2015 IEEE International Conference on Robotics and Automation (ICRA)最新文献_第2页

Global connectivity control for spatially interacting multi-robot systems with unicycle kinematics 具有独轮车运动学的空间交互多机器人系统的全局连通性控制

2015 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2015-05-26 DOI: 10.1109/ICRA.2015.7139352

Ryan K. Williams, A. Gasparri, G. Sukhatme, G. Ulivi

引用次数: 29

Inertial parameters identification and joint torques estimation with proximal force/torque sensing 基于近端力/扭矩传感的惯性参数辨识和关节扭矩估计

2015 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2015-05-26 DOI: 10.1109/ICRA.2015.7139476

Silvio Traversaro, A. Prete, S. Ivaldi, F. Nori

{"title":"Inertial parameters identification and joint torques estimation with proximal force/torque sensing","authors":"Silvio Traversaro, A. Prete, S. Ivaldi, F. Nori","doi":"10.1109/ICRA.2015.7139476","DOIUrl":"https://doi.org/10.1109/ICRA.2015.7139476","url":null,"abstract":"Classically robot force control passes through joint torques measurement or estimation. Within this context, classical torque sensing technologies rely on current sensing on motor windings and on torsion sensing on motor shaft. An alternative approach was recently proposed in [1] and combines whole-body distributed 6-axis force/torque (F/T) sensors, gyroscopes, accelerometers and tactile sensors (i.e. artificial skin). A further advantage of this method is that it simultaneously estimates (internal) joint torques and (external) contact forces with no need of joint redesign. As a drawback, the method relies on a model of the robot dynamics, as it consists on reordering the classical recursive Newton-Euler algorithm (RNEA). In this paper we consider the problem of the parametric identification of the robot dynamic model from embedded F/T sensors. We extend recent results on parametric identification [2] by considering an arbitrary reordering of the classical RNEA. The theoretical framework is validated on the iCub humanoid, which is equipped with both 6-axis F/T sensors and joint torque sensors. We estimated the system inertial parameters using only one F/T sensor. We used the obtained parameters to estimate the joint torques (as proposed in [1]) and compared the results with direct joint torque measurements, used in this context only as a ground truth.","PeriodicalId":399819,"journal":{"name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124980464","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: 17

Biped gait controller for large speed variations, combining reflexes and a central pattern generator in a neuromuscular model 用于大速度变化的两足步态控制器，在神经肌肉模型中结合反射和中枢模式发生器

2015 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2015-05-26 DOI: 10.1109/ICRA.2015.7140079

N. V. D. Noot, A. Ijspeert, R. Ronsse

{"title":"Biped gait controller for large speed variations, combining reflexes and a central pattern generator in a neuromuscular model","authors":"N. V. D. Noot, A. Ijspeert, R. Ronsse","doi":"10.1109/ICRA.2015.7140079","DOIUrl":"https://doi.org/10.1109/ICRA.2015.7140079","url":null,"abstract":"Controllers based on neuromuscular models hold the promise of energy-efficient and human-like walkers. However, most of them rely on optimizations or cumbersome hand-tuning to find controller parameters which, in turn, are usually working for a specific gait or forward speed only. Consequently, designing neuromuscular controllers for a large variety of gaits is usually challenging and highly sensitive. In this contribution, we propose a neuromuscular controller combining reflexes and a central pattern generator able to generate gaits across a large range of speeds, within a single optimization. Applying this controller to the model of COMAN, a 95 cm tall humanoid robot, we were able to get energy-efficient gaits ranging from 0.4 m/s to 0.9 m/s. This covers normal human walking speeds once scaled to the robot height. In the proposed controller, the robot speed could be continuously commanded within this range by changing three high-level parameters as linear functions of the target speed. This allowed large speed transitions with no additional tuning. By combining reflexes and a central pattern generator, this approach can also predict when the next strike will occur and modulate the step length to step over a hole.","PeriodicalId":399819,"journal":{"name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126022881","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: 52

