2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献_第6页

BOBCAT: Behaviors, Objectives and Binary states for Coordinated Autonomous Tasks 协调自治任务的行为、目标和二元状态

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981135

Danny G. Riley, E. Frew

引用次数: 2

Use of Action Label in Deep Predictive Learning for Robot Manipulation 动作标签在机器人操作深度预测学习中的应用

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9982091

Kei Kase, Chikara Utsumi, Y. Domae, T. Ogata

{"title":"Use of Action Label in Deep Predictive Learning for Robot Manipulation","authors":"Kei Kase, Chikara Utsumi, Y. Domae, T. Ogata","doi":"10.1109/IROS47612.2022.9982091","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9982091","url":null,"abstract":"Various forms of human knowledge can be explicitly used to enhance deep robot learning from demonstrations. Annotation of subtasks from task segmentation is one type of human symbolism and knowledge. Annotated subtasks can be referred to as action labels, which are more primitive symbols that can be building blocks for more complex human reasoning, like language instructions. However, action labels are not widely used to boost learning processes because of problems that include (1) real-time annotation for online manipulation, (2) temporal inconsistency by annotators, (3) difference in data characteristics of motor commands and action labels, and (4) annotation cost. To address these problems, we propose the Gated Action Motor Predictive Learning (GAMPL) framework to leverage action labels for improved performance. GAMPL has two modules to obtain soft action labels compatible with motor commands and to generate motion. In this study, GAMPL is evaluated for towel-folding manipulation tasks in a real environment with a six degrees-of-freedom (6 DoF) robot and shows improved generalizability with action labels.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134151357","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: 0

Towards holistic autonomous obstacle detection in railways by complementing of on-board vision with UAV-based object localization 基于机载视觉与无人机目标定位相结合的铁路整体自主障碍物检测

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981156

Marten Franke, Ch.Buchi Reddy, Danijela Ristić-Durrant, Jehan Jayawardana, K. Michels, Milan Banić, M. Simonović

{"title":"Towards holistic autonomous obstacle detection in railways by complementing of on-board vision with UAV-based object localization","authors":"Marten Franke, Ch.Buchi Reddy, Danijela Ristić-Durrant, Jehan Jayawardana, K. Michels, Milan Banić, M. Simonović","doi":"10.1109/IROS47612.2022.9981156","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9981156","url":null,"abstract":"This paper presents the two sub-systems of the first holistic system for autonomous obstacle detection (OD) in railways, the on-board vision system and unmanned aerial vehicle (UAV) vision system for object localization (OL) on and near the rail tracks. The main goal of such a holistic system is to enable long-range detection of obstacles on the rail tracks ahead of the train where the UAV-based OL system complements the on-board system in detecting obstacles in the areas that are not visible by the on-board system such as curves. The deep learning (DL)-based object detection and distance estimation in thermal camera unit of the on-board system is presented, as well as the OL based on UAV camera image. The experimental results achieved in a real-world railway experimental scenario that includes obstacles visible only by the on-board thermal camera, only by UAV camera as well as obstacles in the Field of View (FoV) of both systems are presented. These preliminary results show the high potential of developing holistic system where the final decision on OD would be autonomously made and consequently possible actions for the train control would be suggested based on the OD outputs of individual systems having different rail tracks sections in their FoV.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134335638","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

Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control 刚度自适应力-阻抗统一控制中基于被动的技能动作学习

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981728

Kübra Karacan, Hamid Sadeghian, R. J. Kirschner, S. Haddadin

{"title":"Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control","authors":"Kübra Karacan, Hamid Sadeghian, R. J. Kirschner, S. Haddadin","doi":"10.1109/IROS47612.2022.9981728","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9981728","url":null,"abstract":"Tactile robots shall be deployed for dynamic task execution in production lines with small batch sizes. Therefore, these robots should have the ability to respond to changing conditions and be easy to (re-)program. Operating under uncertain environments requires unifying subsystems such as robot motion and force policy into one framework, referred to as tactile skills. In this paper, we propose the enhancement of these skills for passivity-based skill motion learning in stiffness-adaptive unified force-impedance control. To achieve the increased level of adaptability, we represent all tactile skills by three basic primitives: contact initiation, manipulation, and contact termination. To ensure passivity and stability, we develop an energy-based approach for unified force-impedance control that allows humans to teach the robot motion through physical interaction during the execution of a tactile task. We incorporate our proposed framework into a tactile robot to experimentally validate the motion adaptation by interaction performance and stability of the control. While the polishing task is presented as our use case through the paper, the experiments can also be carried out with various tactile skills. Finally, the results show the novel controller's stability and passivity to contact-loss and stiffness adaptation, leading to successful programming by interaction.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"160 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131677731","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: 4

Metabolic Efficiency Improvement of Human Walking by Shoulder Stress Reduction through Load Transfer Backpack 负荷转移背包减轻肩部压力提高人体行走代谢效率

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981129

Yu Cao, Jian Huang, Xiaolong Li, Mengshi Zhang, Caihua Xiong, S. Mohammed, Yaonan Zhu, Y. Hasegawa

