2010 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第3页

Detecting dance motion structure using body components and turning motions 利用身体成分和转动动作检测舞蹈动作结构

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5649303

Bjoern Rennhak, Takaaki Shiratori, S. Kudoh, Phongtharin Vinayavekhin, K. Ikeuchi

{"title":"Detecting dance motion structure using body components and turning motions","authors":"Bjoern Rennhak, Takaaki Shiratori, S. Kudoh, Phongtharin Vinayavekhin, K. Ikeuchi","doi":"10.1109/IROS.2010.5649303","DOIUrl":"https://doi.org/10.1109/IROS.2010.5649303","url":null,"abstract":"This paper presents a novel method for robust dance motion structure detection. In the japanese folk dance domain, teachers created illustrations of dance poses. These poses characterize the most important movements of a dance. So far there is no simple and reliable extraction method which can extract all poses as shown in these drawings. We use these poses for the Task Model (TM) in the context of Learning from Observation (LFO). LFO which is a well known technique for successful human to robot motion mapping, consists of tasks (what to do) and skills (how to do). We propose a novel approach, to extract special motions from a dance, called turning motions useful for skill mapping in the LFO paradigm. Furthermore, we use a modified version of this approach, to detect all poses as shown in the drawings, called turning poses. To achieve this we observe both forearms at the same time and analyze their movement in different 2-D coordinate planes. We evaluate the parameters with and without a weighting function where we minimize acceleration, velocity and power. We successfully demonstrate this novel method using two very different japanese folk dances and discuss further implications of this work in respect to the LFO paradigm and dances of other domains.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125519069","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: 4

Development of a ball drive unit using partially sliding rollers — An alternative mechanism for semi-omnidirectional motion — 采用部分滑动滚轮的滚珠传动装置的研制。半全向运动的替代机构

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5651007

M. Kumagai

引用次数: 14

A novel rehabilitation system supporting bilateral arm cooperative training 一种支持双侧手臂协同训练的新型康复系统

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5649428

Chunguang Li, Y. Inoue, Tao Liu, K. Shibata

{"title":"A novel rehabilitation system supporting bilateral arm cooperative training","authors":"Chunguang Li, Y. Inoue, Tao Liu, K. Shibata","doi":"10.1109/IROS.2010.5649428","DOIUrl":"https://doi.org/10.1109/IROS.2010.5649428","url":null,"abstract":"Numerous rehabilitation robots have been developed to deliver therapy for hemiplegic patients with a unilateral-disabled limb or for aged persons with motor-function degenerated limbs. Recently, much attention has been paid to the development of robots that support bilateral arm training in various patterns. It has been proved that the coordination of two limbs can reduce hypertonia and abnormal synergies compared to unilateral limb training. However, traditional robots realized different modes with the robot providing a corresponding force for the impaired limb. This paper proposes a novel bimanual training system. A subject controls master and slave terminal handles with his/her two limbs. The less impaired limb provides a corresponding force for the more impaired limb to achieve different training patterns. No matter in which mode, the two limbs accomplish symmetric movement. An experimental prototype was built. Frequency response test and training tests on 9 healthy subjects in active-resisted and active-assisted modes were performed. Experimental results confirm that the system can correctly respond a subject's commands if velocity was changed within the frequency range of 30 Hz. For each training mode, the average position error, and RMS (root mean square) values of position errors and velocity errors that between the reference values and actual values of a motion tracking task were reduced after practice. This proves the effectiveness of the system for self-assisted rehabilitation training.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126838829","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: 4

Comparative analysis of the repeatability performance of a serial and parallel robot 串联与并联机器人重复性性能的比较分析

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5651431

Rolland-Michel Assoumou Nzue, J. Brethé, E. Vasselin, D. Lefebvre

引用次数: 9

A methodology for joint stiffness identification of serial robots 串联机器人关节刚度辨识方法

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5652140

Claire Dumas-Lecerf, S. Caro, M. Chérif, S. Garnier, B. Furet

引用次数: 56

Stereo vision based swing angle sensor for mining rope shovel 基于立体视觉的矿用绳铲摆角传感器

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5650457

Li-Heng Lin, P. Lawrence, R. A. Hall

引用次数: 10

Combining perception and knowledge processing for everyday manipulation 结合日常操作的感知和知识处理

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5651006

Dejan Pangercic, Moritz Tenorth, Dominik Jain, M. Beetz

引用次数: 54

Human hand motion recognition using Empirical Copula 基于经验关系式的手部运动识别

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5649027

Zhaojie Ju, Honghai Liu

引用次数: 2

Static balance for rescue robot navigation: Losing balance on purpose within random step environment 救援机器人导航的静态平衡:在随机阶跃环境中故意失去平衡

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5649361

E. Magid, T. Tsubouchi, E. Koyanagi, Tomoaki Yoshida

{"title":"Static balance for rescue robot navigation: Losing balance on purpose within random step environment","authors":"E. Magid, T. Tsubouchi, E. Koyanagi, Tomoaki Yoshida","doi":"10.1109/IROS.2010.5649361","DOIUrl":"https://doi.org/10.1109/IROS.2010.5649361","url":null,"abstract":"The goal of rescue robotics is to extend the capabilities and to increase the safety of human rescue teams. During a rescue mission a mobile robot is deployed on a rescue site and is operated from a safe place by a human operator. The operator can not see the robot and the environment and a decision on the path selection is very complicated. Our goal is to provide a kind of automatic “pilot system” to propose an operator a good direction or several options to traverse the environment, taking into an account the robot's static and dynamic properties. To find a good path we need a special path search algorithm on debris and a proper definition of a search tree, which can ensure smooth exploration. While the main goal of the algorithm is to keep the robot maximally stable at every step of its path, in some cases we need the robot to lose its balance and to change a 3D orientation discontinuously. Losing balance on purpose is an important feature for safe climbing up and going down the debris and it is the central issue of this paper. Exhaustive simulations were used to structure and analyze data and experiments were used to verify our approach to removing unsuitable directions of the search from the search tree.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122503837","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: 16

Fast 3D recognition and pose using the Viewpoint Feature Histogram 快速3D识别和姿态使用视点特征直方图

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5651280

R. Rusu, G. Bradski, R. Thibaux, John M. Hsu

引用次数: 901