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2013 16th International Conference on Advanced Robotics (ICAR)最新文献

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Experimental validation of advanced minimum energy robot trajectory optimization 新型最小能量机器人轨迹优化的实验验证
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766463
Christian Hansen, J. Kotlarski, T. Ortmaier
{"title":"Experimental validation of advanced minimum energy robot trajectory optimization","authors":"Christian Hansen, J. Kotlarski, T. Ortmaier","doi":"10.1109/ICAR.2013.6766463","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766463","url":null,"abstract":"The improvement of energy efficiency in automation and robotic systems still has high significance in engineering research. This paper presents experimental results of minimum energy trajectory optimization for multi-axis manipulators using electrical energy exchange via the shared inverter DC link. Thus, existing simulation findings demonstrating the potential of the proposed minimum energy optimization approach are validated. In this context, a global optimization method is applied utilizing an advanced cost function formulation that is based on an energy flow model including all servo drive components. After the validation of the utilized system model, increased efficiency improvements are proven and compared to established methods. The presented approach as well as the experimental results are fully transferable to any kind of multi-axis system comprising DC link energy supply.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"278 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121824291","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: 41
Structural synthesis of 3DOF articulated manipulators based on kinematic evaluation 基于运动学评价的三维自由度关节机械臂结构综合
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766460
B. Vemula, G. Spampinato, M. Hedelind, Xiaolong Feng, T. Brogårdh
{"title":"Structural synthesis of 3DOF articulated manipulators based on kinematic evaluation","authors":"B. Vemula, G. Spampinato, M. Hedelind, Xiaolong Feng, T. Brogårdh","doi":"10.1109/ICAR.2013.6766460","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766460","url":null,"abstract":"In this study, serial and parallelogram linkage structures are evaluated and compared, on the basis of kinematic performance measures such as workspace and manipulability. Tradeoff relationships between workspace manipulability are established for both the structures, using the configuration of the arm lengths as a design variable. The structures are also analyzed on the basis of their manipulation ability in specific regions of their workspace, providing additional design criteria during the selection of the kinematic structure in the synthesis of industrial articulated robots.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"2012 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128166586","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: 1
Non-iterative planar visual odometry using a monocular camera 使用单目相机的非迭代平面视觉里程计
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766475
Firas Abi-Farraj, Daniel C. Asmar, Elie A. Shammas, I. Elhajj
{"title":"Non-iterative planar visual odometry using a monocular camera","authors":"Firas Abi-Farraj, Daniel C. Asmar, Elie A. Shammas, I. Elhajj","doi":"10.1109/ICAR.2013.6766475","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766475","url":null,"abstract":"This paper presents a visual odometry system for ground vehicles using a single downward-facing camera. Our method calculates the motion from a monocular camera without using any probabilistic (non-deterministic) or iterative routines neither for motion estimation nor for outliers rejection. Accordingly, the proposed method improves the accuracy, the certainty, and the speed of the algorithm. Our method is validated for real data sets and shows competitive accuracy and robustness with a loop closure error reaching as low as 1.25% for a run of 460 meters.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"2010 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130952506","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
Integrating planning and execution for ROS enabled service robots using hierarchical action representations 使用分层动作表示集成支持ROS的服务机器人的规划和执行
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766556
R. Janssen, E. V. Meijl, D. Marco, R. V. D. Molengraft, M. Steinbuch
{"title":"Integrating planning and execution for ROS enabled service robots using hierarchical action representations","authors":"R. Janssen, E. V. Meijl, D. Marco, R. V. D. Molengraft, M. Steinbuch","doi":"10.1109/ICAR.2013.6766556","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766556","url":null,"abstract":"The aim of the RoboEarth project is to develop a globally accessible database, that enables service robots to share reusable information relevant to the execution of their daily tasks. Examples of this information are the hierarchical task descriptions, or action recipes, that represent typical household tasks as symbolic action sequences. By annotating these static action representations with hierarchical planner predicates, they can be interpreted by a Hierarchical Task Network planner such as SHOP2 to compose optimized robot plans in a flexible manner, based on the actual state of the environment and the available capabilities of the robot. To subsequently execute these plans in a household environment, the CRAM executive toolbox is adopted, allowing a tight integration between plan execution and the run-time inference of dynamically updated environment knowledge. This paper presents the integration of these two planning and execution components into one cohesive framework, tailored for the safe execution of abstract tasks in challenging household environments. The resulting framework is implemented on the AMIGO service robot and a basic experiment is conducted to demonstrate the frameworks integral functionality.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"65 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131003649","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
Prosody-based adaptive metaphoric head and arm gestures synthesis in human robot interaction 人机交互中基于韵律的自适应隐喻头、臂手势合成
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766507
A. Aly, A. Tapus
{"title":"Prosody-based adaptive metaphoric head and arm gestures synthesis in human robot interaction","authors":"A. Aly, A. Tapus","doi":"10.1109/ICAR.2013.6766507","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766507","url":null,"abstract":"In human-human interaction, the process of communication can be established through three modalities: verbal, non-verbal (i.e., gestures), and/or para-verbal (i.e., prosody). The linguistic literature shows that the para-verbal and non-verbal cues are naturally aligned and synchronized, however the natural mechanism of this synchronization is still unexplored. The difficulty encountered during the coordination between prosody and metaphoric head-arm gestures concerns the conveyed meaning, the way of performing gestures with respect to prosodic characteristics, their relative temporal arrangement, and their coordinated organization in the phrasal structure of utterance. In this research, we focus on the mechanism of mapping between head-arm gestures and speech prosodic characteristics in order to generate an adaptive robot behavior to the interacting human's emotional state. Prosody patterns and the motion curves of head-arm gestures are aligned separately into parallel Hidden Markov Models (HMM). The mapping between speech and head-arm gestures is based on the Coupled Hidden Markov Models (CHMM), which could be seen as a multi-stream collection of HMM, characterizing the segmented prosody and head-arm gestures' data. An emotional state based audio-video database has been created for the validation of this study. The obtained results show the effectiveness of the proposed methodology.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128191413","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: 15
