2023 IEEE International Conference on Robotics and Automation (ICRA)最新文献_第7页

Generalization of Impact Response Factors for Proprioceptive Collaborative Robots 本体感觉协作机器人冲击响应因子的概化

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160613

Carlos Relaño, D. Sanz-Merodio, Miguel López, C. Monje

{"title":"Generalization of Impact Response Factors for Proprioceptive Collaborative Robots","authors":"Carlos Relaño, D. Sanz-Merodio, Miguel López, C. Monje","doi":"10.1109/ICRA48891.2023.10160613","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10160613","url":null,"abstract":"Physical Human-Robot Interaction(pHRI) re-quires taking safety into account from the design board to the collaborative operation of any robot. For collaborative robotic environments, where human and machine are sharing space and interacting physically, the analysis and quantification of impacts becomes very relevant and necessary. Furthermore, analyses of this kind are a valuable source of information for the design of safer, more efficient pHRI. In the definition of the first parameter for dynamic impact analysis, the dynamic impact mitigation capacity was considered for certain configurations of the robot, but the design characteristics of the robot, such as the inertia of actuators, were not included. This paradigm changed when MIT presented the “impact mitigation factor” (IMF) with which, in addition to considering the ability of a certain robot to mitigate impacts for every configuration, it was possible to quantify backdriveability by taking the inertia of actuators into account for the calculation of the factor. However, IMF was proposed as a method to analyse floating robots like. This paper presents the Generalised Impact Absorption Factor (GIAF), suitable for both floating and fixed-base robots. GIAF is a valuable design parameter, as it provides information about the backdriveability of each joint, while allowing the comparison of impact response between floating and fixed-base robotic platforms. In this work, the mathematical definition of GIAF is developed and examples of possible uses of GIAF are presented.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"73 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":"115765718","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

Transparent Objects: A Corner Case in Stereo Matching 透明物体:立体匹配中的一个角落案例

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161385

Zhiyuan Wu, Shuai Su, Qijun Chen, Rui Fan

引用次数: 1

Collision Detection and Contact Point Estimation Using Virtual Joint Torque Sensing Applied to a Cobot 基于虚拟关节力矩传感的协作机器人碰撞检测与接触点估计

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160661

Dario Zurlo, T. Heitmann, M. Morlock, Alessandro De Luca

引用次数: 0

MagTac: Magnetic Six-Axis Force/Torque Fingertip Tactile Sensor for Robotic Hand Applications 磁力六轴力/扭矩指尖触觉传感器，用于机械手应用

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161042

Sungwoo Park, Sang-Rok Oh, Donghyun Hwang

引用次数: 0

Burst Stimulation for Enhanced Locomotion Control of Terrestrial Cyborg Insects 突发刺激增强陆生半机械昆虫的运动控制

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160443

H. D. Nguyen, Hirotaka Sato, T. Vo-Doan

{"title":"Burst Stimulation for Enhanced Locomotion Control of Terrestrial Cyborg Insects","authors":"H. D. Nguyen, Hirotaka Sato, T. Vo-Doan","doi":"10.1109/ICRA48891.2023.10160443","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10160443","url":null,"abstract":"Terrestrial cyborg insects are biohybrid systems integrating living insects as mobile platforms. The insects' locomotion is controlled by the electrical stimulation of their sensory, muscular, or neural systems, in which continuous pulse trains are usually chosen as the stimulation waveform. Although this waveform is easy to generate and can elicit graded responses from the insects, its locomotion control efficiency has not been consistent among existing literature. This study demonstrates an improvement in locomotion control by using a new stimulation protocol, named Burst Stimulation, to stimulate a cyborg beetle's antennae (Zophobas morio). Modulating the continuous pulse train into multiple bursts enhanced the beetle's turning responses. At the same stimulation intensity (amplitude, pulse width, and active duration), the Burst Stimulation improved the turning angle by up to 50% compared to the continuous waveform. Moreover, the beetle's graded response was preserved. Increasing the stimulation frequency from 10 Hz to 40 Hz raised the turning rate by 40 deg/s. In addition, the initial implementation of this protocol in the feedback control-based navigation achieved a success rate of 81%, suggesting its potential use to optimize further the autonomous navigation of terrestrial cyborg insects.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"62 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":"124417245","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