{"title":"Metabolic Efficiency Improvement of Human Walking by Shoulder Stress Reduction through Load Transfer Backpack","authors":"Yu Cao, Jian Huang, Xiaolong Li, Mengshi Zhang, Caihua Xiong, S. Mohammed, Yaonan Zhu, Y. Hasegawa","doi":"10.1109/IROS47612.2022.9981129","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9981129","url":null,"abstract":"The dynamic load attached to the load gravity imposes an excessive burden to human shoulders during load carriage, resulting in possible muscle injuries and additional physical exertion. This paper proposes an active suspension backpack, capable of transferring partial load from human shoulders to pelvis and alleviating the dynamic load through separated panels and motor actuation, to reduce pressure on human shoulders and improve walking metabolic efficiency. Based on the human body motion in the vertical direction, the dynamical model of the human-backpack system with shoulder interaction force measured by a soft ballonet with an embedded air pressure sensor is introduced, and an impedance controller has been implemented to maintain a relatively small and constant pressure on the shoulder. In an experimental case study, we presents preliminary results of three healthy subjects performing a treadmill walking with a 20kg load in ACTIVE configuration where the shoulder pressure shows a decrease by 30% along with a reduction of the metabolic energy consumption by 16.4%, compared with the load LOCKED case.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"82 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132970880","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: 0

HoloOcean: Realistic Sonar Simulation 全息海洋:逼真的声纳模拟

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981119

Easton R. Potokar, Kalliyan Lay, Kalin Norman, Derek Benham, T. Neilsen, M. Kaess, Joshua G. Mangelson

引用次数: 2

A Novel Human-Safe Robotic Gripper: An application of a Programmable Permanent Magnet Actuator 一种新型人体安全机械手:可编程永磁驱动器的应用

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981155

Chandramouly Ulagaoozhian, Vincent Duchaine

引用次数: 0

A Soft Robotic Haptic Feedback Glove for Colonoscopy Procedures 用于结肠镜检查程序的柔软机器人触觉反馈手套

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981652

Arincheyan Gerald, Rukaiya Batliwala, J. Ye, Patra Hsu, H. Aihara, S. Russo

引用次数: 4

E-TRoll: Tactile Sensing and Classification via A Simple Robotic Gripper for Extended Rolling Manipulations 电子巨魔:通过一个简单的机器人抓手进行扩展滚动操作的触觉感知和分类

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9982191

Xiaoxia Zhou, A. Spiers

{"title":"E-TRoll: Tactile Sensing and Classification via A Simple Robotic Gripper for Extended Rolling Manipulations","authors":"Xiaoxia Zhou, A. Spiers","doi":"10.1109/IROS47612.2022.9982191","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9982191","url":null,"abstract":"Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the also-human-inspired technique of in-hand-manipulation can glean rich data in a fraction of the time of EPs. We propose a simple 3-DOF robotic hand design, optimized for object rolling tasks via a variable-width palm and associated control system. This system dynamically adjusts the distance between the finger bases in response to object behavior. Compared to fixed finger bases, this technique significantly increases the area of the object that is exposed to finger-mounted tactile arrays during a single rolling motion (an increase of over 60% was observed for a cylinder with a 30-millimeter diameter). In addition, this paper presents a feature extraction algorithm for the collected spatiotemporal dataset, which focuses on object corner identification, analysis, and compact representation. This technique drastically reduces the dimensionality of each data sample from $boldsymbol{10times 1500}$ time series data to 80 features, which was further reduced by Principal Component Analysis (PCA) to 22 components. An ensemble subspace k-nearest neighbors (KNN) classification model was trained with 90 observations on rolling three different geometric objects, resulting in a three-fold cross-validation accuracy of 95.6% for object shape recognition.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133363369","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

RECCraft System: Towards Reliable and Efficient Collective Robotic Construction RECCraft系统:迈向可靠和高效的集体机器人施工

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9982068

Qiwei Xu, Yizheng Zhang, Shenmin Zhang, Rui Zhao, Z. Wu, Dongsheng Zhang, Cheng Zhou, Xiong Li, Jiahong Chen, Zengjun Zhao, Luyang Tang, Zhengyou Zhang, Lei Han

{"title":"RECCraft System: Towards Reliable and Efficient Collective Robotic Construction","authors":"Qiwei Xu, Yizheng Zhang, Shenmin Zhang, Rui Zhao, Z. Wu, Dongsheng Zhang, Cheng Zhou, Xiong Li, Jiahong Chen, Zengjun Zhao, Luyang Tang, Zhengyou Zhang, Lei Han","doi":"10.1109/IROS47612.2022.9982068","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9982068","url":null,"abstract":"This research presents a novel Collective Robotic Construction (CRC) system named RECCraft. The RECCraft hardware system is composed of the mobile manipulation vehicles, the cubic blocks, and the folding ramp blocks. Solid connection and easy removal of the blocks are achieved by an electropermanent magnet and silicon steel sheets. With one degree of freedom (DOF) lifting manipulator, the robot can carry a block 3.7 times its volume. An active folding ramp block can provide a robust passage to the upper level for the robot. Our study focuses on systemic improvement of the construction speed and reliability of the robotic construction system. Visual perception system realized by Apritag is adopted, featured by convenient deployment and high precision, to provide a reliable guarantee for robotic construction. RL-based planner provides end-to-end solution for planning tasks of building multi-layer constructions, which is validated by simulation platform and real prototype. Compared with construction speed of existing robotic construction systems, our proposed RECCraft system achieves state-of-the-art level. The robot builds a 2-layer construction by RL-based planner in 4 minutes and 16 seconds, which achieves construction volumetric throughput of 6.7×105 mm3/s.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"16 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133390873","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