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Swimming with robots: Human robot communication at depth 与机器人一起游泳:人类与机器人的深度交流
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5652751
Bart Verzijlenberg, M. Jenkin
{"title":"Swimming with robots: Human robot communication at depth","authors":"Bart Verzijlenberg, M. Jenkin","doi":"10.1109/IROS.2010.5652751","DOIUrl":"https://doi.org/10.1109/IROS.2010.5652751","url":null,"abstract":"Human-robot communication is a complex problem even in the terrestrial domain. Failure to properly communicate instructions to a robot and receive appropriate feedback can at the very least hamper the ability of the robot to perform its task, and at worst prevent the task from being completed. The problem of providing effective communication between a robot and its operator becomes even more complex underwater. Many communication channels available in the terrestrial domain become unavailable, and communication between team members and task oversight become even more complex. This paper describes initial experiments with the AQUATablet - a robot interaction device designed to be operated by a diver tethered to, or in visual communication with, an underwater robot. The basic requirements of the device are described along with design considerations and results of initial experiments with the device conducted in the pool and in the open ocean.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"45 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":"128712382","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: 28
Effects of increasing autonomy on tele-operation performance 自主性增强对远程操作性能的影响
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5652709
Barry J. O'Brien, Ethan Stump, C. Pierce
{"title":"Effects of increasing autonomy on tele-operation performance","authors":"Barry J. O'Brien, Ethan Stump, C. Pierce","doi":"10.1109/IROS.2010.5652709","DOIUrl":"https://doi.org/10.1109/IROS.2010.5652709","url":null,"abstract":"Tele-operation of robotic platforms has long suffered from the inability of the operator to effectively perform ancillary tasks while controlling the robot. Because of the focus required to perform tele-operation, the operator is limited in their ability to use the robot to improve their situational awareness, with tele-operation often becoming a detriment to their task rather than an enhancement. We present experimental results on the use of a tele-operated robotic system modified to include layered obstacle detection and avoidance routines and an open space planner. These algorithms help the operator shift their focus towards high-level tasks instead of low-level navigation. While experimental data shows that the increase in autonomy did not lead to a reduction in task completion time, obstacle collisions were reduced and has led to further investigation of cognitive load reduction during operation.","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":"128984412","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
How far is SLAM from a linear least squares problem? SLAM离线性最小二乘问题有多远?
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5652603
Shoudong Huang, Yingwu Lai, U. Frese, G. Dissanayake
{"title":"How far is SLAM from a linear least squares problem?","authors":"Shoudong Huang, Yingwu Lai, U. Frese, G. Dissanayake","doi":"10.1109/IROS.2010.5652603","DOIUrl":"https://doi.org/10.1109/IROS.2010.5652603","url":null,"abstract":"Most people believe SLAM is a complex nonlinear estimation/optimization problem. However, recent research shows that some simple iterative methods based on linearization can sometimes provide surprisingly good solutions to SLAM without being trapped into a local minimum. This demonstrates that hidden structure exists in the SLAM problem that is yet to be understood. In this paper, we first analyze how far SLAM is from a convex optimization problem. Then we show that by properly choosing the state vector, SLAM problem can be formulated as a nonlinear least squares problem with many quadratic terms in the objective function, thus it is clearer how far SLAM is from a linear least squares problem. Furthermore, we explain that how the map joining approaches reduce the nonlinearity/nonconvexity of the SLAM problem.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"67 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":"114242620","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: 63
Markerless, vision-assisted flight control of a quadrocopter 无标记、视觉辅助的四旋翼飞行器飞行控制
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5649019
S. Klose, Jian Wang, M. Achtelik, G. Panin, F. Holzapfel, A. Knoll
{"title":"Markerless, vision-assisted flight control of a quadrocopter","authors":"S. Klose, Jian Wang, M. Achtelik, G. Panin, F. Holzapfel, A. Knoll","doi":"10.1109/IROS.2010.5649019","DOIUrl":"https://doi.org/10.1109/IROS.2010.5649019","url":null,"abstract":"In this paper, we present a system for controlling a quadrocopter using both optical and inertial measurements. We show how to use external stereo camera measurements for visual servoing, by onboard fusion at high rates, only natural features provided by the vehicle and without any active marker. In our experiments, we show the accuracy and robustness of our system during indoor flights, as well as robustness to external flight disturbances.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"80 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":"124293942","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: 43