Reinforced Learning for Label-Efficient 3D Face Reconstruction 标签高效三维人脸重建的强化学习

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161362

H. Mohaghegh, H. Rahmani, Hamid Laga, F. Boussaid, Bennamoun

{"title":"Reinforced Learning for Label-Efficient 3D Face Reconstruction","authors":"H. Mohaghegh, H. Rahmani, Hamid Laga, F. Boussaid, Bennamoun","doi":"10.1109/ICRA48891.2023.10161362","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161362","url":null,"abstract":"3D face reconstruction plays a major role in many human-robot interaction systems, from automatic face authentication to human-computer interface-based entertainment. To improve robustness against occlusions and noise, 3D face reconstruction networks are often trained on a set of in-the-wild face images preferably captured along different viewpoints of the subject. However, collecting the required large amounts of 3D annotated face data is expensive and time-consuming. To address the high annotation cost and due to the importance of training on a useful set, we propose an Active Learning (AL) framework that actively selects the most informative and representative samples to be labeled. To the best of our knowledge, this paper is the first work on tackling active learning for 3D face reconstruction to enable a label-efficient training strategy. In particular, we propose a Reinforcement Active Learning approach in conjunction with a clustering-based pooling strategy to select informative view-points of the subjects. Experimental results on 300W-LP and AFLW2000 datasets demonstrate that our proposed method is able to 1) efficiently select the most influencing view-points for labeling and outperforms several baseline AL techniques and 2) further improve the performance of a 3D Face Reconstruction network trained on the full dataset.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"60 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":"114913024","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

GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation GPF-BG:安全四足导航的分层视觉规划框架

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160804

Shiyu Feng, Ziyi Zhou, Justin S. Smith, M. Asselmeier, Ye Zhao, P. Vela

引用次数: 2

Contact-Based Pose Estimation of Workpieces for Robotic Setups 基于接触的机器人工件姿态估计

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161465

Yitaek Kim, Aljaz Kramberger, A. Buch, Christoffer Sloth

{"title":"Contact-Based Pose Estimation of Workpieces for Robotic Setups","authors":"Yitaek Kim, Aljaz Kramberger, A. Buch, Christoffer Sloth","doi":"10.1109/ICRA48891.2023.10161465","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161465","url":null,"abstract":"This paper presents a method for contact-based pose estimation of workpieces using a collaborative robot. The proposed pose estimation exploits positions and surface normal vectors along an arbitrary path on an object with known geometry, where surface normal vectors are estimated based on contact forces measured by the robot. When data is only available along a single path, it is difficult to find initial correspondences between source data (recorded points and normal vectors) and target data (CAD of an object); hence, a novel weighted incremental spatial search approach for generating correspondences based on point pair features is proposed. Subsequently, robust pose estimation is employed to reduce the effect of erroneous correspondences. The proposed pose estimation is verified in simulation on three paths on two objects and with different levels of noise on the source data to quantify the robustness of the algorithm. Finally, the method is experimentally validated to provide an average pose rotation and translation accuracy of $mathbf{0.55}^{circ}$ and 0.51 mm, respectively, when using the robust estimation cost function Geman-McClure.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"148 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":"116334539","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

Contact Based Turning Gait of a Novel Legged-Wheeled Quadruped 一种新型腿轮式四足动物基于接触的转身步态

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161241

Alper Yeldan, Abhimanyu Arora, G. Soh

引用次数: 0

Deep Underwater Monocular Depth Estimation with Single-Beam Echosounder 基于单波束测深仪的深海单目深度估计

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161439

Haowen Liu, Monika Roznere, Alberto Quattrini Li

引用次数: 0