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

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Ultra wide-band trajectory following for an omnidirectional factory automation vehicle 用于全向工厂自动化车辆的超宽带轨迹跟踪
2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869139
M. Radovnikovich, P. Fleck, K. Hallenbeck
{"title":"Ultra wide-band trajectory following for an omnidirectional factory automation vehicle","authors":"M. Radovnikovich, P. Fleck, K. Hallenbeck","doi":"10.1109/TePRA.2014.6869139","DOIUrl":"https://doi.org/10.1109/TePRA.2014.6869139","url":null,"abstract":"In this paper, an ultra wide-band (UWB) localization system is presented that is used in conjunction with on-board odometry sensors to precisely guide an autonomous factory vehicle along a specified path. A precise UWB-based system has many advantages over conventional automated path following technologies, but the most significant advantage is its reconfigurability. Paths are specified in software, and changing the path does not require any changes in factory infrastructure. Simulation and real-time experimental results demonstrate that by combining localization estimates with odometry data, it is feasible to achieve a very capable path following system in a practical factory environment.","PeriodicalId":382960,"journal":{"name":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"83 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":"126021145","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
Design improvements and dynamic characterization on fluidic elastomer actuators for a soft robotic snake 柔性蛇机器人流体弹性体作动器设计改进及动力学特性研究
2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869154
Ming Luo, Weijia Tao, Fuchen Chen, Tri K. Khuu, Selim Ozel, C. Onal
{"title":"Design improvements and dynamic characterization on fluidic elastomer actuators for a soft robotic snake","authors":"Ming Luo, Weijia Tao, Fuchen Chen, Tri K. Khuu, Selim Ozel, C. Onal","doi":"10.1109/TePRA.2014.6869154","DOIUrl":"https://doi.org/10.1109/TePRA.2014.6869154","url":null,"abstract":"This paper addresses the design and dynamic analysis of a new generation of fluidic elastomer actuators (FEAs) that offer bidirectional bending developed as motion segments of a pressure-operated soft robotic snake. Our prior work on FEAs has identified a number of limitations, namely a high center of gravity, narrow base, slow dynamics, and a small range of pressure inputs. We developed two versions of FEAs based on an improved design concept with different geometric parameters and characterized their dynamic response under a custom visual tracking system. Compared with the previous actuators, the FEAs developed in this work offer robust operation, safety at larger input pressure values, faster response, lower center of gravity and a flat bottom for better compatibility for snake-like undulatory locomotion.","PeriodicalId":382960,"journal":{"name":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"1 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":"130039776","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: 50
Assembly path planning for stable robotic construction 机器人稳定施工的装配路径规划
2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869152
M. McEvoy, E. Komendera, N. Correll
{"title":"Assembly path planning for stable robotic construction","authors":"M. McEvoy, E. Komendera, N. Correll","doi":"10.1109/TePRA.2014.6869152","DOIUrl":"https://doi.org/10.1109/TePRA.2014.6869152","url":null,"abstract":"We propose an algorithmic approach for assembly path planning that takes stability of the structure during construction into account. Finite Element Analysis (FEA) is used to evaluate the intermediate stages of the assembly for stability. The algorithm presented here assembles a structure by greedily taking the most stable option at each step in the assembly process, and has complexity O(n!), albeit most structures are effectively assembled with complexity O(n2). We demonstrate the workings of the proposed hybrid discrete/FEA search algorithm in simulation on a series of truss structures. In particular, we show that the algorithm is able to identify correct orderings that led to stable assembly, and discuss structures for which a greedy approach with scaffolding might be advantageous over a complete approach.","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":"114569020","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: 18
Abstracting perception and manipulation in end-user robot programming using Sikuli 使用Sikuli对终端用户机器人编程中的感知和操作进行抽象
2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869156
Mike Kasper, N. Correll, Tom Yeh
{"title":"Abstracting perception and manipulation in end-user robot programming using Sikuli","authors":"Mike Kasper, N. Correll, Tom Yeh","doi":"10.1109/TePRA.2014.6869156","DOIUrl":"https://doi.org/10.1109/TePRA.2014.6869156","url":null,"abstract":"We propose a programming paradigm for robotics that has the potential to drastically facilitate robotic programming. Building up on Sikuli, a GUI automation language, we abstract specific robotic perception and control capabilities into first-class objects that are embedded in a simple scripting language. Currently, robotics programming requires a deep understanding of perception, controls and algorithms, knowledge of a specific robot's perception capabilities and kinematics, and finally a substantial amount of software engineering. Although learn-by-demonstration allows also relatively unskilled users to adapt a robot to their needs, this approach is intrinsically limited by the complexity such a program can reach. This paper presents a proof-of-concept for migrating Sikuli from the virtual GUI workspace of computer software to the physical 3D workspace of robotics. It then presents an example use case that illustrates the power of this new approach using a simple script that arranges a set of randomly aligned blocks into a tower using a Baxter robot equipped with an Asus Xtion Pro.","PeriodicalId":382960,"journal":{"name":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"87 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":"114877700","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
Contact wrench space stability estimation for humanoid robots 仿人机器人接触扳手空间稳定性估计
2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869153
Robert Ellenberg, P. Oh
{"title":"Contact wrench space stability estimation for humanoid robots","authors":"Robert Ellenberg, P. Oh","doi":"10.1109/TePRA.2014.6869153","DOIUrl":"https://doi.org/10.1109/TePRA.2014.6869153","url":null,"abstract":"To execute ladder climbing motions effectively, a humanoid robot requires a reliable estimate of stability. Traditional methods such as Zero Moment Point are not applicable to vertical climbing, and do not account for force limits imposed on end effectors. This paper implements a simple contact wrench space method using a linear combination of contact wrenches. Experiments in simulation showed ZMP equivalence on flat ground. Furthermore, the estimator was able to predict stability with four point contact on a vertical ladder. Finally, an extension of the presented method is proposed based on these findings to address the limitations of the linear combination.","PeriodicalId":382960,"journal":{"name":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"11 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":"127916429","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
Shallow blue 浅蓝色
2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 1900-01-01 DOI: 10.1109/TePRA.2014.6869158
Debra T. Burhans, Robert Selkowitz, Jerod Sikorskyj, Michael Lanighan
{"title":"Shallow blue","authors":"Debra T. Burhans, Robert Selkowitz, Jerod Sikorskyj, Michael Lanighan","doi":"10.1109/TePRA.2014.6869158","DOIUrl":"https://doi.org/10.1109/TePRA.2014.6869158","url":null,"abstract":"We report on Shallow Blue (SB), an autonomous chess-playing agent designed on a limited budget with off-the-shelf consumer components. The system combines vision, piece manipulation, and decision-making functions to allow autonomous play against humans. SB demonstrates the increasing sophistication available to educators and students with consumer grade hardware, as well as the growth of opportunities for integrated software and hardware design by advanced undergraduate students. The paper documents the design, implementation, performance, and ongoing development of SB and its component systems.","PeriodicalId":382960,"journal":{"name":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127820075","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
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