2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献_第6页

Haptic Guidance for Robot-Assisted Endovascular Procedures: Implementation and Evaluation on Surgical Simulator 机器人辅助血管内手术的触觉引导:手术模拟器的实现与评估

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967712

M. B. Molinero, G. Dagnino, Jindong Liu, Wenqiang Chi, Mohamed E. M. K. Abdelaziz, Trevor M. Y. Kwok, C. Riga, Guang-Zhong Yang

{"title":"Haptic Guidance for Robot-Assisted Endovascular Procedures: Implementation and Evaluation on Surgical Simulator","authors":"M. B. Molinero, G. Dagnino, Jindong Liu, Wenqiang Chi, Mohamed E. M. K. Abdelaziz, Trevor M. Y. Kwok, C. Riga, Guang-Zhong Yang","doi":"10.1109/IROS40897.2019.8967712","DOIUrl":"https://doi.org/10.1109/IROS40897.2019.8967712","url":null,"abstract":"Vascular diseases are the most common precursors to ischemic heart disease and stroke, which are two of the leading causes of death worldwide. Endovascular intervention is a minimally invasive surgical approach to treat such diseases. Compared to open surgery, it has the advantages of faster recovery, reduced need for general anesthesia, reduced blood loss and significantly lower mortality. Endovascular procedures require high surgical skills to minimize contacts between the manipulated instruments (catheters and guidewires) and the vessel wall, which represent one of the major risks for the patient. Robotic assistance can potentially improve the precision and stability of instruments manipulation. One key limitation of current commercial robotic platforms is the lack of haptic feedback, preventing their acceptance and limiting the clinical usability. This paper proposes to bring the benefit of haptic feedback to robot-assisted endovascular intervention. Here we hypothesize that the introduction of 3D haptic guidance during robot-assisted endovascular procedure can further improve the surgical performance and safety while overcoming the limitations of currently available technology. The proposed 3D haptic guidance allows the surgeon to sense the vasculature while controlling a catheter through a robotic haptic manipulator. Validation of the system is performed through end-user experiments with vascular surgeons on a bespoke surgical simulator. The obtained results demonstrate that 3D haptic guidance has the potential of improving effectiveness, precision, and safety of endovascular intervention. Furthermore, vascular surgeons found the proposed technology safe and overall easy to use, indicating its potential on real surgical procedures.","PeriodicalId":428768,"journal":{"name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"341 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":"115884583","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 Systematic Comparison of Affective Robot Expression Modalities 情感机器人表达方式的系统比较

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967846

Morten Roed Frederiksen, K. Støy

引用次数: 3

Rapid Estimation of Optical Properties for Simulation-Based Evaluation of Pose Estimation Performance 基于仿真评估姿态估计性能的光学特性快速估计

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967553

Thorbjørn Mosekjær Iversen, J. Wilm, D. Kraft

{"title":"Rapid Estimation of Optical Properties for Simulation-Based Evaluation of Pose Estimation Performance","authors":"Thorbjørn Mosekjær Iversen, J. Wilm, D. Kraft","doi":"10.1109/IROS40897.2019.8967553","DOIUrl":"https://doi.org/10.1109/IROS40897.2019.8967553","url":null,"abstract":"A growing trend in computer vision is the use of synthetic images for the evaluation of computer vision algorithms such as 3D pose estimation. This is partly due to the availability of high-quality render engines, which provide highly realistic synthetic images. However, the realism of the rendered images, and thus the reliability of the evaluations, strongly depends on how accurately the scenes are modeled and it requires considerable time and knowledge to do the modeling manually. Automating the modeling process is therefore crucial for making the rendering of photo-realistic synthetic images accessible to the wider robotics community. We present a method for automatically modeling object and light properties for rigid, opaque plastic objects commonly found in industry. Our method relies on recordings of the environment captured with a consumer $360^{mathrm{o}}$ camera to model the light, and on analysis-by-synthesis to estimate the optical properties of the objects. We show that the synthetic images rendered based on our automatic modeling method can be used to predict the overall performance of a monocular 3D pose estimation algorithm.","PeriodicalId":428768,"journal":{"name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"13 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":"129980936","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

A Mobile Extendable Robot Arm: Singularity Analysis and Design* 移动可伸缩机械臂:奇异分析与设计*

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967768

S. Teshigawara, H. Asada

{"title":"A Mobile Extendable Robot Arm: Singularity Analysis and Design*","authors":"S. Teshigawara, H. Asada","doi":"10.1109/IROS40897.2019.8967768","DOIUrl":"https://doi.org/10.1109/IROS40897.2019.8967768","url":null,"abstract":"Inspection and maintenance of equipment inside buildings, such as exit signs, bared pipelines, air vents, and fire alarms often requires a robot to reach high, hidden, or confined areas that are difficult for humans to access. Even though these tasks are easy and repeatable, they are still not automated. The Mobile Extendable Robot Arm (MERA) is a movable robot arm with a novel 2-DOF scissor mechanism for reaching a high place and positioning an end-effector. MERA is composed of a locomotion vehicle with a rotation table and a 4-DOF extender arm, itself made of two layers of the 2-DOF scissor mechanism arranged in series. Placing the end-effector at an arbitrary point in space, the 4-DOF arm possesses two degrees of redundancy, allowing access to a point from various directions and enabling obstacle avoidance. In this paper, we present the design and analysis of the 2-DOF scissor mechanism. The 2-DOF scissor mechanism has two rotary actuators for driving the base links individually; consequently, the mechanism can elongate the entire body and tilt at the center of the base shaft. However, we found that the 2-DOF scissor mechanism had a singularity; after analyzing the singularity, we propose two novel solutions to the problem.","PeriodicalId":428768,"journal":{"name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"25 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":"134192563","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

