2010 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第9页

Towards a complete safe path planning for robotic manipulators 面向机器人机械臂的完整安全路径规划

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5650945

B. Lacevic, P. Rocco

引用次数: 25

Exploiting proximal F/T measurements for the iCub active compliance 利用近端F/T测量来实现iCub主动顺应性

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5651421

M. Fumagalli, M. Randazzo, F. Nori, L. Natale, G. Metta, G. Sandini

引用次数: 25

Semantic map partitioning in indoor environments using regional analysis 基于区域分析的室内环境语义地图划分

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5650575

Carlos Nieto-Granda, J. Rogers, A. J. Trevor, H. Christensen

引用次数: 71

Asynchronous Multi-Centralized Cooperative Localization 异步多中心协作定位

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5650133

Esha D. Nerurkar, S. Roumeliotis

{"title":"Asynchronous Multi-Centralized Cooperative Localization","authors":"Esha D. Nerurkar, S. Roumeliotis","doi":"10.1109/IROS.2010.5650133","DOIUrl":"https://doi.org/10.1109/IROS.2010.5650133","url":null,"abstract":"This paper presents a generalized framework for inter-robot information-transfer schemes in Multi-Centralized Cooperative Localization (MC-CL) under asynchronous communication, i.e., when the communication graph associated with the mobile robot network is time-varying and intermittently disconnected. Specifically, two information-transfer schemes, which differ based on their communication bandwidth requirements per link, are discussed. Even under asynchronous communication constraints, these schemes enable robots to compute pose estimates identical to those generated using the centralized CL framework, albeit delayed. For each of these schemes, necessary and sufficient conditions for the communication-graph connectivity, that enable each robot to generate the centralized estimates, are developed. Moreover, detailed description of these schemes, along with their communication-complexity analysis and analytical results for the expected time delay in obtaining these estimates, are presented. Lastly, simulation results are used to validate the performance (the trade-off between communication link bandwidth and accuracy/delay) of these information-transfer schemes.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"302 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":"124206060","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: 32

Endovascular navigation of a ferromagnetic microrobot using MRI-based predictive control 基于核磁共振预测控制的铁磁微型机器人血管内导航

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5650803

K. Belharet, D. Folio, Antoine Ferreira

{"title":"Endovascular navigation of a ferromagnetic microrobot using MRI-based predictive control","authors":"K. Belharet, D. Folio, Antoine Ferreira","doi":"10.1109/IROS.2010.5650803","DOIUrl":"https://doi.org/10.1109/IROS.2010.5650803","url":null,"abstract":"This paper presents real-time MRI-based control of a ferromagnetic microcapsule for endovascular navigation. The concept was studied for future development of microdevices designed to perform minimally invasive interventions in remote sites accessible through the human cardiovascular system. A system software architecture is presented illustrating the different software modules to allow navigation of a microdevice in blood vessels, namely: (i) vessel path planner, (ii) magnetic gradient steering, (iii) tracking and (iv) closed-loop navigation control. First, the position recognition of the microrobot into the blood vessel is extracted using Frangi vesselness filtering from the pre-operation images. Then, a set of minimal trajectory is predefined, using FMM, to guide the microrobot from the injection point to the tumor area through the anarchic vessel network. Based on the pre-computed path, a GPC is proposed for robust time-multiplexed navigation along a 2D path in presence of pulsative flow. The simulation results suggest the validation of the proposed image processing and control algorithms. A series of disturbances introduced in the presence and absence of closed-loop control affirms the robustness and effectiveness of this predictive control system.","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":"124524001","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: 47

Underwater robot navigation around a sphere using electrolocation sense and Kalman filter 基于电定位感知和卡尔曼滤波的水下机器人绕球导航

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5648929

V. Lebastard, C. Chevallereau, Ali Amrouche, Brahim Jawad, A. Girin, F. Boyer, P. Gossiaux

引用次数: 37

Multidimensional scaling based location calibration for Wireless Multimedia Sensor Networks 基于多维尺度的无线多媒体传感器网络位置标定

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5649678

R. Kadam, Sijian Zhang, Qizhi Wang, W. Sheng

引用次数: 1

A robotic concept for remote maintenance operations: A robust 3D object detection and pose estimation method and a novel robot tool 用于远程维护操作的机器人概念:一种鲁棒的3D物体检测和姿态估计方法以及一种新型机器人工具

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5650198

A. Transeth, Ø. Skotheim, H. Schumann-Olsen, Gorm Johansen, J. Thielemann, E. Kyrkjebø

{"title":"A robotic concept for remote maintenance operations: A robust 3D object detection and pose estimation method and a novel robot tool","authors":"A. Transeth, Ø. Skotheim, H. Schumann-Olsen, Gorm Johansen, J. Thielemann, E. Kyrkjebø","doi":"10.1109/IROS.2010.5650198","DOIUrl":"https://doi.org/10.1109/IROS.2010.5650198","url":null,"abstract":"Future normally-unmanned oil platforms offer potentially significantly lower commissioning and operation costs than their current manned counterparts. The ability to initiate and perform remote inspection and maintenance (I&M) operations is crucial for maintaining such platforms. This paper presents a system solution, including key components such as a 3D robot vision system, a robot tool and a control architecture for remote I&M operations on processes similar to those on topside oil platforms. In particular, a case study on how to automatically replace a battery in a wireless process sensor is investigated. A novel robot tool for removing and re-attaching the sensor lid has been designed. Moreover, a robot control architecture for remote control of industrial-type robot manipulators is presented. A 3D robot vision system for localizing the sensor lid and the battery has been developed. The system utilizes structured light, using an off-the-shelf projector and a standard machine vision camera. A novel, robust and fast vision algorithm called 3D-MaMa has been adapted to work for object localization and pose estimation in complex scenes, in our case the process equipment in our lab facility. Experimental results from our lab facility are presented which describe a series of battery replacement operations for various unknown positions of the wireless sensor, and we report on accuracies and success ratios. The experiments demonstrate that the described vision system is able to recover the full pose and orientation of an object, and that the results are directly applicable for controlling advanced robot contact operations. Moreover, the custom-built lid operation tool demonstrates successful results.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"6 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":"114858490","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: 13

Imitation as a communication tool for online facial expression learning and recognition 模仿作为在线面部表情学习和识别的交流工具

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5650357

S. Boucenna, P. Gaussier, P. Andry, L. Hafemeister

引用次数: 33

Probability of love between robots and humans 机器人和人类相爱的概率

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5650886

H. Samani, A. Cheok

{"title":"Probability of love between robots and humans","authors":"H. Samani, A. Cheok","doi":"10.1109/IROS.2010.5650886","DOIUrl":"https://doi.org/10.1109/IROS.2010.5650886","url":null,"abstract":"In order to develop a close relationship between humans and robots, we proposed a multi-modal sentimental model which considers both long and short term affective parameters of interaction. Our model is inspired from scientific studies of love in humans and aims to generate a bi-directional love between humans and robots. We refer to this sentimental connection as “Lovotics”. We have formulated probabilistic mathematical models for identified factors of love, and aim to provide a clear, distinct and discrete interpretation of the intimacy between humans and robots. Such mathematical models are assembled by a Bayesian Network depicting the relationship between intimacy and the causal factors for love. Furthermore, a novel affective state transition system is proposed which takes into account not only the current state caused by interactions, but also the effects of the previous states and internal factors of the robot. Hence, the robot is capable of acting consistently and naturally. The behavior of the robot is controlled by the above two modules via an Artificial Neural Network to develop a realistic affective communication between a human and a robot.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"63 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":"115006731","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: 19