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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献

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Antagonistically actuated compliant joint: Torque and stiffness control 拮抗驱动柔性关节:扭矩和刚度控制
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5651277
I. Sardellitti, G. Palli, N. Tsagarakis, D. Caldwell
{"title":"Antagonistically actuated compliant joint: Torque and stiffness control","authors":"I. Sardellitti, G. Palli, N. Tsagarakis, D. Caldwell","doi":"10.1109/IROS.2010.5651277","DOIUrl":"https://doi.org/10.1109/IROS.2010.5651277","url":null,"abstract":"The current research effort in the design of lightweight and safe robots is resulting in increased interest for the development of variable stiffness actuators. Antagonistic pneumatic muscle actuators (pMAs) have been proposed for this purpose, due to their inherent nonlinear spring behavior resulting from both air compressibility and their nonlinear force-length relation. This paper addresses the simultaneous torque and stiffness control of an antagonistically actuated joint with pneumatic muscles driven by compact, fast-switching solenoid valves. This strategy allows compensation of unmodeled joint dynamics while adjusting the joint stiffness depending on the task requirements. The proposed controller is based on a sliding mode force control applied to an average model of the valve-pneumatic muscle system. This was necessary to cope with both the well known model uncertainties of the pMA and the discontinuous on-off behavior of the solenoid valves. Preliminary experimental results verified the effectiveness of the proposed implementation.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"124 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":"122752937","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: 37
Detection of acoustic patterns by stochastic Matched Filtering 基于随机匹配滤波的声模式检测
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5653257
Julien Bonnal, P. Danès, Marc Renaud
{"title":"Detection of acoustic patterns by stochastic Matched Filtering","authors":"Julien Bonnal, P. Danès, Marc Renaud","doi":"10.1109/IROS.2010.5653257","DOIUrl":"https://doi.org/10.1109/IROS.2010.5653257","url":null,"abstract":"The detection of a pattern in an audio sequence is considered. An approach relying on the Stochastic Matched Filtering theory is proposed. It consists in first defining offline a basis from the statistics of the pattern and of the noise, then in isolating the pattern by means of a likelihood ratio test involving the online decomposition of the audio sequence on this basis. A simulated case study is proposed, which provides some guidelines to the tuning of the algorithm. Then, experimental results concerning the application of the method to voice activity detection are presented.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"11 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":"122776562","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
Picking up an indicated object in a complex environment 在复杂的环境中捡起一个指示的物体
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5651257
K. Nagata, Takashi Miyasaka, D. Nenchev, N. Yamanobe, K. Maruyama, S. Kawabata, Y. Kawai
{"title":"Picking up an indicated object in a complex environment","authors":"K. Nagata, Takashi Miyasaka, D. Nenchev, N. Yamanobe, K. Maruyama, S. Kawabata, Y. Kawai","doi":"10.1109/IROS.2010.5651257","DOIUrl":"https://doi.org/10.1109/IROS.2010.5651257","url":null,"abstract":"This paper presents a grasping system for picking up an indicated object in a complex real-world environment using a parallel jaw gripper. The proposed grasping scheme comprises the following three main steps: 1) A user indicates a target object and provides the system with a task instruction on how to grasp it, 2) the system acquires geometric information about the target object and constructs a 3D environment model around the target by stereo vision using the information obtained from the task instruction, and 3) the system finds a grasp point based on grasp evaluation using the acquired information. As an example of the scheme, we examined the picking up of a cylindrical object by grasping at the brim. An important and advantageous feature of this scheme is that the user can easily instruct the robot on how to perform the object-picking task through simple clicking operations, and the robot can execute the task without exact models of the target object and the environment being available in advance.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"12 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":"122813927","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: 26
Visual odometry and control for an omnidirectional mobile robot with a downward-facing camera 带下视摄像头的全向移动机器人的视觉里程测量与控制
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5649749
Marc D. Killpack, T. Deyle, Cressel D. Anderson, C. Kemp
