2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献_第9页

Effects of Multiple Avatar Images Presented Consecutively with Temporal Delays on Self-Body Recognition 具有时间延迟的连续呈现多头像图像对自我身体识别的影响

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981048

E. Oyama, Yuya Ioka, A. Agah, Hiroyuki Okada, Sotaro Shimada

引用次数: 0

Real-time Footstep Planning and Control of the Solo Quadruped Robot in 3D Environments 三维环境下单人四足机器人的实时脚步规划与控制

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981539

Fanny Risbourg, Thomas Corbères, Pierre-Alexandre Léziart, T. Flayols, N. Mansard, S. Tonneau

{"title":"Real-time Footstep Planning and Control of the Solo Quadruped Robot in 3D Environments","authors":"Fanny Risbourg, Thomas Corbères, Pierre-Alexandre Léziart, T. Flayols, N. Mansard, S. Tonneau","doi":"10.1109/IROS47612.2022.9981539","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9981539","url":null,"abstract":"Quadruped robots have proved their robustness to cross complex terrain despite little environment knowledge. Yet advanced locomotion controllers are expected to take advantage of exteroceptive information. This paper presents a complete method to plan and control the locomotion of quadruped robots when 3D information about the surrounding obstacles is available, based on several stages of decision. We first propose a contact planner formulated as a mixed-integer program, optimized on-line at each new robot step. It selects a surface from a set of convex surfaces describing the environment for the next footsteps while ensuring kinematic constraints. We then propose to optimize the exact contact location and the feet trajectories at control frequency to avoid obstacles, thanks to an efficient formulation of quadratic programs optimizing Bezier curves. By relying on the locomotion controller of our quadruped robot Solo, we finally implement the complete method, provided as an open-source package. Its efficiency is asserted by statistical evaluation of the importance of each component in simulation. We have a 100% success rate for our framework, and we show that the deactivation of the contact planning, footstep adaptation and collision avoidance, respectively induced a drop to 70%, 62% and 83% success rate in the worst case, justifying the complete architecture.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"39 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":"116376317","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

Soft Tactile Contour Following for Robot-Assisted Wiping and Bathing 机器人辅助擦拭和沐浴的柔软触觉轮廓跟踪

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9982071

Isabella Huang, Dylan Chow, R. Bajcsy

{"title":"Soft Tactile Contour Following for Robot-Assisted Wiping and Bathing","authors":"Isabella Huang, Dylan Chow, R. Bajcsy","doi":"10.1109/IROS47612.2022.9982071","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9982071","url":null,"abstract":"The automated cleaning of surfaces such as furniture, bathroom sinks, and even human bodies is challenging due to the three-dimensional nature of their geometries. Yet, enabling robots to effectively and safely perform these tasks would not only reduce user efforts spent on household cleaning chores, but would also alleviate the strenuous workload of caretakers as the elderly population continues to grow at an unprecedented rate. In this work, we unify the applications of wiping objects and bathing humans as a general contour-following problem. To this end, we utilize a depth camera-based soft tactile sensor to extract the contact geometries and force-correlated measures during interaction between the robot and the target object or body part, and design a general contour-following controller that not only maintains contact with the target throughout the cleaning process, but also regulates the amount of force applied. Our system enables successful cleaning of pipes, shelving, and even human limbs and torsos without the need for data-driven methods such as deep learning, upon which the majority of existing works have relied.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"46 2 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":"116439384","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

On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G 双边遥操作中的通信通道:以太网、WiFi、LTE和5G的实验研究

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981833

Xiao Chen, Lars Johannsmeier, Hamid Sadeghian, Erfan Shahriari, Martin Danneberg, Anselm Nicklas, Fan Wu, G. Fettweis, S. Haddadin

{"title":"On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G","authors":"Xiao Chen, Lars Johannsmeier, Hamid Sadeghian, Erfan Shahriari, Martin Danneberg, Anselm Nicklas, Fan Wu, G. Fettweis, S. Haddadin","doi":"10.1109/IROS47612.2022.9981833","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9981833","url":null,"abstract":"Teleoperated robots are believed to play an important role for future applications in industry, medicine and other domains. Examples for this are remote assembly and maintenance, surgery, diagnosis or deep-sea and space exploration. Such applications are made possible by state-of-the-art tactile manipulators, well-researched control schemes and novel communication technologies such as the fifth generation of mobile communication (5G). The achievable performance is highly dependent on the communication delay and thus on the distance between leader and follower station, as well as the potentially used wireless protocol. Specially in this regard, 5G is a promising technology compared to the other communication protocols for transferring tactile information. In this paper, we introduce our telepresence reference platform, which can be used for empirical evaluation of different algorithms and communications. Comparative analysis are conducted to capture the influence of wireless communication protocols on telepresence systems consisting of complex robotic arms. The experiment compares the influence of 5G, LTE and WiFi communication protocols with regard to the motion and force tracking performance of the system.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"205 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":"123436663","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

Inspection of Ship Hulls with Multiple UAVs: Exploiting Prior Information for Online Path Planning 多无人机船体检测:利用先验信息进行在线路径规划

