Frontiers in Robotics and AI最新文献_第8页

Active learning strategies for robotic tactile texture recognition tasks 机器人触觉纹理识别任务的主动学习策略

Frontiers in Robotics and AI Pub Date : 2024-02-06 DOI: 10.3389/frobt.2024.1281060

Shemonto Das, Vinicius Prado da Fonseca, Amilcar Soares

{"title":"Active learning strategies for robotic tactile texture recognition tasks","authors":"Shemonto Das, Vinicius Prado da Fonseca, Amilcar Soares","doi":"10.3389/frobt.2024.1281060","DOIUrl":"https://doi.org/10.3389/frobt.2024.1281060","url":null,"abstract":"Accurate texture classification empowers robots to improve their perception and comprehension of the environment, enabling informed decision-making and appropriate responses to diverse materials and surfaces. Still, there are challenges for texture classification regarding the vast amount of time series data generated from robots’ sensors. For instance, robots are anticipated to leverage human feedback during interactions with the environment, particularly in cases of misclassification or uncertainty. With the diversity of objects and textures in daily activities, Active Learning (AL) can be employed to minimize the number of samples the robot needs to request from humans, streamlining the learning process. In the present work, we use AL to select the most informative samples for annotation, thus reducing the human labeling effort required to achieve high performance for classifying textures. We also use a sliding window strategy for extracting features from the sensor’s time series used in our experiments. Our multi-class dataset (e.g., 12 textures) challenges traditional AL strategies since standard techniques cannot control the number of instances per class selected to be labeled. Therefore, we propose a novel class-balancing instance selection algorithm that we integrate with standard AL strategies. Moreover, we evaluate the effect of sliding windows of two-time intervals (3 and 6 s) on our AL Strategies. Finally, we analyze in our experiments the performance of AL strategies, with and without the balancing algorithm, regarding f1-score, and positive effects are observed in terms of performance when using our proposed data pipeline. Our results show that the training data can be reduced to 70% using an AL strategy regardless of the machine learning model and reach, and in many cases, surpass a baseline performance. Finally, exploring the textures with a 6-s window achieves the best performance, and using either Extra Trees produces an average f1-score of 90.21% in the texture classification data set.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"322 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139858428","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

Implementation and analysis of a parallel kalman filter algorithm for lidar localization based on CUDA technology 基于 CUDA 技术的激光雷达定位并行卡尔曼滤波算法的实现与分析

Frontiers in Robotics and AI Pub Date : 2024-02-02 DOI: 10.3389/frobt.2024.1341689

L. Mochurad

{"title":"Implementation and analysis of a parallel kalman filter algorithm for lidar localization based on CUDA technology","authors":"L. Mochurad","doi":"10.3389/frobt.2024.1341689","DOIUrl":"https://doi.org/10.3389/frobt.2024.1341689","url":null,"abstract":"Introduction: Navigation satellite systems can fail to work or work incorrectly in a number of conditions: signal shadowing, electromagnetic interference, atmospheric conditions, and technical problems. All of these factors can significantly affect the localization accuracy of autonomous driving systems. This emphasizes the need for other localization technologies, such as Lidar. Methods: The use of the Kalman filter in combination with Lidar can be very effective in various applications due to the synergy of their capabilities. The Kalman filter can improve the accuracy of lidar measurements by taking into account the noise and inaccuracies present in the measurements. Results: In this paper, we propose a parallel Kalman algorithm in three-dimensional space to speed up the computational speed of Lidar localization. At the same time, the initial localization accuracy of the latter is preserved. A distinctive feature of the proposed approach is that the Kalman localization algorithm itself is parallelized, rather than the process of building a map for navigation. The proposed algorithm allows us to obtain the result 3.8 times faster without compromising the localization accuracy, which was 3% for both cases, making it effective for real-time decision-making. Discussion: The reliability of this result is confirmed by a preliminary theoretical estimate of the acceleration rate based on Ambdahl’s law. Accelerating the Kalman filter with CUDA for Lidar localization can be of significant practical value, especially in real-time and in conditions where large amounts of data from Lidar sensors need to be processed.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"9 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139870297","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

Implementation and analysis of a parallel kalman filter algorithm for lidar localization based on CUDA technology 基于 CUDA 技术的激光雷达定位并行卡尔曼滤波算法的实现与分析

Frontiers in Robotics and AI Pub Date : 2024-02-02 DOI: 10.3389/frobt.2024.1341689