{"title":"Visual odometry and control for an omnidirectional mobile robot with a downward-facing camera","authors":"Marc D. Killpack, T. Deyle, Cressel D. Anderson, C. Kemp","doi":"10.1109/IROS.2010.5649749","DOIUrl":"https://doi.org/10.1109/IROS.2010.5649749","url":null,"abstract":"An omnidirectional Mecanum base allows for more flexible mobile manipulation. However, slipping of the Mecanum wheels results in poor dead-reckoning estimates from wheel encoders, limiting the accuracy and overall utility of this type of base. We present a system with a downward-facing camera and light ring to provide robust visual odometry estimates. We mounted the system under the robot which allows it to operate in conditions such as large crowds or low ambient lighting. We demonstrate that the visual odometry estimates are sufficient to generate closed-loop PID (Proportional Integral Derivative) and LQR (Linear Quadratic Regulator) controllers for motion control in three different scenarios: waypoint tracking, small disturbance rejection, and sideways motion. We report quantitative measurements that demonstrate superior control performance when using visual odometry compared to wheel encoders. Finally, we show that this system provides high-fidelity odometry estimates and is able to compensate for wheel slip on a four-wheeled omnidirectional mobile robot base.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"36 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":"116595287","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: 29
An articulated rehabilitation robot for upper limb physiotherapy and training 一种用于上肢物理治疗和训练的关节式康复机器人
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5649567
Bing-Chuen Tsai, Wei-Wen Wang, Li-Chun Hsu, L. Fu, J. Lai
{"title":"An articulated rehabilitation robot for upper limb physiotherapy and training","authors":"Bing-Chuen Tsai, Wei-Wen Wang, Li-Chun Hsu, L. Fu, J. Lai","doi":"10.1109/IROS.2010.5649567","DOIUrl":"https://doi.org/10.1109/IROS.2010.5649567","url":null,"abstract":"The objective of this study is to design a robot system to assist the rehabilitation of patients so that they can afterwards do various daily activities. It is difficult to determine the desirable posture of a 9-DOFs exoskeleton manipulator in such a system and each joint control design as well. In this paper, we resolve the difficulties by mapping the kinematics of a human arm to that of the manipulator so that we can avoid going through the ill-postured configurations while searching for the desired solutions, and then reach the desired rehabilitation motion as precisely as possible. In addition, this study combines electromyography (EMG) and force sensor to detect the patient's motion on his/her volition, so that the rehab-robot can support the human's upper limb appropriately to fulfill the intended motion. For validation of our rehab-robot design, experiments are conducted and promising results are obtained.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"51 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":"117035757","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: 56
Fast path planning using multi-resolution boundary value problems 基于多分辨率边值问题的快速路径规划
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5650673
Renato Silveira, Edson Prestes e Silva, L. Nedel
{"title":"Fast path planning using multi-resolution boundary value problems","authors":"Renato Silveira, Edson Prestes e Silva, L. Nedel","doi":"10.1109/IROS.2010.5650673","DOIUrl":"https://doi.org/10.1109/IROS.2010.5650673","url":null,"abstract":"BVP Path Planners generate potential fields through a differential equation whose gradient descent represents navigation routes from any point of the environment to a goal position. Resulting paths are smooth and free from local minima. In spite of these advantages, this kind of planners consumes a lot of time to produce a solution. In this paper, we present a new approach that combines our BVP Path Planner with the Full Multigrid Method, which solves elliptic partial differential equations using a hierarchical strategy. Our new approach, called Hierarchical BVP Path Planner, enables real-time performance on large environments. Results show that our proposal spends less than 1% of the time needed to compute a solution using our original planner in several environments.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"39 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":"129545141","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: 9
Connected tracked robot with offset joint mechanism for multiple configurations 多构型偏置关节机构连接履带机器人
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5651473
K. Tadakuma, Chigusa Ohishi, A. Maruyama, R. Tadakuma, K. Nagatani, Kazuya Yoshida, A. Ming, M. Shimojo
