2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第8页

Predict Robot Grasp Outcomes based on Multi-Modal Information 基于多模态信息的机器人抓取结果预测

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665307

Chao Yang, Peng Du, F. Sun, Bin Fang, Jie Zhou

{"title":"Predict Robot Grasp Outcomes based on Multi-Modal Information","authors":"Chao Yang, Peng Du, F. Sun, Bin Fang, Jie Zhou","doi":"10.1109/ROBIO.2018.8665307","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665307","url":null,"abstract":"In the service robot application scenario, the stable grasp requires careful balancing the contact forces and the property of the manipulation objects, such as shape, weight. Deducing whether a particular grasp would be stable from indirect measurements, such as vision, is therefore quite challenging, and direct sensing of contacts through tactile sensor provides an appealing avenue toward more successful and consistent robotic grasping. Other than this, an object's shape and weight would also decide whether to grasping stabilize or not. In this work, we investigate the question of whether tactile information and object intrinsic property aid in predicting grasp outcomes within a multi-modal sensing framework that combines vision, tactile and object intrinsic property. To that end, we collected more than 2550 grasping trials using a 3-finger robot hand which mounted with multiple tactile sensors. We evaluated our multi-modal deep neural network models to directly predict grasp stability from either modality individually or multimodal modalities. Our experimental results indicate the visual combination of tactile readings and intrinsic properties of the object significantly improve grasping prediction performance.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132065624","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: 8

CombX: Design of a Haptic Device for Teleoperation * 一种遥操作触觉装置的设计*

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665278

Bin Zhao, Shu'an Zhang, Zhonghao Wu, Qi Li, Kai Xu

{"title":"CombX: Design of a Haptic Device for Teleoperation *","authors":"Bin Zhao, Shu'an Zhang, Zhonghao Wu, Qi Li, Kai Xu","doi":"10.1109/ROBIO.2018.8665278","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8665278","url":null,"abstract":"A haptic device which can provide force and torque outputs is preferred in teleoperation, virtual reality, etc. The dilemma for researchers is that such a haptic device is not easily accessible: the commercial products are expensive to buy, while the state-of-the-art research prototypes are difficult to reproduce outside the original laboratories. This paper presents the design and preliminary experimentation of a haptic device, the CombX, with both force and torque outputs. The CombX is constructed from two TouchX haptic devices that only generate force outputs at their styluses. Since the TouchX's original stylus does not allow effective connection between two TouchX devices, a new stylus is carefully designed and fabricated via 3D printing, to replace the original styluses. An optimization for determining the arrangement of the two TouchX devices was performed to maximize the workspace. Positioning precisions and orientation workspace of the CombX were experimentally examined. The future work mainly includes the calibration and characterizations of the CombX's force and torque output capabilities, in order to fully verify the effectiveness of the proposed idea.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130794569","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: 2

Robotic Precise Positioning and Interaction Based on Laser Radar 基于激光雷达的机器人精确定位与交互

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664800

N. Zheng, Haoting Liu

引用次数: 1

Verification of Reducing Effect of Driver Fatigue Increase by Using the Driver's Seat with Two Support Mechanisms 双支撑式驾驶员座椅对驾驶员疲劳增加降低效果的验证

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664764

Yuya Toda, K. Asano, K. Yamamoto, Fumiya Yamamoto, S. Hayakawa, S. Tsutsumi, R. Ikeura, T. Yamakawa, Masami Yoshida, T. Tsutsui, H. Tobata

引用次数: 2

An Odd-Form Electronic Component Insertion System Based on Dual SCARA 基于双SCARA的奇形电子元件插入系统

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665113

Yijiong Lin, Yihui Li, Yan Huang, Kaifu Zhang, Haifei Zhu, Yansui Liu, Y. Guan

引用次数: 2

Standing Push Recovery Based on LIPM Dynamics Control for Biped Humanoid Robot 基于LIPM动力学控制的两足仿人机器人站立推恢复

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664792

Rongge Zhang, Mingguo Zhao, Chi-Lun Wang

引用次数: 6

Reactive velocity control reduces energetic cost of jumping with a virtual leg spring on simulated granular media 反应速度控制减少了在模拟颗粒介质上用虚拟腿弹簧跳跃的能量消耗

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664858

Sonia F. Roberts, D. Koditschek

{"title":"Reactive velocity control reduces energetic cost of jumping with a virtual leg spring on simulated granular media","authors":"Sonia F. Roberts, D. Koditschek","doi":"10.1109/ROBIO.2018.8664858","DOIUrl":"https://doi.org/10.1109/ROBIO.2018.8664858","url":null,"abstract":"Robots capable of dynamic locomotion behaviors and high-bandwidth sensing with their limbs have a high cost of transport, especially when locomoting over highly dissipative substrates such as sand. We formulate the problem of reducing the energetic cost of locomotion by a Minitaur robot on sand, reacting to robot state variables in the inertial world frame without modeling the ground online. Using a bulk-behavior model of high-velocity intrusions into dry granular media, we simulated single jumps by a one-legged hopper using a Raibert-style compression-extension virtual leg spring. We compose this controller with a controller that added damping to the leg spring in proportion to the intrusion velocity of the robot's foot into the simulated sand while the robot is pushing off in the second half of stance. This has the effect of both reducing the torque exerted by the motors because the added virtual “active damping” force acts in opposition to the virtual leg spring force, and reducing the transfer of energy from the robot to the sand by slowing the intrusion velocity of the foot. Varying the simulated robot's initial conditions and the simulated ground parameters, we gained a consistent 20% energy savings by adding active damping with no cost in apex height.","PeriodicalId":417415,"journal":{"name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123295441","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: 10

A Vision Detection System for Odd-Form Components 奇形部件的视觉检测系统

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664867

Kaifu Zhang, Yihui Li, Y. Guan, Li He, Yuxi Gan, Zhenjiang Dong

引用次数: 1

Unmanned Aerial Vehicle (UAV) Based Running Person Detection from a Real-Time Moving Camera* 基于实时移动摄像机的无人机(UAV)跑人检测*

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8665167

Happiness Ugochi Dike, Qingtian Wu, Yimin Zhou, Gong Liang

引用次数: 8

Visual Localization of Inspection Robot Using Extended Kalman Filter and Aruco Markers 基于扩展卡尔曼滤波和Aruco标记的检测机器人视觉定位

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2018-12-01 DOI: 10.1109/ROBIO.2018.8664777

Jingxiang Zheng, S. Bi, Bo Cao, Dongsheng Yang

引用次数: 6