2015 International Conference on Advanced Robotics (ICAR)最新文献_第5页

First validation of the Haptic Sandwich: A shape changing handheld haptic navigation aid 触觉三明治的首次验证:一种可改变形状的手持触觉导航辅助设备

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251447

A. Spiers, A. Dollar, J. Linden, Maria Oshodi

{"title":"First validation of the Haptic Sandwich: A shape changing handheld haptic navigation aid","authors":"A. Spiers, A. Dollar, J. Linden, Maria Oshodi","doi":"10.1109/ICAR.2015.7251447","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251447","url":null,"abstract":"This paper presents the Haptic Sandwich, a handheld robotic device that designed to provide navigation instructions to pedestrians through a novel shape changing modality. The device resembles a cube with an articulated upper half that is able to rotate and translate (extend) relative to the bottom half, which is grounded in the user's hand. The poses assumed by the device simultaneously correspond to heading and proximity to a navigational target. The Haptic Sandwich provides an alternative to screen and/or audio based navigation technologies for both visually impaired and sighted pedestrians. Unlike many robotic or haptic navigational solutions, the haptic sandwich is discrete and unobtrusive in terms of form and sensory stimulus. Due to the novel nature of the interface, two user studies were undertaken to validate the concept and device. In the first experiment, stationary participants attempted to identify poses assumed by the device, which was hidden from view. 80% of poses were correctly identified and 17.5% had the minimal possible error. Multi-DOF errors accounted for only 1.1% of all responses. Perception accuracy of the rotation and extension DOF was significantly different. In the second study, participants attempted to locate a sequence of invisible navigational targets while walking with the device. Good navigational ability was demonstrated after minimal training. All participants were able to locate all targets, utilizing both DOF. Walking path efficiency was between 32%-56%. In summary, the paper presents the design of a novel shape changing haptic user interface intended to be intuitive and unobtrusive. The interface is then validated by stationary perceptual experiments and an embodied (walking) target finding pilot study.","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":"133536764","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

The KIT whole-body human motion database KIT全身人体运动数据库

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251476

Christian Mandery, Ömer Terlemez, Martin Do, N. Vahrenkamp, T. Asfour

{"title":"The KIT whole-body human motion database","authors":"Christian Mandery, Ömer Terlemez, Martin Do, N. Vahrenkamp, T. Asfour","doi":"10.1109/ICAR.2015.7251476","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251476","url":null,"abstract":"We present a large-scale whole-body human motion database consisting of captured raw motion data as well as the corresponding post-processed motions. This database serves as a key element for a wide variety of research questions related e.g. to human motion analysis, imitation learning, action recognition and motion generation in robotics. In contrast to previous approaches, the motion data in our database considers the motions of the observed human subject as well as the objects with which the subject is interacting. The information about human-object relations is crucial for the proper understanding of human actions and their goal-directed reproduction on a robot. To facilitate the creation and processing of human motion data, we propose procedures and techniques for capturing of motion, labeling and organization of the motion capture data based on a Motion Description Tree, as well as for the normalization of human motion to an unified representation based on a reference model of the human body. We provide software tools and interfaces to the database allowing access and efficient search with the proposed motion representation.","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":"113974589","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: 175

A fast dense stereo matching algorithm with an application to 3D occupancy mapping using quadrocopters 一种快速密集立体匹配算法，应用于使用四旋翼飞行器的三维占用映射

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251515

Radouane Ait Jellal, A. Zell

引用次数: 4

Integrating spatial concepts into a probabilistic concept web 将空间概念整合成一个概率概念网

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251465

H. Çelikkanat, E. Sahin, Sinan Kalkan

{"title":"Integrating spatial concepts into a probabilistic concept web","authors":"H. Çelikkanat, E. Sahin, Sinan Kalkan","doi":"10.1109/ICAR.2015.7251465","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251465","url":null,"abstract":"In this paper, we study the learning and representation of grounded spatial concepts in a probabilistic concept web that connects them with other noun, adjective, and verb concepts. Specifically, we focus on the prepositional spatial concepts, such as “on”, “below”, “left”, “right”, “in front of” and “behind”. In our prior work (Celikkanat et al., 2015), inspired from the distributed highly-connected conceptual representation in human brain, we proposed using Markov Random Field for modeling a concept web on a humanoid robot. For adequately expressing the unidirectional (i.e., non-symmetric) nature of the spatial propositions, in this work, we propose a extension of the Markov Random Field into a simple hybrid Markov Random Field model, allowing both undirected and directed connections between concepts. We demonstrate that our humanoid robot, iCub, is able to (i) extract meaningful spatial concepts in addition to noun, adjective and verb concepts from a scene using the proposed model, (ii) correct wrong initial predictions using the connectedness of the concept web, and (iii) respond correctly to queries involving spatial concepts, such as ball-left-of-the-cup.","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":"133273591","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

An approach to multi-agent pursuit evasion games using reinforcement learning 一种基于强化学习的多智能体追逃博弈方法

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251450

A. Bilgin, Esra Kadioglu Urtis

引用次数: 22

Safety-aware trajectory scaling for Human-Robot Collaboration with prediction of human occupancy 基于人类占用预测的人机协作安全感知轨迹缩放

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251438

M. Ragaglia, A. Zanchettin, P. Rocco

引用次数: 37

Fast ICP-SLAM for a bi-steerable mobile robot in large environments 大型环境双导向移动机器人的快速ICP-SLAM

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251519

R. Tiar, M. Lakrouf, O. Azouaoui

引用次数: 10

Modelling daily actions through hand-based spatio-temporal features 通过基于手的时空特征对日常行为进行建模

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251499

Olga Mur, M. Frigola, A. Casals

引用次数: 3

An autonomous firefighting robot 自动消防机器人

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251507

Ahmed Hassanein, M. Elhawary, Nour Jaber, Mohammed El-Abd

引用次数: 34

Humanlike, task-specific reaching and grasping with redundant arms and low-complexity hands 用冗余的手臂和低复杂度的手进行类似人类的、特定任务的伸手和抓握

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251501

Minas Liarokapis, A. Dollar, K. Kyriakopoulos

{"title":"Humanlike, task-specific reaching and grasping with redundant arms and low-complexity hands","authors":"Minas Liarokapis, A. Dollar, K. Kyriakopoulos","doi":"10.1109/ICAR.2015.7251501","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251501","url":null,"abstract":"In this paper, we propose a methodology for closed-loop, humanlike, task-specific reaching and grasping with redundant robot arms and low-complexity robot hands. Human demonstrations are utilized in a learn by demonstration fashion, in order to map human to humanlike robot motion. Principal Components Analysis (PCA) is used to transform the humanlike robot motion in a low-dimensional manifold, where appropriate Navigation Function (NF) models are trained. A series of grasp quality measures, as well as task compatibility indexes are employed to guarantee robustness of the computed grasps and task specificity of goal robot configurations. The final scheme provides anthropomorphic robot motion, task-specific robot arm configurations and hand grasping postures, optimized fingertips placement on the object surface (that results to robust grasps) and guaranteed convergence to the desired goals. The position and geometry of the objects are considered a-priori known. The efficiency of the proposed methods is assessed with simulations and experiments that involve different robot arm hand systems. The proposed scheme can be useful for various Human Robot Interaction (HRI) applications.","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":"132509050","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