{"title":"Connected tracked robot with offset joint mechanism for multiple configurations","authors":"K. Tadakuma, Chigusa Ohishi, A. Maruyama, R. Tadakuma, K. Nagatani, Kazuya Yoshida, A. Ming, M. Shimojo","doi":"10.1109/IROS.2010.5651473","DOIUrl":"https://doi.org/10.1109/IROS.2010.5651473","url":null,"abstract":"This paper describes various configurations of two connected unit crawlers. By changing the relative position of the two connected vehicle units, the overall robot comprising such a mechanism can automatically adapt to surface obstacles on the field, including complicated structures such as disaster-generated debris. In addition, we analyzed the effect of axis arrangements in order to simplify the realization of the switching function so as to achieve the four basic configurations.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"44 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":"129850719","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
Development of a peristaltic pump based on bowel peristalsis using for artificial rubber muscle 人造橡胶肌肠蠕动泵的研制
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1163/016918610X552196
K. Suzuki, Tadao Nakamura
{"title":"Development of a peristaltic pump based on bowel peristalsis using for artificial rubber muscle","authors":"K. Suzuki, Tadao Nakamura","doi":"10.1163/016918610X552196","DOIUrl":"https://doi.org/10.1163/016918610X552196","url":null,"abstract":"The global water shortage has recently been debated at the United Nations. The main cause of this shortage is the excessive use of water resources by humans. Therefore, a positive approach to saving water is needed. Much water is used to flush toilets in homes. Thus, it is necessary to develop a sewage disposal system that saves water. We focused on the bowel peristalsis as a model for a mechanism that can transport sludge with little water. In this paper, we suggest a mechanism that uses such a pump and confirmed its capability. In addition, we fabricated a peristaltic pump of six units, and conducted liquid transportation experiments as an operational check.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"4 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":"128221587","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: 34
Reliable estimation of heart surface motion under stochastic and unknown but bounded systematic uncertainties 在随机和未知但有界的系统不确定性下心脏表面运动的可靠估计
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5651190
Evgeniya Bogatyrenko, B. Noack, U. Hanebeck
{"title":"Reliable estimation of heart surface motion under stochastic and unknown but bounded systematic uncertainties","authors":"Evgeniya Bogatyrenko, B. Noack, U. Hanebeck","doi":"10.1109/IROS.2010.5651190","DOIUrl":"https://doi.org/10.1109/IROS.2010.5651190","url":null,"abstract":"A reliable estimation of heart surface motion is an important prerequisite for the synchronization of surgical instruments in robotic beating heart surgery. In general, only an imprecise description of the heart dynamics and measurement systems is available. This means that the estimation of heart motion is corrupted by stochastic and systematic uncertainties. Without consideration of these uncertainties, the obtained results will be inaccurate and a safe robotic operation cannot be guaranteed. Until now, existing approaches for estimating the motion of the heart surface are either deterministic or treat only stochastic uncertainties. The proposed method extends the heart motion estimation to the simultaneous consideration of stochastic and unknown but bounded systematic uncertainties. It computes dynamic bounds in order to provide the surgeon with a guidance by constraining the motion of the surgical instruments and thereby protecting sensitive tissue.","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":"128656677","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
Path planning in 3D environments using the Normal Distributions Transform 使用正态分布变换的3D环境中的路径规划
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5650789
Todor Stoyanov, Martin Magnusson, Henrik Andreasson, A. Lilienthal
{"title":"Path planning in 3D environments using the Normal Distributions Transform","authors":"Todor Stoyanov, Martin Magnusson, Henrik Andreasson, A. Lilienthal","doi":"10.1109/IROS.2010.5650789","DOIUrl":"https://doi.org/10.1109/IROS.2010.5650789","url":null,"abstract":"Planning feasible paths in fully three-dimensional environments is a challenging problem. Application of existing algorithms typically requires the use of limited 3D representations that discard potentially useful information. This article proposes a novel approach to path planning that utilizes a full 3D representation directly: the Three-Dimensional Normal Distributions Transform (3D-NDT). The well known wavefront planner is modified to use 3D-NDT as a basis for map representation and evaluated using both indoor and outdoor data sets. The use of 3D-NDT for path planning is thus demonstrated to be a viable choice with good expressive capabilities.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"70 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":"128689745","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: 64
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