2015 International Conference on Advanced Robotics (ICAR)最新文献_第7页

Back-stepping control design for an underwater robot with tilting thrusters 倾斜推进器水下机器人后退控制设计

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251425

Sangrok Jin, Jihoon Kim, Jongwon Kim, Jangho Bae, J. Bak, Jongwon Kim, Taewon Seo

引用次数: 11

Lower limb gait activity recognition using Inertial Measurement Units for rehabilitation robotics 基于惯性测量单元的康复机器人下肢步态活动识别

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251474

M. Hamdi, M. Awad, M. Abdelhameed, F. Tolbah

{"title":"Lower limb gait activity recognition using Inertial Measurement Units for rehabilitation robotics","authors":"M. Hamdi, M. Awad, M. Abdelhameed, F. Tolbah","doi":"10.1109/ICAR.2015.7251474","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251474","url":null,"abstract":"In this paper, The authors considered a human lower limb gait activity recognition algorithm, using an IMU sensory network consisting of 4 IMUs distributed to the lower limb. The proposed algorithm depends on Random Forest for classification and a Hybrid Mutual Information and Genetic Algorithm (HMIGA) as a features selection technique. HMIGA selects the most distinguishing features from Discrete Wavelet Coefficient (DWT) features and other statistical and physical (self designed) features. The proposed algorithm is compared with Support Vector Machine (SVM) to classify 5 activities and the results are presented on 6 subjects with 2% average error rate with 1.9% superiority on SVM. Moreover, HMIGA as a feature selector is compared to the traditional feature selectors and DWT as a feature also compared to statistical and physical features, showing their influence on the activity recognition process. Finally, the most important features selected by HMIGA are presented, proving the important role of the shank's sensor on the recognition process, where almost 50% of the selected features are from the shank sensor.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126518244","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: 10

A fuzzy UV-disparity based approach for following a leader mobile robot 基于模糊uv视差的leader移动机器人跟踪方法

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251451

Z. Irki, Abdelatif Oussar, Mohamed Hamdi, Fatah Seddi

引用次数: 2

Evolutionary discovery of self-stabilized dynamic gaits for a soft underwater legged robot 水下软足机器人自稳定动态步态的进化发现

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251477

Francesco Corucci, M. Calisti, H. Hauser, C. Laschi

{"title":"Evolutionary discovery of self-stabilized dynamic gaits for a soft underwater legged robot","authors":"Francesco Corucci, M. Calisti, H. Hauser, C. Laschi","doi":"10.1109/ICAR.2015.7251477","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251477","url":null,"abstract":"In recent years a number of robotic platforms have been developed, that are capable of robust locomotion in presence of a simple open loop control. Relying on the self-stabilizing properties of their mechanical structure, morphology assumes a crucial role in the design process, that is, however, usually guided by a set of heuristic principles falling under what is commonly known as embodied intelligence. Despite many impressive demonstrations, the result of such a methodology may be sub-optimal, given the dimension of the design space and the complex intertwining of involved dynamical effects. Encouraged by the growing consensus that embodied solutions can indeed be produced by bio-inspired computational techniques in a more automated manner, this work proposes a computer-aided methodology to explore in simulation the design space of an existing robot, by harnessing computational techniques inspired by natural evolution. Although many works exist on the application of evolutionary algorithms in robotics, few of them embrace this design perspective. The idea is to have an evolutionary process suggesting to the human designer a number of interesting robot configurations and embodied behaviors, from whose analysis design hints can be gained to improve the platform. The focus will be on enhancing the locomotion capabilities of a multi-legged, soft, underwater robot. We investigate for the first time the suitability of a recently introduced open-ended evolutionary algorithm (novelty search) for the intended study, and demonstrate its benefits in the comparison with a more conventional genetic algorithm. Results confirm that evolutionary algorithms are indeed capable of producing new, elaborate dynamic gaits, with evolved designs exhibiting several regularities. Possible future directions are also pointed out, in which the passive exploitation of robot's morphological features could bring additional advantages in achieving diverse, robust behaviors.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131085100","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: 21

Towards optimal force distribution for walking excavators 行走式挖掘机最佳受力分布研究

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251471

M. Hutter, Philipp Leemann, Stefan Stevšić, Andreas Michel, Dominic Jud, M. Höpflinger, R. Siegwart, R. Figi, Christian Caduff, M. Loher, Stefan Tagmann

引用次数: 17

Enhanced null space control using hierarchical workspace disturbance observer 基于层次工作空间扰动观测器的增强零空间控制

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251426

M. Sorour, T. Murakami

引用次数: 0

Deadzone switching based cooperative adaptive cruise control with rear-end collision check 基于死区切换的追尾碰撞检测协同自适应巡航控制

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251469

Feyyaz Emre Sancar, B. Fidan, J. Huissoon

引用次数: 9

Mobile robot path planning for complex dynamic environments 复杂动态环境下的移动机器人路径规划

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251456

Mohamed Lamine Tazir, O. Azouaoui, Mohamed Hazerchi, M. Brahimi

{"title":"Mobile robot path planning for complex dynamic environments","authors":"Mohamed Lamine Tazir, O. Azouaoui, Mohamed Hazerchi, M. Brahimi","doi":"10.1109/ICAR.2015.7251456","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251456","url":null,"abstract":"The last few years, research in the area of path planning for mobile robots has been focusing on dynamic environments. Most of methods proposed in this topic need to re-plan the remaining path of the robot, every time when new information come in which significantly increase the computation time and make real-time implementation of these methods difficult and sometimes impossible. The proposed approach consists of two different modules (static and dynamic) that combine two navigation methods to exploit prior information of global static map and local information coming from sensors. The robot uses global information about his environment, and plans the optimal path using genetic algorithms (GA) combined with Dijkstra algorithm through static obstacles. The dynamic phase is done while the robot is moving. The algorithm is able to avoid a moving obstacle by wait/Accelerate concept (W/A C), or by producing a new optimal local path using Dijkstra algorithm. A particularly new aspect of the work is to use the prior information about the environment for searching a global path efficiently and the incorporation of Dijkstra algorithm in both off-line and online phases, which leads to a significantly computation time reducing, and increases the accuracy of the global trajectory. The introduction of the accelerate action is also a new aspect. The simulation results confirm the efficiency and effectiveness of this approach in complex environments.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132022918","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: 8

Cooperative approach for an optimal area coverage and connectivity in multi-robot systems 多机器人系统中最佳区域覆盖和连接的协作方法

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251452

Zineb Laouici, Mami Mohammed Amine, Khelfi Mohamed Fayçal

引用次数: 9

Switching method to avoid algorithmic singularity in vision-based control of a space robot 空间机器人视觉控制中避免算法奇异性的切换方法

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251467

S. Shah, V. Anurag, A. Hafez, K. Krishna

引用次数: 5