Managing extensibility and maintainability of industrial robotics software 管理工业机器人软件的可扩展性和可维护性
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766561
A. Hoffmann, A. Angerer, A. Schierl, M. Vistein, W. Reif
{"title":"Managing extensibility and maintainability of industrial robotics software","authors":"A. Hoffmann, A. Angerer, A. Schierl, M. Vistein, W. Reif","doi":"10.1109/ICAR.2013.6766561","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766561","url":null,"abstract":"As neither the set of robotics devices nor the operations they can execute is fixed, a software framework for robotics should be extensible. Moreover, as the environment the robots work in changes, the application controlling them must be easily adaptable to changing requirements. When this can be achieved at run-time, it leads to a continuous evolution of robotics software. This paper presents an object-oriented software framework, the Java-based Robotics API, that facilitates extensibility with code reuse. By integrating the framework into the dynamic module system OSGi, it is possible to continuously evolve a robotics application (including its real-time capable parts).","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132927224","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: 5
Experimental validation of a visual odometry system for indoor unstructured environments 室内非结构化环境视觉里程计系统的实验验证
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766496
J. Rodrigues, C. Cardeira, F. Carreira, J. Calado, P. Oliveira
{"title":"Experimental validation of a visual odometry system for indoor unstructured environments","authors":"J. Rodrigues, C. Cardeira, F. Carreira, J. Calado, P. Oliveira","doi":"10.1109/ICAR.2013.6766496","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766496","url":null,"abstract":"The main goal of this paper is to present a visual odometry system, for localization of mobile robot in indoor unstructured environments, using only ceiling depth images, captured by a Kinect sensor. The use of odometric sensors is a common practice for localization of mobile robots. The method proposed in this work exploits information from an independent source of depth data and thus allows to complement or substitute the use of classic odometric sensors, like wheels encoders, with well known limitations. The experimental validation of the proposed solution shows that the method is able to accurately compute the attitude and linear velocities that allow a more precise mobile robot localization, even in presence of corrupted data from the sensor. Furthermore, the method works in an extended range of lighting conditions, without the need to perform any specific feature extraction.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131159760","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: 1
Reaching hidden objects based on memory of environmental states and robot's movement and manipulation 基于环境状态记忆和机器人运动与操作的隐藏物体到达
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766497
Akihiro Ichimura, I. Mizuuchi
{"title":"Reaching hidden objects based on memory of environmental states and robot's movement and manipulation","authors":"Akihiro Ichimura, I. Mizuuchi","doi":"10.1109/ICAR.2013.6766497","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766497","url":null,"abstract":"We aim at a robot that searches domestic objects with various manipulations of environments such as opening a drawer. A robot memorizes places of them and reaches them again even if they are hidden, e.g. an object in a drawer. We think that the location of the robot should be represented not based on Cartesian coordinates but based on the state of each environment, because robot's action to reach hidden objects varies by the state of each environment. The robot will reach the place of the memorized object by the action based on the integrated memory of movement and manipulation when the robot was searching the object. This paper describes the concept and the basic method of memorizing robot's movement and manipulation integratedly, and generating the action to reach hidden objects based on the memory.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130238839","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
Desing of a kinematic control model, for an anthropomorphic robot arm, applied to the teaching of industrial robotics 拟人机械臂的运动控制模型设计，并应用于工业机器人教学
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766580
C. Escandon, A. Carpio
{"title":"Desing of a kinematic control model, for an anthropomorphic robot arm, applied to the teaching of industrial robotics","authors":"C. Escandon, A. Carpio","doi":"10.1109/ICAR.2013.6766580","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766580","url":null,"abstract":"The current work presents a preliminary study on the types and models of industrial programming, These techniqies allowed us to desing a controller for positioning and trajectory functions of a didactic anthropomorphic robot arm. This design is based on a real kinematic model; furthermore, the system of the controller and robot illustrate the basics of industrial robotics and become teaching tools at the undergraduate level.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128526152","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
A robust manipulation strategy based on impedance control parameters changes and smooth trajectories 基于阻抗控制参数变化和平滑轨迹的鲁棒操纵策略
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766514
L. M. Pedro, Guilherme Fernandes, Marius Stücheli, A. Siqueira, G. Caurin
{"title":"A robust manipulation strategy based on impedance control parameters changes and smooth trajectories","authors":"L. M. Pedro, Guilherme Fernandes, Marius Stücheli, A. Siqueira, G. Caurin","doi":"10.1109/ICAR.2013.6766514","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766514","url":null,"abstract":"This paper proposes a new manipulation strategy that combines smooth trajectories with an impedance controller which parameters are adapted in time of execution. The proposal uses a single control law during all manipulation phases, i.e. when the robot is in contact with the object, and during regrasping when the robot moves freely in space. The manipulator impedance changes during the different manipulation phases and this is achieved modifying mass, stiffness and damping parameters of the controller. Controller stability is further enhanced by the adoption of smooth trajectories that are generated using a compact and computationally light Squeezed Screws Planner. Additionally, the approach shows good response to the occurrence of unplanned contact or collisions. Experimental results with an industrial manipulator unscrewing a jar cap, provides interesting data about performance and show the benefits of the adopted manipulation strategy.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129316402","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
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