during the preoperative stage. The surgeon can plan the path/region of intervention as well as sensitive regions which should be protected from unintentional damage by the surgical tool on the preoperative images of internal organs. A target admittance model that enforces a candidate incision as a RCM is utilized in the simulation enhanced by a term for following the planned path. We propose a cost evaluation function taking into account metrics involving the distance of the tool from sensitive areas, the tool links maximum pressure on tumors and the robot's dexterity measure. The example of a tumor resection task is used with the simulation tool to demonstrate its use in finding the incision points that ensures minimal intraoperative risks and accurate task execution.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"4 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":"131621424","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