2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)最新文献_第8页

Efficient Locomotion Planning for a Humanoid Robot with Whole-Body Collision Avoidance Guided by Footsteps and Centroidal Sway Motion 基于足部和质心摆动的仿人机器人全身避碰高效运动规划

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624927

Iori Kumagai, M. Morisawa, Shin'ichiro Nakaoka, F. Kanehiro

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引用次数: 9

Error Compensation System with Proximity Sensors for Vertical Ladder Climbing of the Robot “WAREC-1” 基于接近传感器的warec1机器人垂直爬梯误差补偿系统

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625073

Xiao Sun, Syota Hayashi, K. Hashimoto, T. Matsuzawa, Y. Yoshida, Nobuaki Sakai, Akihiro Imai, Masahiro Okawara, Kengo Kumagai, Takanobu Matsubara, Koki Yamaguchi, A. Takanishi

{"title":"Error Compensation System with Proximity Sensors for Vertical Ladder Climbing of the Robot “WAREC-1”","authors":"Xiao Sun, Syota Hayashi, K. Hashimoto, T. Matsuzawa, Y. Yoshida, Nobuaki Sakai, Akihiro Imai, Masahiro Okawara, Kengo Kumagai, Takanobu Matsubara, Koki Yamaguchi, A. Takanishi","doi":"10.1109/HUMANOIDS.2018.8625073","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625073","url":null,"abstract":"This paper introduces a sensor system and motion that measure and compensate the error in position and orientation between robot's end-effectors and the rungs of ladder while climbing a ladder. This error has been a threat to vertical ladder climbing for a four-limbed robot and may directly cause failure in climbing, thus must be compensated. In detail, our error compensation system consists of 8 proximity sensors (2 sensors for each end-effector) powered by lithium batteries and data is transmitted via wireless communication. With the system constructed, corresponding algorithms to measure and calculate the amount of error in position and orientation as well as motion planning of the robot to compensate the error are proposed. Additionally, countermeasures are also prepared to deal with undesired situations, such as communication in low quality and incorrect data returned from proximity sensors. Simulation results of comparison with and without error compensation are presented and experiment results of the real robot are given to validate the effectiveness of our proposed system. Finally, discussions about results are shown and expected prospective works are concluded.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"24 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":"116028918","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: 4

Collaborative Human-Robot Motion Generation Using LSTM-RNN 基于LSTM-RNN的人机协同运动生成

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625068

Xuan Zhao, Sakmongkon Chumkamon, Shuangda Duan, Juan Rojas, Jia Pan

引用次数: 16

Fall Protection of Humanoids Inspired by Human Fall Motion 受人类跌倒运动启发的类人跌倒防护

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625074

Wenpeng Ding, Xuechao Chen, Zhangguo Yu, Libo Meng, M. Ceccarelli, Qiang Huang

引用次数: 2

Automated Design of Manipulators for In-Hand Tasks 手握任务机械手的自动化设计

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624932

Christopher Hazard, N. Pollard, Stelian Coros

引用次数: 8

Predicting Polarization Beyond Semantics for Wearable Robotics 可穿戴机器人超越语义的极化预测

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625005

Kailun Yang, L. Bergasa, Eduardo Romera, Xiao Huang, Kaiwei Wang

{"title":"Predicting Polarization Beyond Semantics for Wearable Robotics","authors":"Kailun Yang, L. Bergasa, Eduardo Romera, Xiao Huang, Kaiwei Wang","doi":"10.1109/HUMANOIDS.2018.8625005","DOIUrl":"https://doi.org/10.1109/HUMANOIDS.2018.8625005","url":null,"abstract":"Semantic perception is a key enabler in robotics, which supposes a very resourceful and efficient manner of applying vision information for upper-level navigation and manipulation tasks. Given the challenges on specular semantics such as water hazards, transparent glasses and metallic surfaces, polarization imaging has been explored to complement the RGB-based pixel-wise semantic segmentation because it reflects surface characteristics and provides additional attributes. However, polarimetric measurements generally entail prohibitively expensive cameras and highly accurate calibrations. Inspired by the representation power of Convolutional Neural Networks (CNNs), we propose to predict polarization information from monocular RGB images, precisely per-pixel polarization difference. The core of our approach is a cluster of efficient deep architectures building on factorized convolutions, hierarchical dilations and pyramid representations, aimed to produce both semantic and polarimetric estimations in real time. Comprehensive experiments demonstrate the qualified accuracy on a wearable exoskeleton humanoid robot.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"29 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":"125160252","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: 14

Design of Crawling Motion for a Biped Walking Humanoid with 3-DoF Rigid-Flexible Waist 三自由度刚柔腰双足行走人形机器人爬行运动设计

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624931

Zelin Huang, Xinyang Jiang, Huaxin Liu, Xuechao Chen, T. Fukuda, Qiang Huang

引用次数: 5

Design of a Single Cam Single Actuator Multiloop Eyeball Mechanism 单凸轮单作动器多回路眼球机构设计

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625069

M. Khan, Cheng Chen

引用次数: 4

Computational Efficient Balance Control for a Lightweight Biped Robot with Sensor Based ZMP Estimation 基于传感器ZMP估计的轻型双足机器人计算高效平衡控制

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8625016

M. Folgheraiter, Alikhan Yessaly, Galym Kaliyev, Asset Yskak, Sharafatdin Yessirkepov, Artemiy Oleinikov, G. Gini

引用次数: 9

Robust Real-Time Whole-Body Motion Retargeting from Human to Humanoid 鲁棒实时全身运动重定位从人到类人

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Pub Date : 2018-11-01 DOI: 10.1109/HUMANOIDS.2018.8624943

Luigo Penco, Brice Clement, Valerio Modugno, E. Hoffman, Gabriele Nava, D. Pucci, N. Tsagarakis, Jean-Baptiste Mourert, S. Ivaldi

引用次数: 45