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981357

Pasquale Grippa, A. Renzaglia, Antoine Rochebois, M. Schranz, Olivier Simonin

{"title":"Inspection of Ship Hulls with Multiple UAVs: Exploiting Prior Information for Online Path Planning","authors":"Pasquale Grippa, A. Renzaglia, Antoine Rochebois, M. Schranz, Olivier Simonin","doi":"10.1109/IROS47612.2022.9981357","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9981357","url":null,"abstract":"This paper addresses a path planning problem for a fleet of Unmanned Aerial Vehicles (UAVs) that uses both prior information and online gathered data to efficiently inspect large surfaces such as ship hulls and water tanks. UAVs can detect corrosion patches and other defects on the surface from low-resolution images. If defects are detected, they get closer to the surface for a high-resolution inspection. The prior information provides expected defects locations and is affected by both false positives and false negatives. The mission objective is to prioritize the close-up inspection of defected areas while keeping a reasonable time for the coverage of the entire surface. We propose two solutions to this problem: a coverage algorithm that divides the problem into a set of Traveling Salesman Problems (Part-TSP) and a cooperative frontier approach that introduces frontier utilities to incorporate the prior information (Coop-Frontier). We finally provide extensive simulation results to analyze the performance of these approaches and compare them with alternative solutions. These results suggest that both Part-Tspand Coop-Frontier perform better than the baseline solution. Part-Tsphas the best performance in most cases. However, coop-Frontier is preferable in extreme cases because more robust to inhomogeneous corrosion distribution and imperfect information.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"17 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":"123678991","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

Magnetic microrobot control using an adaptive fuzzy sliding-mode method 磁微机器人的控制采用自适应模糊滑模方法

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981438

Alireza Mousavi, H. Khaksar, Awais Ahmed, Hongsoo Choi, A. K. Hoshiar

引用次数: 0

Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement 基于单点位置测量的同心管机器人形状估计

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9982174

Emile Mackute, Balint Thamo, Kimran Dhaliwal, Mohsen Khadem

引用次数: 1

Construction of a Simulator to Reproduce Changes in Running due to Motion Strategies Using Spring-Loaded Inverted Pendulum Model 用弹簧加载倒立摆模型模拟运动策略引起的跑步变化

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981926

M. Kitagawa, Takayuki Tanaka, Akihiko Murai

引用次数: 0

Learn from Interaction: Learning to Pick via Reinforcement Learning in Challenging Clutter 从互动中学习:在挑战杂乱中通过强化学习学习挑选

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981530

Chao Zhao, Jungwon Seo

{"title":"Learn from Interaction: Learning to Pick via Reinforcement Learning in Challenging Clutter","authors":"Chao Zhao, Jungwon Seo","doi":"10.1109/IROS47612.2022.9981530","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9981530","url":null,"abstract":"Bin picking is a challenging problem in robotics due to high dimensional action space, partially visible objects, and contact-rich environments. State-of-the-art methods for bin picking are often simplified as planar manipulation, or learn policy based on human demonstration and motion primitives. The designs have escalated in complexity while still failing to reach the generality and robustness of human picking ability. Here, we present an end-to-end reinforcement learning (RL) framework to produce an adaptable and robust policy for picking objects in diverse real-world environments, including but not limited to tilted bins and corner objects. We present a novel solution to incorporate object interaction in policy learning. The object interaction is represented by the poses of objects. The policy learning is based on two neural networks with asymmetric state inputs. One acts on the object interaction information, while the other acts on the depth observation and proprioceptive signals of robots. The results of experiment shows remarkable zero-shot generalization from simulation to the real world and extensive real-world experiments show the effectiveness of the approach.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"25 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":"117242306","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

Avoiding Dynamic Obstacles with Real-time Motion Planning using Quadratic Programming for Varied Locomotion Modes 基于二次规划的动态避障实时运动规划

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981268

J. White, D. Jay, Tianze Wang, Christian M. Hubicki

{"title":"Avoiding Dynamic Obstacles with Real-time Motion Planning using Quadratic Programming for Varied Locomotion Modes","authors":"J. White, D. Jay, Tianze Wang, Christian M. Hubicki","doi":"10.1109/IROS47612.2022.9981268","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9981268","url":null,"abstract":"We present a real-time motion planner that avoids multiple moving obstacles without knowing their dynamics or intentions. This method uses convex optimization to generate trajectories for linear plant models over a planning horizon (i.e. model-predictive control). While convex optimizations allow for fast planning, obstacle avoidance can be challenging to incorporate because Euclidean distance calculations tend to break convexity. By using a half-space convex relaxation, our planner reasons about an approximated distance-to-obstacle measure that is linear in its decision variables and preserves convexity. Further, by iteratively updating the relaxation over the planning horizon, the half-space approximation is improved, enabling nimble avoidance maneuvers. We further augment avoidance performance with a soft penalty slack-variable for-mulation that introduces a piecewise quadratic cost. As a proof of concept, we demonstrate the planner on double-integrator models in both single-agent and multi-agent tasks-avoiding multiple obstacles and other agents in 2D and 3D environments. We show extensions to legged locomotion by bipedally walking around obstacles in simulation using the Linear Inverted Pendulum Model (LIPM). We then present two sets of hardware experiments showing real-time obstacle avoid-ance with quadcopter drones: (1) avoiding a 10m/s swinging pendulum and (2) dodging a chasing drone.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"121 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":"123930073","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