ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.最新文献_第2页

Omnidirectional stereovision system for occupancy grid 全向立体视觉系统的占用网格

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507474

F. Corrêa, J. Okamoto

引用次数: 9

Torque distribution and slip minimization in an omnidirectional mobile base 全向移动基座的扭矩分配和滑移最小化

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507465

Yuan Ping Li, D. Oetomo, M. Ang, Chee Wang Lim

引用次数: 14

Dynamic intercept and manipulation of objects using a novel pneumatic robot hand 一种新型气动机械手对物体的动态截距和操纵

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507402

Yanfei Liu, A. Hoover, I. Walker

引用次数: 3

On a primitive skill-based supervisory robot control architecture 基于原始技能的监督机器人控制体系结构

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507404

G. Milighetti, H. Kuntze, C. Frey, B. Diestel-Feddersen, J. Balzer

引用次数: 19

Robotics and autonomous technology for asteroid sample return mission 小行星样本返回任务的机器人和自主技术

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507387

T. Kubota, S. Sawai, T. Hashimoto, J. Kawaguchi

引用次数: 17

Fault detection of tool/load grasping for telerobotics using neural networks 基于神经网络的远程机器人工具/负载抓取故障检测

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507508

Sewoong Kim, W. Hamel

引用次数: 0

Attention shifts during action sequence recognition for social robots 社交机器人动作序列识别过程中的注意力转移

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507451

B. Khadhouri, Y. Demiris

引用次数: 0

Self-localization through color features detection 通过颜色特征检测进行自定位

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507421

M. Castelnovi, A. Sgorbissa, R. Zaccaria

引用次数: 1

RoboTalk: controlling arms, bases and androids through a single motion interface RoboTalk:通过单一运动界面控制手臂、基地和机器人

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507425

A.Y. Yang, H. González-Baños, V. Ng-Thow-Hing, J. Davis

{"title":"RoboTalk: controlling arms, bases and androids through a single motion interface","authors":"A.Y. Yang, H. González-Baños, V. Ng-Thow-Hing, J. Davis","doi":"10.1109/ICAR.2005.1507425","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507425","url":null,"abstract":"Despite several successful humanoid robot projects from both industry and academia, generic motion interfaces for higher-level applications are still absent. Direct robot driver access proves to be either very difficult due to the complexity of humanoid robots, very unstable due to constant robot hardware upgrade and re-design, or inaccessible due to proprietary software and hardware. Motion interfaces do exist, but these are either hardware-specific designs, or generic interlaces that support very simple robots (non-humanoids). Thus, this paper introduces RoboTalk, a new motion interface for controlling robots. From the ground up our design model considers three factors: mechanism-independence to abstract the hardware from higher-level applications, a versatile network support mechanism to enable both remote and local motion control, and an easy-to-manage driver interface to facilitate the incorporation of features by hardware developers. The interface is based on a motion specification that supports a wide range of robotic mechanisms, from mobile bases such as a Pioneer 2 to humanoid robots. The specification allows us to construct interfaces from basic blocks, such as wheeled bases, robot arms and legs. We have tested and implemented our approach on the Honda ASIMO robot and a Pioneer 2 mobile robot","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"180 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130013686","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: 3

3D and 2D finite element analysis in soft tissue cutting for haptic display 触觉显示中软组织切割的三维和二维有限元分析

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507436

T. Chanthasopsephan, J. Desai, A. Lau

{"title":"3D and 2D finite element analysis in soft tissue cutting for haptic display","authors":"T. Chanthasopsephan, J. Desai, A. Lau","doi":"10.1109/ICAR.2005.1507436","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507436","url":null,"abstract":"Real-time medical simulation for robotic surgery planning and surgery training requires realistic yet computationally fast models of the mechanical behavior of soft tissue. This paper presents a study to develop such a model to enable fast haptics display in simulation of soft-tissue cutting. An apparatus was developed and experiments were conducted to generate force-displacement data for cutting of soft tissue such as pig liver. The force-displacement curve of cutting pig liver revealed a characteristic pattern: the overall curve is formed by repeating units consisting of a local deformation segment followed by a local crack-growth segment. The modeling effort reported here focused on characterizing the tissue in the local deformation segment in a way suitable for fast haptic display. The deformation resistance of the tissue was quantified in terms of the local effective modulus (LEM) consistent with experimental force-displacement data. An algorithm was developed to determine LEM by solving an inverse problem with iterative finite element models. To enable faster simulation of cutting of a three-dimensional (3D) liver specimen of naturally varying thickness, three levels of model order reduction were studied. Firstly, a 3D quadratic-element model reduced to uniform thickness but otherwise haptics-equivalent (have identical force-displacement feedback) to a 3D model with varying thickness matching that of the liver was used. Next, haptics-equivalent 2D quadratic-element models were used. Finally, haptics-equivalent 2D linear-element models were used. These three models had a model reduction in the ratio of 1.0:0.3:0.04 but all preserved the same input-output (displacement, force) behavior measured in the experiments. The values of the LEM determined using the three levels of model reduction were close to one another. Additionally, the variation of the LEM with cutting speed was determined. The values of LEM decreased as the cutting speed increased","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130025085","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