2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)最新文献_第2页

Imitation for motor learning on humanoid robots 仿人机器人运动学习的模仿

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215322

A. Aguirre, G. Tejera, J. Baliosian

引用次数: 2

Towards a biologically-inspired model for underwater localization based on sensory-motor coupling 基于感觉-运动耦合的水下定位生物学启发模型

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215274

H. F. Chame, Paulo L. J. Drews-Jr, S. Botelho

{"title":"Towards a biologically-inspired model for underwater localization based on sensory-motor coupling","authors":"H. F. Chame, Paulo L. J. Drews-Jr, S. Botelho","doi":"10.1109/SBR-LARS-R.2017.8215274","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215274","url":null,"abstract":"In recent years there has been a growing interest in studying biologically-inspired models for localization that can cope with the stochasticity of natural environments. Most of the works available have considered 2D navigation tasks in static and structured environments, such as the lab maze or the corridors of a building. Reactive navigation is usually employed, so the robot avoids colliding the walls or maintains itself in the center of the road. Thereby, the localization error is bounded by the physical structure of the environment. A different situation is encountered in underwater scenarios, where the agent has to move through the open 3D space, the perceptual cues are scarce, and the scene is dynamic. In this work, we present the design of a biologically-inspired model for operation in underwater missions. The main novelty of our proposal consists in considering the information redundancy provided by the sensory-motor coupling. Thus, perceptive information is anticipated as a means to improve the processing efficiency for large areas, to handle the dynamic aspect of the scene, and to detect abnormal situations. A preliminary evaluation conducted in simulation is reported in this paper, showing the plausibility of the model.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128662785","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: 2

Information potential: A novel metric for information-based exploration 信息潜力:一种基于信息的探索的新度量

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215291

R. Colares, L. Chaimowicz

引用次数: 0

NARMA-L2-based control of wheeled mobile robots singularly perturbed by using neural networks: Curvilinear approach 基于narma - l2的轮式移动机器人奇摄动神经网络控制:曲线方法

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215271

C. P. Fernandez

引用次数: 4

A hybrid approach for the actuation of upper limb prostheses based on computer vision 基于计算机视觉的上肢假体混合驱动方法

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215308

D. Andrade, Akari Ishikawa, Amparo D. Munoz, E. Rohmer

{"title":"A hybrid approach for the actuation of upper limb prostheses based on computer vision","authors":"D. Andrade, Akari Ishikawa, Amparo D. Munoz, E. Rohmer","doi":"10.1109/SBR-LARS-R.2017.8215308","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215308","url":null,"abstract":"When a prosthesis that has a complicated process of selecting grip modes is presented to an amputee, he tends to give up using the device. Nowadays, most of the commercial interfaces for prosthetic hands are based on electromyography (EMG), and they are difficult to control due to the complexity of the activation methods. The multimodal approaches proposed in the literature to succeed in dealing with this problem have either limited the user to one way of interaction with objects or did not overcome the gap between research and clinical application. To change this scenario, we propose a hybrid technique based on computer vision and EMG for the activation of an upper limb prosthesis. With this interface, the user sends a simple command using an EMG interface to take a picture of the object they want to interact with, leaving the system to suggest the user which interaction is more likely correct from the recognized object name. The main contribution is a prosthetic control interface that allows the user to choose among types of interactions to accomplish the desired task using only three different movements. Without the need to learn more than three different patterns of contractions, the control interface becomes easier and less cognitive effort is required from users. Moreover, the platform presented in this paper does not limit the user regarding the number of possible interactions the user can perform.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114359608","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

Path planning at roundabouts using piecewise linear continuous curvature curves 基于分段线性连续曲率曲线的环形交叉路口路径规划

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215288

Júnior A. R. Silva, V. Grassi

{"title":"Path planning at roundabouts using piecewise linear continuous curvature curves","authors":"Júnior A. R. Silva, V. Grassi","doi":"10.1109/SBR-LARS-R.2017.8215288","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215288","url":null,"abstract":"The number of roundabouts has been increased as they have demonstrated improvements over unsignalized and signalized intersections regarding safety, traffic flow, access management, etc. In this sense, autonomous vehicles should satisfactorily deal with the problem of path planning at these circular intersections. Approaches proposed in literature employ optimization techniques to improve the level of comfort and to ensure bounded curvature subjected to the vehicle's kinematic constraints. This paper describes a path planning approach for autonomous vehicles using clothoids, circular arcs, and straight lines, whose curvature is piecewise linear and continuous as well. The planned path provides smooth driving because of the linear variation of the curvature with respect to the traveled distance. The roundabout path planner interpolates the desired configurations of the vehicle at roundabout entrance and exit with G2 continuity as traveling along the circular roadway. The proposed approach was tested on real and simulated doublelane roundabouts and results demonstrate the effectiveness of the path planning, which ensure bounded curvature and low curvature derivative, providing driving comfort.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124884325","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: 9

Optimizing basic skills on humanoid robots 优化人形机器人的基本技能

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8319465

Marco A. C. Simões, Emmanuel Argollo, Sérgio Souza, Wellington Santos, J. Souza

引用次数: 1

Blind IQA for Pictures in extreme conditions: Experimental evaluation on metallic surfaces 极端条件下图像的盲IQA:金属表面的实验评价

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215341

C. Steffens, Valquiria Huttner, S. Botelho

{"title":"Blind IQA for Pictures in extreme conditions: Experimental evaluation on metallic surfaces","authors":"C. Steffens, Valquiria Huttner, S. Botelho","doi":"10.1109/SBR-LARS-R.2017.8215341","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215341","url":null,"abstract":"In this work, several state-of-the-art Blind Image Quality Assessment (IQA) metrics and measures are evaluated in order to verify how they behave on extreme conditions such as the ones found on pictures of metallic surfaces. This is an important research topic given that the automation of the image acquisition comprehends one of the essential steps towards the automation and autonomy in many fields. Among others, obtaining quality images of shiny and reflective surfaces is in the interest of the factory automation, autonomous cars, autonomous mobile robots, and care-giving robots industries. These quality assessment algorithms come in handy for auto-focusing, aperture adjustment, camera parameterization, and image composition algorithms in general. A new dataset is developed to address this distinct category of images. Experimental results are provided to assess the performance of the known metrics on the metallic surfaces. Results show that some of the metrics in prior work correlate with the human interpretation, making them a suitable option to improve the image acquisition and the overall performance of computer vision systems operating in challenging environments.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122340910","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

Performance analysis of positioning controller for mobile robots 移动机器人定位控制器的性能分析

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215279

R. Fernandes, Manuel Moises Bessa, A. Brandão

引用次数: 2

Employing a fully convolutional neural network for road marking detection 采用全卷积神经网络进行道路标线检测

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215297

Luiz Ricardo Takeshi Horita, V. Grassi

引用次数: 3