Gain scheduled control of perturbed standing balance 获得摄动站立平衡的预定控制
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5650351
Dengpeng Xing, C. Atkeson, Jianbo Su, Benjamin J. Stephens
{"title":"Gain scheduled control of perturbed standing balance","authors":"Dengpeng Xing, C. Atkeson, Jianbo Su, Benjamin J. Stephens","doi":"10.1109/IROS.2010.5650351","DOIUrl":"https://doi.org/10.1109/IROS.2010.5650351","url":null,"abstract":"This paper develops full-state parametric controllers for standing balance of humanoid robots in response to impulsive and constant pushes. We also explore a hypothesis that postural feedback gains in standing balance should change with perturbation size. From an engineering point of view this is known as gain scheduling. We use an optimization approach to see if feedback gains should scale with the perturbation for a simulated robot. We simulate models in the sagittal and lateral plane and in 3-dimensions, use a horizontal push of a given size, direction and location as a perturbation, and optimize parametric controllers for different push sizes, directions and locations. During a simulated perturbation experiment, the appropriate controller is continuously selected based on the current push. For an impulse, the simulated robot recovers back to the initial state; for a constant push, the robot moves to an equilibrium position which leans into the push and has zero joint torques. We show the performance of optimized parametric controllers in response to different external pushes.","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":"124332378","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: 11
Sensor data fusion using fuzzy control for VOR-based vision tracking system 基于模糊控制的传感器数据融合vorr视觉跟踪系统
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5649916
Hyun-il Kwon, Jaehong Park, Wonsang Hwang, Jong-hyeon Kim, Chang-hun Lee, Muhammad Latif Anjum, Kwangsoo Kim, D. Cho
{"title":"Sensor data fusion using fuzzy control for VOR-based vision tracking system","authors":"Hyun-il Kwon, Jaehong Park, Wonsang Hwang, Jong-hyeon Kim, Chang-hun Lee, Muhammad Latif Anjum, Kwangsoo Kim, D. Cho","doi":"10.1109/IROS.2010.5649916","DOIUrl":"https://doi.org/10.1109/IROS.2010.5649916","url":null,"abstract":"This paper presents a vision tracking system to achieve high recognition performance under dynamic circumstances, using a fuzzy logic controller. The main concept of the proposed system is based on the vestibulo-ocular reflex (VOR) and the opto-kinetic reflex (OKR) of the human eye. To realize the VOR concept, MEMS inertial sensors and encoders are used for robot motion detection. This concept turns the camera towards a selected target, counteracting the robot motion. Based on the OKR concept, the targeting errors are periodically compensated, using vision information. The fuzzy logic controller uses sensor data fusion to detect slip or collision occurrences. To calculate a heading angle of the camera accurately, the output of the fuzzy logic controller and the vision information from the camera are combined, using an extended Kalman filter. The proposed vision tracking system is implemented in a mobile robot and evaluated experimentally. The experimental results are obtained as the tracking and the recognition success rate using a mobile robot. The developed system achieved the excellent tracking and recognition performance during slip or collision occurrences under dynamic circumstances.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"64 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":"124514551","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
Energy efficient trajectory generation for a state-space based JPL Aerobot 基于状态空间的JPL飞行器的高能效轨迹生成
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5654461
Weizhong Zhang, T. Inanc, A. Elfes
{"title":"Energy efficient trajectory generation for a state-space based JPL Aerobot","authors":"Weizhong Zhang, T. Inanc, A. Elfes","doi":"10.1109/IROS.2010.5654461","DOIUrl":"https://doi.org/10.1109/IROS.2010.5654461","url":null,"abstract":"The 40th anniversary of Apollo 11 project with man landing on the moon reminds the world again by what science and engineering can do if the man is determined to do. However, a huge step can only be achieved step by step which may be relatively small at the beginning. Robotic exploration can provide necessary information needed to do the further step safely, with less cost, more conveniently. Trajectory generation for a robotic vehicle is an essential part of the total mission planning. To save energy by exploiting possible resources such as wind will assist a robotic explorer extend its life span and perform tasks more reliably. In this paper, we propose to utilize Nonlinear Trajectory Generation (NTG) methodology to generate energy efficient trajectores for the JPL Aerobot by exploiting wind. The Aerobot model is decoupled into longitudinal and lateral dynamics with control inputs as elevator deflection δe, thrust demand δT, vectoring angle δv for the longitudinal motion, aileron deflection δa, rudder deflection δr for the lateral motion. The outputs are the velocities and orientation of the Aerobot. The Aerobot state space model parameters are obtained from experimental identification on AURORA Airship since the actual JPL Aerobot is similar to the AURORA Airship. In this paper, the results show that with the state-space model, the proposed trajectory generation method can guide the Aerobot to take advantage of previously known wind profile to generate an energy-efficient trajectory.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"35 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":"124006333","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