Safe Path Planning with Gaussian Process Regulated Risk Map 基于高斯过程调控风险图的安全路径规划

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967744

Hongliang Guo, Zehui Meng, Zefan Huang, Wei Kang Leong, Ziyue Chen, Malika Meghjani, M. Ang, D. Rus

引用次数: 13

Soft Action Particle Deep Reinforcement Learning for a Continuous Action Space 连续动作空间的软动作粒子深度强化学习

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967959

Minjae Kang, Kyungjae Lee, Songhwai Oh

{"title":"Soft Action Particle Deep Reinforcement Learning for a Continuous Action Space","authors":"Minjae Kang, Kyungjae Lee, Songhwai Oh","doi":"10.1109/IROS40897.2019.8967959","DOIUrl":"https://doi.org/10.1109/IROS40897.2019.8967959","url":null,"abstract":"Recent advances of actor-critic methods in deep reinforcement learning have enabled performing several continuous control problems. However, existing actor-critic algorithms require a large number of parameters to model policy and value functions where it can lead to overfitting issue and is difficult to tune hyperparameter. In this paper, we introduce a new off-policy actor-critic algorithm, which can reduce a significant number of parameters compared to existing actorcritic algorithms without any performance loss. The proposed method replaces the actor network with a set of action particles that employ few parameters. Then, the policy distribution is represented using state action value network with action particles. During the learning phase, to improve the performance of policy distribution, the location of action particles is updated to maximize state action values. To enhance the exploration and stable convergence, we add perturbation to action particles during training. In the experiment, we validate the proposed method in MuJoCo environments and empirically show that our method shows similar or better performance than the state-of-the-art actor-critic method with a smaller number of parameters. The experimental video can be found at http: //rllab.snu.ac.kr/multimedia.","PeriodicalId":428768,"journal":{"name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"52 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":"134536376","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

Endoscopic Bi-Manual Robotic Instrument Design Using a Genetic Algorithm 基于遗传算法的内窥镜双手机器人仪器设计

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8968531

A. Schmitz, Pierre Berthet-Rayne, Guang-Zhong Yang

引用次数: 9

Online Relative Footstep Optimization for Legged Robots Dynamic Walking Using Discrete-Time Model Predictive Control 基于离散时间模型预测控制的足式机器人动态行走在线相对步数优化

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8968028

Songyan Xin, Romeo Orsolino, N. Tsagarakis

{"title":"Online Relative Footstep Optimization for Legged Robots Dynamic Walking Using Discrete-Time Model Predictive Control","authors":"Songyan Xin, Romeo Orsolino, N. Tsagarakis","doi":"10.1109/IROS40897.2019.8968028","DOIUrl":"https://doi.org/10.1109/IROS40897.2019.8968028","url":null,"abstract":"We present a unified control framework that generates dynamic walking motions for biped and quadruped robots with online relative footstep optimization. The footstep optimization is formulated as a discrete-time Model Predictive Control problem which determines future footstep locations. The framework has a hierarchical structure consisting of three layers: footstep planner, trajectory generator and whole-body controller. The footstep planner plans next footstep position based on Linear Inverted Pendulum (LIP) model. Relative footstep optimization is proposed to enable automatic footstep planning without the use of any predefined footstep sequences. The trajectory generator will generate CoM and feet trajectory given the next footstep placement. In order to generalize to quadruped robots, “virtual leg” concept has been used to coordinate leg pair movement. The whole-body inverse dynamic controller calculates joint torques to track given Cartesian reference trajectories. To include under-actuation into consideration, contact vertices formulation of ground reaction forces (GRFs) has been adopted. Generalized whole-body controller can handle biped robot with line feet as well as quadruped robots with point feet walking with dynamic gaits. Several simulations have been performed to demonstrate the robustness and generality of the proposed framework.","PeriodicalId":428768,"journal":{"name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"14 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":"134053097","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: 17

Automatic Spatial Template Generation for Realistic 3D Modeling of Large-Scale Indoor Spaces 面向大规模室内空间三维建模的空间模板自动生成

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8968286

Janghun Hyeon, Hyunga Choi, Joohyung Kim, Bumchul Jang, Jaehyeon Kang, N. Doh

引用次数: 5

Learning footstep planning on irregular surfaces with partial placements 学习在不规则表面的部分位置上的脚步规划

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967606

Germán Castro, C. Sammut

引用次数: 0