2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)最新文献_第2页

Towards the design of a new humanoid robot for domestic applications 面向国内应用的新型人形机器人的设计

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869155

C. McGinn, M. Cullinan, Donal P. Holland, Kevin Kelly

{"title":"Towards the design of a new humanoid robot for domestic applications","authors":"C. McGinn, M. Cullinan, Donal P. Holland, Kevin Kelly","doi":"10.1109/TePRA.2014.6869155","DOIUrl":"https://doi.org/10.1109/TePRA.2014.6869155","url":null,"abstract":"Robots that possess the ability to undertake everyday tasks in domestic environments have the potential to provide unprecedented independence to disabled and elderly people who are currently reliant on other people to do these jobs for them. In addition to the ability to perform basic tasks, it is desirable that such robots possess some form of social interface such that users can interact with them in a natural manner. While many robot platforms have been developed to perform everyday tasks, few systems possess high levels of mechanical efficiency, system stability, practical functionality and a dynamic social interface. This work presents the novel design of a humanoid robot that uses wheels for locomotion and the combination of an actuated stabilizer and a self-balancing control algorithm to maintain stability. To validate some of the basic concepts in this design, a full scale working prototype was built and its performance was tested. It was found that despite being the first prototype of its type, it was capable of robust locomotion in indoor environments and was capable of traversing small bumps with relative ease. It was also very efficient at picking up small items that from the ground.","PeriodicalId":382960,"journal":{"name":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123544368","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: 11

Real-time teleop with non-prehensile manipulation 实时遥控与非抓握操作

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869145

Youngbum Jun, Jonathan Weisz, C. Rasmussen, P. Allen, P. Oh

引用次数: 3

Image stitching techniques for an Intelligent Portable Aerial Surveillance System 智能便携式空中监视系统的图像拼接技术

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869146

R. Du, T. Padır

{"title":"Image stitching techniques for an Intelligent Portable Aerial Surveillance System","authors":"R. Du, T. Padır","doi":"10.1109/TePRA.2014.6869146","DOIUrl":"https://doi.org/10.1109/TePRA.2014.6869146","url":null,"abstract":"Intelligent Portable Aerial Surveillance System (IPASS) is aimed at developing a low-cost, light-weight unmanned aerial vehicle that can provide sufficient battlefield intelligence for individual troops. IPASS consists of a ground station and an aircraft, which can take images high above the ground. To get a wider view of the ground, three images are taken simutaneously and then get stitched into a panorama. This paper first briefly introduces the system design of the project. Then it focuses on the processing of aerial images acquired from the three onboard cameras. The paper describes both the feature-based image stitching method and the infini-tehomography-based method for this task. Compared to the popular feature-based method, the second one can greatly reduce computation time with very little compromise in the quality of the panorama, which makes real-time video display of the surroundings on the ground station possible. This paper provides quantitative comparison of these two image stitching techniques to evaluate the performance in acquiring aerial surveillance information from multiple vision.","PeriodicalId":382960,"journal":{"name":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128713580","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

DRC-hubo walking on rough terrains 在崎岖的地形上行走

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869151

Hongfei Wang, Yuan F. Zheng, Youngbum Jun, P. Oh

引用次数: 32

Multi-kilohertz control of multiple robots via IEEE-1394 (firewire) 通过IEEE-1394(火线)对多个机器人进行千赫兹控制

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869144

Zihan Chen, P. Kazanzides

引用次数: 7

A behavioural control strategy of human-human interaction in an object transfer task 对象转移任务中人机交互的行为控制策略

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869143

Paramin Neranon, R. Bicker

{"title":"A behavioural control strategy of human-human interaction in an object transfer task","authors":"Paramin Neranon, R. Bicker","doi":"10.1109/TePRA.2014.6869143","DOIUrl":"https://doi.org/10.1109/TePRA.2014.6869143","url":null,"abstract":"This paper presents an outline of human-human interaction (HHI) to establish a framework to understand how a behaviour based approach can be developed in the design of a human-robot interaction (HRI) strategy. To approach the conceptual design guidelines for a HRI control strategy, the human dynamic model of human behaviour during performing an object transfer task without any types of communication has been strategically analysed. The extended crossover model proposed by McRuer [1] has been applied to identify the human arm characteristic models under various conditions when executing cooperative tasks. A set of compliant-object-handover tasks have been designed and conveyed (based on Box-Behnken test design[1]), along with the influence variables affecting the human forces, consisting of mass, friction and target displacement. According to the results, the McRuer crossover models were appropriately estimated and reported to be in good matching with the actual experimental data. Additionally, it can be found that a loop gain (KH) is inversely proportional to the object distance moved and is associated with a faster response. The best-fit percentages of human force profiles are almost 100%; therefore, the proposed models can be used to present the human arm characteristics effectively.","PeriodicalId":382960,"journal":{"name":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117257028","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

Simultaneous multi-vehicle control and obstacle avoidance using supervised optimal planning 基于监督最优规划的多车同步控制与避障

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869138

M. Radovnikovich, K. Cheok

引用次数: 1

Reliable, cloud-based communication for multi-robot systems 可靠的，基于云的多机器人系统通信

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869142

R. Hartanto, M. Eich

引用次数: 24

LuminoCity: a 3D printed, illuminated city generated from LADAR data LuminoCity:由雷达数据生成的3D打印照明城市

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869161

Matt R. Fetterman, Zachary J. Weber, Robert A. Freking, Andrew Volpe, David Scott

引用次数: 3

Giving patients a lift - the robotic nursing assistant (RoNA) 机器人护理助理(RoNA)助病人一臂之力

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869137

J. Ding, Y. Lim, M. Solano, Kevin Shadle, Chris Park, Chris Lin, John Hu

引用次数: 40