L. Mochurad

{"title":"Implementation and analysis of a parallel kalman filter algorithm for lidar localization based on CUDA technology","authors":"L. Mochurad","doi":"10.3389/frobt.2024.1341689","DOIUrl":"https://doi.org/10.3389/frobt.2024.1341689","url":null,"abstract":"Introduction: Navigation satellite systems can fail to work or work incorrectly in a number of conditions: signal shadowing, electromagnetic interference, atmospheric conditions, and technical problems. All of these factors can significantly affect the localization accuracy of autonomous driving systems. This emphasizes the need for other localization technologies, such as Lidar. Methods: The use of the Kalman filter in combination with Lidar can be very effective in various applications due to the synergy of their capabilities. The Kalman filter can improve the accuracy of lidar measurements by taking into account the noise and inaccuracies present in the measurements. Results: In this paper, we propose a parallel Kalman algorithm in three-dimensional space to speed up the computational speed of Lidar localization. At the same time, the initial localization accuracy of the latter is preserved. A distinctive feature of the proposed approach is that the Kalman localization algorithm itself is parallelized, rather than the process of building a map for navigation. The proposed algorithm allows us to obtain the result 3.8 times faster without compromising the localization accuracy, which was 3% for both cases, making it effective for real-time decision-making. Discussion: The reliability of this result is confirmed by a preliminary theoretical estimate of the acceleration rate based on Ambdahl’s law. Accelerating the Kalman filter with CUDA for Lidar localization can be of significant practical value, especially in real-time and in conditions where large amounts of data from Lidar sensors need to be processed.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"7 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139810503","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

Modeling of slip rate-dependent traversability for path planning of wheeled mobile robot in sandy terrain 沙质地形中轮式移动机器人路径规划中与滑移率相关的可穿越性建模

Frontiers in Robotics and AI Pub Date : 2024-01-25 DOI: 10.3389/frobt.2024.1320261

Go Sakayori, G. Ishigami

{"title":"Modeling of slip rate-dependent traversability for path planning of wheeled mobile robot in sandy terrain","authors":"Go Sakayori, G. Ishigami","doi":"10.3389/frobt.2024.1320261","DOIUrl":"https://doi.org/10.3389/frobt.2024.1320261","url":null,"abstract":"A planetary exploration rover has been employed for scientific endeavors or as a precursor for upcoming manned missions. Predicting rover traversability from its wheel slip ensures safe and efficient autonomous operations of rovers on deformable planetary surfaces; path planning algorithms that reduce slips by considering wheel-soil interaction or terrain data can minimize the risk of the rover becoming immobilized. Understanding wheel-soil interaction in transient states is vital for developing a more precise slip ratio prediction model, while path planning in the past assumes that slips generated at the path is a series of slip ratio in steady state. In this paper, we focus on the transient slip, or slip rate the time derivative of slip ratio, to explicitly address it into the cost function of path planning algorithm. We elaborated a regression model that takes slip rate and traction force as inputs and outputs slip ratio, which is employed in the cost function to minimize the rover slip in path planning phase. Experiments using a single wheel testbed revealed that even with the same wheel traction force, the slip ratio varies with different slip rates; we confirmed that the smaller the absolute value of the slip rate, the larger the slip ratio for the same traction force. The statistical analysis of the regression model confirms that the model can estimate the slip ratio within an accuracy of 85% in average. The path planning simulation with the regression model confirmed a reduction of 58% slip experienced by the rover when driving through rough terrain environments. The dynamics simulation results insisted that the proposed method can reduce the slip rate in rough terrain environments.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"52 15","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139598945","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

Human movement modifications induced by different levels of transparency of an active upper limb exoskeleton 主动式上肢外骨骼的不同透明度对人体运动的影响

Frontiers in Robotics and AI Pub Date : 2024-01-24 DOI: 10.3389/frobt.2024.1308958

Dorian Verdel, Anaïs Farr, Thibault Devienne, N. Vignais, B. Berret, Olivier Bruneau

{"title":"Human movement modifications induced by different levels of transparency of an active upper limb exoskeleton","authors":"Dorian Verdel, Anaïs Farr, Thibault Devienne, N. Vignais, B. Berret, Olivier Bruneau","doi":"10.3389/frobt.2024.1308958","DOIUrl":"https://doi.org/10.3389/frobt.2024.1308958","url":null,"abstract":"Active upper limb exoskeletons are a potentially powerful tool for neuromotor rehabilitation. This potential depends on several basic control modes, one of them being transparency. In this control mode, the exoskeleton must follow the human movement without altering it, which theoretically implies null interaction efforts. Reaching high, albeit imperfect, levels of transparency requires both an adequate control method and an in-depth evaluation of the impacts of the exoskeleton on human movement. The present paper introduces such an evaluation for three different “transparent” controllers either based on an identification of the dynamics of the exoskeleton, or on force feedback control or on their combination. Therefore, these controllers are likely to induce clearly different levels of transparency by design. The conducted investigations could allow to better understand how humans adapt to transparent controllers, which are necessarily imperfect. A group of fourteen participants were subjected to these three controllers while performing reaching movements in a parasagittal plane. The subsequent analyses were conducted in terms of interaction efforts, kinematics, electromyographic signals and ergonomic feedback questionnaires. Results showed that, when subjected to less performing transparent controllers, participants strategies tended to induce relatively high interaction efforts, with higher muscle activity, which resulted in a small sensitivity of kinematic metrics. In other words, very different residual interaction efforts do not necessarily induce very different movement kinematics. Such a behavior could be explained by a natural human tendency to expend effort to preserve their preferred kinematics, which should be taken into account in future transparent controllers evaluation.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"48 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139599793","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

