2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献_第5页

Joint Velocity and Acceleration Estimation in Serial Chain Rigid Body and Flexible Joint Manipulators 串联链式刚体和柔性关节机械臂的关节速度和加速度估计

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8968475

Seyed Ali Baradaran Birjandi, Johannes Kühn, S. Haddadin

{"title":"Joint Velocity and Acceleration Estimation in Serial Chain Rigid Body and Flexible Joint Manipulators","authors":"Seyed Ali Baradaran Birjandi, Johannes Kühn, S. Haddadin","doi":"10.1109/IROS40897.2019.8968475","DOIUrl":"https://doi.org/10.1109/IROS40897.2019.8968475","url":null,"abstract":"This paper deals with the problem of accurately computing and estimating joint velocity and acceleration in robotic manipulators. Generally, it is well known that numerical differentiation of noisy position signals even with significant filtering is no viable solution. This is especially true for computing joint acceleration. Specifically, our solution to this problem fuses joint position measurement with link accelerometers, which are affordable and easy to install. Since the sensor readings are affected by noise, drift and bias, suitable data fusion and filtering methods are proposed for improving the estimation for practical use. Simulation results based on a realistic dynamics model of a 7-DoF robot including various parasitic effects and experimental results with a 7-DoF robot demonstrate the effectiveness of our approach. This method would have multiple use, e.g., in monitoring external joint torques and handle possibly unforeseen collisions. Furthermore, other applications such as load identification and compensation as well as state feedback linearization for flexible joint robots could finally become possible also practical.","PeriodicalId":428768,"journal":{"name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114784809","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

A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction 高精度移动机器人建筑施工全集成传感与控制系统

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967733

A. Gawel, H. Blum, Johannes Pankert, Koen Krämer, Luca Bartolomei, Selen A. Ercan, Farbod Farshidian, M. Chli, F. Gramazio, R. Siegwart, M. Hutter, Timothy Sandy

引用次数: 34

Low-cost Sonar Navigation System 低成本声纳导航系统

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967877

Tiziano Guadagnino, Bartolomeo Della Corte, G. Grisetti

引用次数: 0

Learning to Estimate Centers of Mass of Arbitrary Objects 学习估计任意物体的质心

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967678

Sean McGovern, Huitan Mao, Jing Xiao

引用次数: 3

Outlier-Robust Manifold Pre-Integration for INS/GPS Fusion INS/GPS融合的离群鲁棒流形预积分

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967643

Shin-Fang Ch'ng, A. Khosravian, Anh-Dzung Doan, Tat-Jun Chin

引用次数: 9

Magnetic-Needle-Assisted Micromanipulation of Dynamically Self-Assembled Magnetic Droplets for Cargo Transportation 用于货物运输的动态自组装磁滴的磁针辅助微操作

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967848

Qianqian Wang, Xingzhou Du, Fengtong Ji, Li Zhang

{"title":"Magnetic-Needle-Assisted Micromanipulation of Dynamically Self-Assembled Magnetic Droplets for Cargo Transportation","authors":"Qianqian Wang, Xingzhou Du, Fengtong Ji, Li Zhang","doi":"10.1109/IROS40897.2019.8967848","DOIUrl":"https://doi.org/10.1109/IROS40897.2019.8967848","url":null,"abstract":"Dynamic self-assembly is treated as a promising approach for generating a robotic swarm to perform coordinated tasks, and the assembled pattern can be tuned by regulating the energy input. However, location of a dynamically assembled pattern is hard to be determined, especially under global fields, such as magnetic field. In this paper, we report the formation and manipulation of dynamic self-assembled droplets at the air-liquid interface with the assistance of a magnetic needle. Affected by the locally induced field gradient near the needle, reconfigurable assembled droplets are obtained with higher time-efficiency, and the location of the pattern can be determined. The pattern is reversibly tuned to exhibit expansion and shrinkage by adjusting the height of the needle. Assembled droplets are able to be steered via following the needle in a controlled manner. Moreover, cargo is trapped by exploiting the induced rotational flow around the droplets, and it can also be caged into the central area of the pattern and transported to the desired location. The proposed method opens new prospects of using energy-dissipative pattern as an untethered end-effector for microrobotic manipulation.","PeriodicalId":428768,"journal":{"name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125571101","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

