2015 International Conference on Advanced Robotics (ICAR)最新文献_第10页

Topological place recognition based on long-term memory retrieval 基于长时记忆检索的拓扑位置识别

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251459

H. Karaoğuz, H. I. Bozma

引用次数: 2

Adaptive motion control for a differentially driven semi-autonomous wheelchair platform 差分驱动半自动轮椅平台的自适应运动控制

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251470

D. Sinyukov, T. Padır

引用次数: 6

Dynamic modeling of cooperative robots holding flexible objects 手持柔性物体的协作机器人动力学建模

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251453

P. Long, W. Khalil, P. Martinet

引用次数: 10

Argumentation-based scene interpretation using defeasible logic programming 基于论证的场景解释使用可行的逻辑编程

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251525

C. Koc, Sanem Sariel

引用次数: 1

Proxy based-fuzzy sliding mode controller for wheeled mobile robot Magellan Pro 基于代理的轮式移动机器人Magellan Pro模糊滑模控制器

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251427

Hasan İhsan Turhan

引用次数: 0

A next generation mobile robot with multi-mode sense of 3D perception 具有多模式三维感知的新一代移动机器人

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251484

Parijat Deshpande, V. R. Reddy, Arindam Saha, Karthikeyan Vaiapury, K. Dewangan, R. Dasgupta

{"title":"A next generation mobile robot with multi-mode sense of 3D perception","authors":"Parijat Deshpande, V. R. Reddy, Arindam Saha, Karthikeyan Vaiapury, K. Dewangan, R. Dasgupta","doi":"10.1109/ICAR.2015.7251484","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251484","url":null,"abstract":"Robotic platforms are becoming increasingly important and have their utility and cost completely justified during missions which require substituting humans. In this paper, we present our ongoing work in developing a multi-sensor robotic platform intended for deploying in an indoor environment in hazardous situations. The prime objective of such portable robots will be to conduct surveillance missions and provide a perception of its surroundings to the human-in-loop to ascertain the uncertain environment. Therefore, the robotic platform needs to be equipped with various sensors to create 3D visual maps of its surroundings. However, given the compact size and hazardous nature of the missions expensive LIDAR equipment may not be always suitable. We propose developing an integrated platform comprising of low cost optical cameras, acoustic localization via microphones and low cost alternatives are explored albeit with limited functionality and ultrasonic acoustic imaging arrays and augmenting these 3D maps with thermal imagery data. The aim of such a system will be to perform well even in dark and smoky environments via active ultrasonic imaging. A decision support system will equip the robot with the ability to prioritize appropriate sensors depending on the scenario. The choice of various proprioceptive and exteroceptive sensors are based on their significantly lower price tag as compared to the systems available in the market. This robotic platform will serve as a test-bed for performing various complex tasks such as discovering occluded objects, improved perception in dark and smoky environments as well as thermal source detection.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124274868","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: 13

A cyber physical system testbed for assistive robotics technologies in the home 一种用于家庭辅助机器人技术的网络物理系统测试平台

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251475

Velin D. Dimitrov, Vinayak Jagtap, Mitchell Wills, Jeanine Skorinko, T. Padır

引用次数: 9

Improvement in modeling of Walking Assist Machine Using Crutches for dynamic analysis 拐杖助行机动力学分析建模的改进

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251493

Ekin Basalp, K. Hara, H. Yamaura, D. Matsuura, Y. Takeda

{"title":"Improvement in modeling of Walking Assist Machine Using Crutches for dynamic analysis","authors":"Ekin Basalp, K. Hara, H. Yamaura, D. Matsuura, Y. Takeda","doi":"10.1109/ICAR.2015.7251493","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251493","url":null,"abstract":"In a previous study, a gait assistive device embodying actuators, known as Walking Assist Machine Using Crutches (WAMC), was proposed for people who suffer from lower limb disabilities. Experiments with healthy subjects show that WAMC can provide upright stance position and assisted forward gait to the user. However, the simplistic kinetostatic model used in gait analysis does not permit to obtain forces and torques acting on the system (user and WAMC) in detail. In this paper, an anthropometric 2D model which can investigate the gait characteristics of the system is proposed. Force and torques acting on the system parts can be guessed prior to the experiments if the user's height and weight are specified. This will also help increasing the consistency between the dynamic simulation results and the input parameters required for experiments. Results of the gait analysis show that the model can successfully reproduce the kinematics of the system joints derived from experiments. In addition, it is shown by dynamics analysis that WAMC provides a comfortable ride as the forces and torques acting on the system are in admissible limits.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133881901","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

Petri-net based control of six legged spider robot 基于petri网的六足蜘蛛机器人控制

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-01 DOI: 10.1109/ICAR.2015.7251443

Tolga Karakurt, Akif Durdu, E. H. Dursun

引用次数: 1

Extending the lossy Spring-Loaded Inverted Pendulum model with a slider-crank mechanism 用曲柄滑块机构扩展有耗弹簧倒立摆模型

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-06-05 DOI: 10.1109/ICAR.2015.7251440

H. E. Orhon, Caner Odabaş, Ismail Uyanik, Ö. Morgül, U. Saranlı

{"title":"Extending the lossy Spring-Loaded Inverted Pendulum model with a slider-crank mechanism","authors":"H. E. Orhon, Caner Odabaş, Ismail Uyanik, Ö. Morgül, U. Saranlı","doi":"10.1109/ICAR.2015.7251440","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251440","url":null,"abstract":"Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable of dynamic locomotion. Anchoring the SLIP for lossy physical systems resulted in newer models which are extended versions of original SLIP with viscous damping in the leg. However, such lossy models require an additional mechanism for pumping energy to the system to control the locomotion and to reach a limit-cycle. Some studies solved this problem by adding an actively controllable torque actuation at the hip joint and this actuation has been successively used in many robotic platforms, such as the popular RHex robot. However, hip torque actuation produces forces on the COM dominantly at forward direction with respect to ground, making height control challenging especially at slow speeds. The situation becomes more severe when the horizontal speed of the robot reaches zero, i.e. steady hoping without moving in horizontal direction, and the system reaches to singularity in which vertical degrees of freedom is completely lost. To this end, we propose an extension of the lossy SLIP model with a slider-crank mechanism, SLIP-SCM, that can generate a stable limit-cycle when the body is constrained to vertical direction. We propose an approximate analytical solution to the nonlinear system dynamics of SLIP-SCM model to characterize its behavior during the locomotion. Finally, we perform a fixed-point stability analysis on SLIP-SCM model using our approximate analytical solution and show that proposed model exhibits stable behavior in our range of interest.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125549284","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: 6