Adaptive neural network Dynamic Surface Control: An evaluation on the musculoskeletal robot Anthrob 自适应神经网络动态表面控制:对肌肉骨骼机器人Anthrob的评价

2015 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2015-05-26 DOI: 10.1109/ICRA.2015.7139799

Michael Jäntsch, Steffen Wittmeier, K. Dalamagkidis, G. Herrmann, A. Knoll

引用次数: 9

Detection and species classification of young trees using machine perception for a semi-autonomous forest machine 基于机器感知的半自主森林机器幼树检测和物种分类

2015 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2015-05-26 DOI: 10.1109/ICRA.2015.7139394

Mikko Vihlman, H. Hyyti, J. Kalmari, A. Visala

引用次数: 5

Enhanced flatbed tow truck model for stable and safe platooning in the presences of lags, communication and sensing delays 改进的平板拖车模型，在存在滞后、通信和传感延迟的情况下实现稳定和安全的队列行驶

2015 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2015-05-26 DOI: 10.1109/ICRA.2015.7139409

A. Ali, G. Garcia, P. Martinet

{"title":"Enhanced flatbed tow truck model for stable and safe platooning in the presences of lags, communication and sensing delays","authors":"A. Ali, G. Garcia, P. Martinet","doi":"10.1109/ICRA.2015.7139409","DOIUrl":"https://doi.org/10.1109/ICRA.2015.7139409","url":null,"abstract":"Many ideas have been proposed to reduce traffic congestion. Driving a platoon of vehicles with constant spacing seems to be a promising idea as it increases traffic density. But keeping constant inter-vehicle spacing requires very reliable communication. Another control policy is to drive the platoon with a time headway between vehicles. It is a robust and well known policy but large inter-vehicle distances in addition to weak stability (unity error gain) near low frequencies make it less practical. We have proposed in [1], [2] a modification of the Constant Time Headway policy (CTH). This modification largely reduces the inter-vehicle distances using only one information shared between all vehicles. In this work, we propose an additional modification of our control law. This modification makes our control law similar, in form, to the classical constant spacing policy, but it requires to share only one information between the vehicles. This modification improves the stability of the platoon and removes the weak stability of the CTH near low frequencies. We prove the robustness of the control law in the presence of actuating lags, sensing and communication delays. This proof can also be used to prove the stability of the classical constant spacing policy in the presence of all previous delays, which makes our result more general than those established in the literature. Safety is also discussed and the maximum acceptable communication delay without losing safety is determined. Simulations have been done in many critical scenarios.","PeriodicalId":399819,"journal":{"name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123756221","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

Optimal use of arm-swing for bipedal walking control 最佳使用手臂摆动的两足行走控制

2015 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2015-05-26 DOI: 10.1109/ICRA.2015.7139997

Taisuke Kobayashi, K. Sekiyama, T. Aoyama, Y. Hasegawa, T. Fukuda

{"title":"Optimal use of arm-swing for bipedal walking control","authors":"Taisuke Kobayashi, K. Sekiyama, T. Aoyama, Y. Hasegawa, T. Fukuda","doi":"10.1109/ICRA.2015.7139997","DOIUrl":"https://doi.org/10.1109/ICRA.2015.7139997","url":null,"abstract":"Walking capability composed of stability and efficiency is one of the most important issues in the field of humanoid robots. An effective swing of the arms is expected to enhance the walking capability under the constraints from the limited body. We propose an arm-swing method to enhance the stability and efficiency by selecting optimal arm-swing strategy depending on the walking conditions. In this research, we select the optimal strategy between the support of the center of gravity (COG) tracking for stability and the walk without arm-swing for efficiency. To support the COG tracking, we employ a predictive control. States are defined as an inverted pendulum model and inputs are given as an inertial force of arm-swing. Input and output weights in the predictive control are adjustable by a support weight introduced in this paper. Selection of the optimal support weight by a selection algorithm for locomotion (Su-SAL) switches the two strategies by adjusting the ratio of input and output (I/O) weights. Su-SAL maximizes the efficiency while keeping the stability in comparison with the case of the constant support weight.","PeriodicalId":399819,"journal":{"name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123771323","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

