2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)最新文献_第2页

Omni-Directional Fall Avoidance of Bipedal Robots with Variable Stride Length and Step Duration 变步长和步长双足机器人的全方位避摔

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625058

Gwanwoo Kim, Hiroki Kuribayashi, Y. Tazaki, Y. Yokokohji

引用次数: 1

Measuring Bending Angle and Hallucinating Shape of Elongated Deformable Objects 伸长变形物体的弯曲角度测量与幻觉形状

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624980

Piotr Kicki, Michał Bednarek, K. Walas

{"title":"Measuring Bending Angle and Hallucinating Shape of Elongated Deformable Objects","authors":"Piotr Kicki, Michał Bednarek, K. Walas","doi":"10.1109/HUMANOIDS.2018.8624980","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8624980","url":null,"abstract":"Many objects in a human-made environment have elongated shapes for easy manipulation and grasping. As humanoid robots are working in this environment, they require proper sensing and perception of such objects. Current approaches are providing mainly the perception of rigid objects, but many everyday items are non-rigid and more challenging to track due to their substantial shape variability. We want the robots to be able to grasp and manipulate thin, elongated, deformable objects. We propose a system based on the Deep Neural Network that can predict the bend angle of such objects using the single RGB image only. In our paper, we present the proposed neural network architecture used for prediction of the bending angle and finding the elongated shape in images with a cluttered background together with the dataset used for training. We observed that the proposed system even though it was trained on synthetic data was able to perform well on real data. The proposed architecture also provide us with the ability to hallucinate how the deformable pipe with any initial bend would look like when subjected to the arbitrary bend angle. Our findings have more profound consequences than the above mentioned. We were able to show that the proposed Encoder-Decoder neural network architecture has the interpretable latent vector element for describing a measurable physical bend angle. Moreover, we allow bending arrows to be situated out of the image plane. In the future work, we are planning to extend the current approach with the prediction of the full 3d shape of the elongated object from a single RGB image.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124049578","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

Constrained DMPs for Feasible Skill Learning on Humanoid Robots 仿人机器人可行技能学习的约束dmp

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624934

Anqing Duan, R. Camoriano, Diego Ferigo, Daniele Calandriello, L. Rosasco, D. Pucci

引用次数: 13

Energy-Efficient Bipedal Gait Pattern Generation via CoM Acceleration Optimization 基于CoM加速度优化的节能双足步态模式生成

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625042

Jiatao Ding, Chengxu Zhou, Xiaohui Xiao

{"title":"Energy-Efficient Bipedal Gait Pattern Generation via CoM Acceleration Optimization","authors":"Jiatao Ding, Chengxu Zhou, Xiaohui Xiao","doi":"10.1109/HUMANOIDS.2018.8625042","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625042","url":null,"abstract":"Energy consumption for bipedal walking plays a central role for a humanoid robot with limited battery capacity. Studies have revealed that exploiting the allowable Zero Moment Point region (AZR) and Center of Mass (CoM) height variation (CoMHV) are strategies capable of improving energy performance. In general, energetic cost is evaluated by integrating the electric power of multi joints. However, this Joint-Power-based Index requires computing joint torques and velocities in advance, which usually requires time-consuming iterative procedures, especially for multi-joints robots. In this work, we propose a CoM-Acceleration-based Optimal Index (CAOI) to synthesize an energetically efficient CoM trajectory. The proposed method is based on the Linear Inverted Pendulum Model, whose energetic cost can be easily measured by the input energy required for driving the point mass to track a reference trajectory. We characterize the CoM motion for a single walking cycle and define its energetic cost as Unit Energy Consumption. Based on the CAOI, an analytic solution for CoM trajectory generation is provided. Hardware experiments demonstrated the computational efficiency of the proposed approach and the energetic benefits of exploiting AZR and CoMHV strategies.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133930454","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: 7

Cylindrical Inverted Pendulum Model for Three Dimensional Bipedal Walking 三维双足行走的圆柱倒立摆模型

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624984

Runming Zhang, Huaxin Liu, Fei Meng, A. Ming, Qiang Huang

引用次数: 2

Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods 双足在沙质斜坡上的运动:使用零力矩点方法的系统实验

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624959

Jonathan R. Gosyne, Christian M. Hubicki, Xiaobin Xiong, A. Ames, D. Goldman

引用次数: 0

Redundant Strain Measurement of Link Structures for Improved Stability of Light Weight Torque Controlled Robots 提高轻量力矩控制机器人稳定性的连杆结构冗余应变测量

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624994

H. Kaminaga, F. Kanehiro

引用次数: 0

Data Dreaming for Object Detection: Learning Object-Centric State Representations for Visual Imitation 目标检测的数据梦:学习视觉模仿的以对象为中心的状态表示

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625007

Maximilian Sieb, Katerina Fragkiadaki

引用次数: 6

Learning Efficient Omni-Directional Capture Stepping for Humanoid Robots from Human Motion and Simulation Data 基于人体运动和仿真数据的仿人机器人高效全向捕获步进学习

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625039

Johannes Pankert, Lukas Kaul, T. Asfour

引用次数: 2

Control Scheme and Uncertainty Considerations for Dynamic Balancing of Passive-Ankled Bipeds and Full Humanoids 被动踝关节两足和全人形机器人动平衡控制方案及不确定性考虑

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624915

Donghyun Kim, Steven Jens Jorgensen, Hochul Hwang, L. Sentis

引用次数: 6