Soft gripper for small fruits harvesting and pick and place operations 用于小型水果采摘和取放作业的软抓手

Frontiers in Robotics and AI Pub Date : 2024-01-18 DOI: 10.3389/frobt.2023.1330496

E. Navas, R. Shamshiri, V. Dworak, Cornelia Weltzien, Roemi Fernández

引用次数: 0

Soft touchless sensors and touchless sensing for soft robots 用于软体机器人的非接触式软传感器和非接触式传感技术

Frontiers in Robotics and AI Pub Date : 2024-01-18 DOI: 10.3389/frobt.2024.1224216

Chapa Sirithunge, Huijiang Wang, Fumiya Iida

引用次数: 0

Asymmetric communication: cognitive models of humans toward an android robot 非对称交流：人类对机器人的认知模型

Frontiers in Robotics and AI Pub Date : 2024-01-11 DOI: 10.3389/frobt.2023.1267560

Daisuke Kawakubo, Masaki Shuzo, Hiroaki Sugiyama, Eisaku Maeda

{"title":"Asymmetric communication: cognitive models of humans toward an android robot","authors":"Daisuke Kawakubo, Masaki Shuzo, Hiroaki Sugiyama, Eisaku Maeda","doi":"10.3389/frobt.2023.1267560","DOIUrl":"https://doi.org/10.3389/frobt.2023.1267560","url":null,"abstract":"In the development of dialogue systems for android robots, the goal is to achieve human-like communication. However, subtle differences between android robots and humans are noticeable, leading even human-like android robots to be perceived differently. Understanding how humans accept android robots and optimizing their behavior is crucial. Generally, human customers have various expectations and anxieties when interacting with a robotic salesclerk instead of a human. Asymmetric communication arises when android robots treat customers like humans while customers treat robots as machines. Focusing on human-robot interaction in a tourist guide scenario, In this paper, we propose an asymmetric communication strategy that does not use estimation technology for preference information, but instead performs changing the agent’s character in order to pretend to tailor to the customer. In line with this, we prepared an experimental method to evaluate asymmetric communication strategies, using video clips to simulate dialogues. Participants completed questionnaires without prior knowledge of whether the salesclerk was human-like or robotic. The method allowed us to assess how participants treated the salesclerk and the effectiveness of the asymmetric communication strategy. Additionally, during our demonstration in a dialogue robot competition, 29 visitors had a positive impression of the android robot’s asymmetric communication strategy and reported a high level of satisfaction with the dialogue.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"1 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139438148","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

Simultaneous localization and mapping in a multi-robot system in a dynamic environment with unknown initial correspondence 多机器人系统在未知初始对应关系的动态环境中同时定位和绘图

Frontiers in Robotics and AI Pub Date : 2024-01-11 DOI: 10.3389/frobt.2023.1291672

Hadiseh Malakouti-Khah, Nargess Sadeghzadeh-Nokhodberiz, Allahyar Montazeri

{"title":"Simultaneous localization and mapping in a multi-robot system in a dynamic environment with unknown initial correspondence","authors":"Hadiseh Malakouti-Khah, Nargess Sadeghzadeh-Nokhodberiz, Allahyar Montazeri","doi":"10.3389/frobt.2023.1291672","DOIUrl":"https://doi.org/10.3389/frobt.2023.1291672","url":null,"abstract":"A basic assumption in most approaches to simultaneous localization and mapping (SLAM) is the static nature of the environment. In recent years, some research has been devoted to the field of SLAM in dynamic environments. However, most of the studies conducted in this field have implemented SLAM by removing and filtering the moving landmarks. Moreover, the use of several robots in large, complex, and dynamic environments can significantly improve performance on the localization and mapping task, which has attracted many researchers to this problem more recently. In multi-robot SLAM, the robots can cooperate in a decentralized manner without the need for a central processing center to obtain their positions and a more precise map of the environment. In this article, a new decentralized approach is presented for multi-robot SLAM problems in dynamic environments with unknown initial correspondence. The proposed method applies a modified Fast-SLAM method, which implements SLAM in a decentralized manner by considering moving landmarks in the environment. Due to the unknown initial correspondence of the robots, a geographical approach is embedded in the proposed algorithm to align and merge their maps. Data association is also embedded in the algorithm; this is performed using the measurement predictions in the SLAM process of each robot. Finally, simulation results are provided to demonstrate the performance of the proposed method.","PeriodicalId":504612,"journal":{"name":"Frontiers in Robotics and AI","volume":"15 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139438815","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

Smart haptic gloves for virtual reality surgery simulation: a pilot study on external ventricular drain training 用于虚拟现实手术模拟的智能触觉手套：心室外引流训练试点研究

Frontiers in Robotics and AI Pub Date : 2024-01-10 DOI: 10.3389/frobt.2023.1273631

Jonah Boutin, Jafer Kamoonpuri, Reza Faieghi, Joon Chung, Sandrine de Ribaupierre, R. Eagleson

引用次数: 0