Active Whisker Placement and Exploration For Rapid Object Recognition 快速目标识别的主动须定位与探索

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8968517

M. Pearson, Mohammed Salman

引用次数: 4

Talk to the Vehicle: Language Conditioned Autonomous Navigation of Self Driving Cars 与车辆对话:自动驾驶汽车的语言条件自动导航

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967929

Sriram Narayanan, T. Maniar, Jayaganesh Kalyanasundaram, Vineet Gandhi, Brojeshwar Bhowmick, K. Krishna

{"title":"Talk to the Vehicle: Language Conditioned Autonomous Navigation of Self Driving Cars","authors":"Sriram Narayanan, T. Maniar, Jayaganesh Kalyanasundaram, Vineet Gandhi, Brojeshwar Bhowmick, K. Krishna","doi":"10.1109/IROS40897.2019.8967929","DOIUrl":"https://doi.org/10.1109/IROS40897.2019.8967929","url":null,"abstract":"We propose a novel pipeline that blends encodings from natural language and 3D semantic maps obtained from visual imagery to generate local trajectories that are executed by a low-level controller. The pipeline precludes the need for a prior registered map through a local waypoint generator neural network. The waypoint generator network (WGN) maps semantics and natural language encodings (NLE) to local waypoints. A local planner then generates a trajectory from the ego location of the vehicle (an outdoor car in this case) to these locally generated waypoints while a low-level controller executes these plans faithfully. The efficacy of the pipeline is verified in the CARLA simulator environment as well as on local semantic maps built from real-world KITTI dataset. In both these environments (simulated and real-world) we show the ability of the WGN to generate waypoints accurately by mapping NLE of varying sequence lengths and levels of complexity. We compare with baseline approaches and show significant performance gain over them. And finally, we show real implementations on our electric car verifying that the pipeline lends itself to practical and tangible realizations in uncontrolled outdoor settings. In loop execution of the proposed pipeline that involves repetitive invocations of the network is critical for any such language-based navigation framework. This effort successfully accomplishes this thereby bypassing the need for prior metric maps or strategies for metric level localization during traversal.","PeriodicalId":428768,"journal":{"name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121954243","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: 15

Predictive and adaptive maps for long-term visual navigation in changing environments 预测和自适应地图的长期视觉导航在不断变化的环境

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967994

Lucie Halodová, Eliska Dvoráková, Filip Majer, Tomáš Vintr, Óscar Martínez Mozos, Feras Dayoub, T. Krajník

引用次数: 16

Minimal Sensor Setup in Lower Limb Exoskeletons for Motion Classification based on Multi-Modal Sensor Data 基于多模态传感器数据的下肢外骨骼运动分类最小传感器设置

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8968007

Isabel Patzer, T. Asfour

{"title":"Minimal Sensor Setup in Lower Limb Exoskeletons for Motion Classification based on Multi-Modal Sensor Data","authors":"Isabel Patzer, T. Asfour","doi":"10.1109/IROS40897.2019.8968007","DOIUrl":"https://doi.org/10.1109/IROS40897.2019.8968007","url":null,"abstract":"Exoskeletons are considered to be a promising technology for assisting and augmenting human performance. A number of challenges related to design, intuitive control and interfaces to the human body must be addressed. In this paper, we approach the question of a minimal sensor setup for the realization of control strategies which take into account the actions currently performed by the user. To this end, we extend our previous work on online classifications of a human wearing a lower limb exoskeleton in two directions. First, we investigate the minimal number of sensors that should be attached to the exoskeleton to achieve a certain classification accuracy by investigating different sensor setups. We compare results of motion classification of 14 different daily activities such as walking forward and going upstairs using Hidden Markov Models. Second, we analyse the influence of different window sizes, as well as the classification performance of different motion types when training on multi- and single-subjects. Our results reveal that we can reduce our sensor setup significantly while achieving about the same classification performance.","PeriodicalId":428768,"journal":{"name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115921459","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