Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96最新文献

Reinforcement learning of sensor-based reaching strategies for a two-link manipulator 基于传感器的双连杆机械臂伸展策略的强化学习

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.568991

P. Martín, J. Millán

引用次数: 7

A visual tracking algorithm by integrating rigid model and snakes 基于刚体模型和蛇的视觉跟踪算法

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.571051

D. Kang, In-So Kweon

{"title":"A visual tracking algorithm by integrating rigid model and snakes","authors":"D. Kang, In-So Kweon","doi":"10.1109/IROS.1996.571051","DOIUrl":"https://doi.org/10.1109/IROS.1996.571051","url":null,"abstract":"This paper presents a robust vision algorithm for tracking the boundary of an object with an arbitrary shape by using monocular image sequences. This method consists of a curve registration based optimization technique and a deformable contour model (\"snakes\") for the global and the local motion estimations, respectively. By combining techniques, we overcome, among other problems, inaccurate estimate of motion parameters in the curve registration method (which apparently only occur when a rigid or a flexible object is tracked), and the \"local position variation\" of the deformable contour model, variations, which are due to noisy images and/or complex backgrounds. The curve registration method uses an iterative algorithm to find the minimum normal distance between two curves, one before motion and the corresponding curve after it. Snakes overcome the limitation of the curve registration method, which suffers from the inaccuracy of motion models. We also propose an internal force, which increases local robustness of the deformable contour to background noise. By using the refined snakes' control points, the global update of the previous curve is performed for the re-location of the registered curve. Additionally, we integrate the geometric invariant value of the boundary contour and the curve registration method to solve the occlusion problem in visual tracking. The proposed method is validated through experiments on real images.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127353982","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

Gesture recognition of head motion using range images 使用距离图像的头部运动的手势识别

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.569025

K. Umeda, Norihito Suzuki

引用次数: 1

Bacterium Robot Society-A biologically inspired multi-agent concept for internal monitoring and controlling of processes 细菌机器人协会——一个受生物学启发的多智能体概念，用于内部监测和控制过程

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.569041

A. Halme, P. Appelqvist, P. Jakubik, P. Kähkönen, Torsten Schönberg, M. Vainio

引用次数: 10

Adaptive criteria for biped dynamic stability under external perturbations 外部扰动下两足动物动态稳定性的自适应准则

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570664

O. Vanel, P. Gorce

引用次数: 6

Adaptive time step for fast converging dynamic simulation system 快速收敛动态仿真系统的自适应时间步长

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570806

A. Joukhadar, C. Laugier

引用次数: 15

A paradigm of bounded geometry for the singularities avoidance of redundant manipulators 避免冗余机械手奇点的有界几何范式

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570810

R. Mayorga

引用次数: 0

New skill learning paradigm using various kinds of neurons 利用多种神经元的新技能学习范式

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.568965

T. Eom, Sung-Woo Kim, Changkyu Choi, Jujang Lee

{"title":"New skill learning paradigm using various kinds of neurons","authors":"T. Eom, Sung-Woo Kim, Changkyu Choi, Jujang Lee","doi":"10.1109/IROS.1996.568965","DOIUrl":"https://doi.org/10.1109/IROS.1996.568965","url":null,"abstract":"Modeled from human neurons, various types of artificial neurons are developed and applied to control algorithm. In this paper, the weights and structure of feedforward neural network controller are updated using new skill learning paradigm which consists of supervisory controller, chaotic neuron filter and associative memory. The pattern of system nonlinearity along the desired path is extracted while supervisory controller guarantees stability in the sense of the boundedness of tracking error. Next the pattern is divided into small segments and encoded to bipolar codes depending on the existence of critical points. Comparing the encoded pattern with pre-stored neural parameters and pattern pairs through associative memory, the most similar one is obtained. Also, chaotic neuron filter is used to add perturbation to neural parameters when the training of feedforward neural network is not successful with the pre-stored parameters. Finally the memory is updated with new successful parameters and pattern pairs. Simulation is performed for simple two-link robot in case of the slight modification of desired trajectory.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"178 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128273975","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

Preliminary results on grasping with vision and touch 视觉和触觉抓取的初步结果

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.568952

J. Son, R. Howe, Jonathan G. Wang, Gregory Hager

引用次数: 29

Development of a two-armed bipedal robot that can walk and carry objects 一种能够行走和搬运物体的双臂双足机器人的研制

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570617

F. Kanehiro, M. Inaba, H. Inoue

引用次数: 34