Autonomous Underwater Vehicle localization in a spatiotemporally varying water current field 自主水下航行器在时空变化的水流场中的定位

2015 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2015-05-26 DOI: 10.1109/ICRA.2015.7139235

Lashika Medagoda, J. Kinsey, M. Eilders

{"title":"Autonomous Underwater Vehicle localization in a spatiotemporally varying water current field","authors":"Lashika Medagoda, J. Kinsey, M. Eilders","doi":"10.1109/ICRA.2015.7139235","DOIUrl":"https://doi.org/10.1109/ICRA.2015.7139235","url":null,"abstract":"Survey class Autonomous Underwater Vehicles (AUVs) typically rely on Doppler Velocity Logs (DVL) for precise navigation near the seafloor. In cases where the distance to the seafloor is greater than the DVL bottom lock range, localizing between the surface where GPS is available and the seafloor presents a localization problem, since both GPS and DVL are unavailable in the mid-water column. Previous work proposed a solution to navigation in the mid-water column that exploits the stability of the vertical water current profile in space over the minutes scale. With repeated measurements of these currents with the Acoustic Doppler Current Profiler (ADCP) mode of the DVL during vertical descent, along with sensor fusion of other low cost sensors, position error growth is constrained to near the initial velocity uncertainty of the vehicle at the sea surface during the dive. Following DVL bottom lock, due to correlations in the joint vehicle and water current velocity estimation, the entire velocity history is further constrained. In this paper a number of extensions are developed to improve navigation performance during missions characterized by prolonged time-scales and horizontal transits. This includes explicitly accounting for the temporal evolution of water currents while revisiting locations and during the re-observation itself, in addition to employing high fidelity spatial models to account for the horizontal water current field. Furthermore, the validity of our method is demonstrated on deep water data sets. Results from the Sentry AUV are presented from a hydrothermal vent flux estimation mission and a surveying mission at Deepwater Horizon, illustrating a real-time dead-reckoning method with results for up to 20 hours.","PeriodicalId":399819,"journal":{"name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125318027","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: 30

Developing and benchmarking show & tell robotic puppet for preschool education 开发和测试学前教育机器人木偶

2015 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2015-05-26 DOI: 10.1109/ICRA.2015.7140057

A. Causo, Giang Truong Vo, Lai Poh Emily Toh, I. Chen, S. Yeo, Pei-Wen Tzuo

引用次数: 5

Maximum likelihood remission calibration for groups of heterogeneous laser scanners 异质激光扫描仪组的最大似然缓解校准

2015 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2015-05-26 DOI: 10.1109/ICRA.2015.7139472

B. Steder, M. Ruhnke, R. Kümmerle, Wolfram Burgard

{"title":"Maximum likelihood remission calibration for groups of heterogeneous laser scanners","authors":"B. Steder, M. Ruhnke, R. Kümmerle, Wolfram Burgard","doi":"10.1109/ICRA.2015.7139472","DOIUrl":"https://doi.org/10.1109/ICRA.2015.7139472","url":null,"abstract":"Laser range scanners are commonly used in mobile robotics to enable a robot to sense the spatial configuration of its environment. In addition to the range measurements, most scanners provide remission values, representing the intensity of the returned light pulse. These values add a visual component to the measurement and can be used to improve reasoning on the data. Unfortunately, a remission value does not directly tell us how bright a measured surface is in the infrared spectrum. Rather, it varies with respect to the incidence angle and the range at which it was measured. In addition, multiple scanners typically do not agree upon the values of a certain surface. In this paper, we present a calibration method for remission values of multiple laser scanners considering dependencies in range, incidence angle of the measured surface, and the respective scanner unit. Our system learns the calibration parameters based on a set of registered point clouds. It uses a graph optimization scheme to minimize the error between different measurements, so that all involved scanners yield consistent reflection values, independent of the perspective from which the corresponding surface is observed.","PeriodicalId":399819,"journal":{"name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115172870","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