Development of a broad-view camera system for minimally invasive surgery 用于微创手术的广角摄像系统的研制
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5651409
T. Kawahara, T. Takaki, I. Ishii, M. Okajima
{"title":"Development of a broad-view camera system for minimally invasive surgery","authors":"T. Kawahara, T. Takaki, I. Ishii, M. Okajima","doi":"10.1109/IROS.2010.5651409","DOIUrl":"https://doi.org/10.1109/IROS.2010.5651409","url":null,"abstract":"A big advantage of minimally invasive surgery is the quick recovery afforded by the minimal physical injury sustained by patients. However, the operative field provided by the endoscope camera is rather narrow. This paper discusses a new broad-view camera system, which is capable of providing a wider view of the internal organs during minimally invasive surgery. This system consists of a camera unit for capturing the image and a monitor for displaying the captured image. With the use of this system, the invasiveness of the procedure does not increase, and the other specifications of current minimally invasive surgery are maintained. Furthermore, it can function as a second camera (in addition to the one attached to the endoscope) and can help assess the overall state of the target area. In this paper, we present this a newly developed camera system, which is intended for use along with the proposed system. The camera system is composed of a miniature color CMOS camera, an indwelling needle, and an extra-thin connector. The specific design of the camera unit and the method for positioning it are shown here. The performance of this camera system has been confirmed through basic and laparoscopic surgery on animals.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"76 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":"127684583","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
A state exchange approach in real conditions for multi-robot cooperative localization 一种真实条件下多机器人协同定位的状态交换方法
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5653406
R. Aufrère, N. Karam, F. Chausse, R. Chapuis
{"title":"A state exchange approach in real conditions for multi-robot cooperative localization","authors":"R. Aufrère, N. Karam, F. Chausse, R. Chapuis","doi":"10.1109/IROS.2010.5653406","DOIUrl":"https://doi.org/10.1109/IROS.2010.5653406","url":null,"abstract":"In this paper, a state exchange based multi-robot localization is proposed in particular experiments in real conditions. The goal of such an approach is to combine the data coming from several mobile communicating robots in order to i) update and maintain in each robot an optimal map of the whole fleet, and ii) improve all the poses estimation taking into account that vehicles can detect and localize their neighbors. The approach is based on a state exchange procedure and is real applications dedicated. So, the problems of data incest, communication latencies or losses has been solved and the robot detection association has been addressed. This paper presents the overall principle of the approach and shows several results obtained in real-time situations with real Cycabs vehicles.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"51 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":"127999274","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: 11
Push-grasping with dexterous hands: Mechanics and a method 灵巧手的推握:力学与方法
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5652970
M. Dogar, S. Srinivasa
{"title":"Push-grasping with dexterous hands: Mechanics and a method","authors":"M. Dogar, S. Srinivasa","doi":"10.1109/IROS.2010.5652970","DOIUrl":"https://doi.org/10.1109/IROS.2010.5652970","url":null,"abstract":"We add to a manipulator's capabilities a new primitive motion which we term a push-grasp. While significant progress has been made in robotic grasping of objects and geometric path planning for manipulation, such work treats the world and the object being grasped as immovable, often declaring failure when simple motions of the object could produce success. We analyze the mechanics of push-grasping and present a quasi-static tool that can be used both for analysis and simulation. We utilize this analysis to derive a fast, feasible motion planning algorithm that produces stable pushgrasp plans for dexterous hands in the presence of object pose uncertainty and high clutter. We demonstrate our algorithm extensively in simulation and on HERB, a personal robotics platform developed at Intel Labs Pittsburgh.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"50 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":"128017959","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: 195
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