2012 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献

Force sensing using artificial magnetic cilia 利用人工磁性纤毛进行力传感

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385623

A. Virta, Jaakko V. I. Timonen, Robin H. A. Ras, Quan Zhou

引用次数: 6

Control algorithms for a mobile robot tracking a human in front 移动机器人跟踪前方人的控制算法

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386200

Eui-Jung Jung, B. Yi, S. Yuta

引用次数: 33

Model-based trajectory control of robots with pneumatic actuator dynamics 基于模型的气动作动器机器人轨迹控制

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386121

Ryuma Niiyama

引用次数: 2

Biped control to follow arbitrary referential longitudinal velocity based on dynamics morphing 基于动态变形的任意参考纵向速度双足控制

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385699

T. Sugihara

{"title":"Biped control to follow arbitrary referential longitudinal velocity based on dynamics morphing","authors":"T. Sugihara","doi":"10.1109/IROS.2012.6385699","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385699","url":null,"abstract":"A novel biped control is proposed. Since it doesn't require referential motion trajectories defined by time, it can achieve longitudinal walking which is flexible enough to follow an arbitrary referential velocity given at random timing and to cope with unexpected external forces. The controller is developed based on the dynamics morphing, which is a framework to enable seamless transitions between various motions by continuously morphing the dynamical structure of the feedback system. Thus, it is compatible with the standing, the stepping-out for emergency, and so forth. Three key techniques are (i) morphing from the standing stabilizer with a stable equilibrium point to the velocity-follower which lacks any equilibrium points, (ii) a foot control maneuver which is automatically activated together with the morphing into the velocity following control, and (iii) automatic update of the referential position of COM for safety when going back to the standing stabilization. Although it is based on the same principle with the simulated regulator proposed by the author, the proposed controller is advantageous to it as it doesn't require an additional automaton to update the referential position of COM. The idea was examined through interactive computer simulations.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74869337","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

Full scaled 3D visual odometry from a single wearable omnidirectional camera 全尺寸3D视觉里程计从一个单一的可穿戴的全方位相机

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385607

Daniel Gutiérrez-Gómez, L. Puig, J. J. Guerrero

{"title":"Full scaled 3D visual odometry from a single wearable omnidirectional camera","authors":"Daniel Gutiérrez-Gómez, L. Puig, J. J. Guerrero","doi":"10.1109/IROS.2012.6385607","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385607","url":null,"abstract":"In the last years monocular SLAM has been widely used to obtain highly accurate maps and trajectory estimations of a moving camera. However, one of the issues of this approach is that, due to the impossibility of the depth being measured in a single image, global scale is not observable and scene and camera motion can only be recovered up to scale. This problem gets aggravated as we deal with larger scenes since it is more likely that scale drift arises between different map portions and their corresponding motion estimates. To compute the absolute scale we need to know some kind of dimension of the scene (e.g., actual size of an element of the scene, velocity of the camera or baseline between two frames) and somehow integrate it in the SLAM estimation. In this paper, we present a method to recover the scale of the scene using an omnidirectional camera mounted on a helmet. The high precision of visual SLAM allows the head vertical oscillation during walking to be perceived in the trajectory estimation. By performing a spectral analysis on the camera vertical displacement, we can measure the step frequency. We relate the step frequency to the speed of the camera by an empirical formula based on biomedical experiments on human walking. This speed measurement is integrated in a particle filter to estimate the current scale factor and the 3D motion estimation with its true scale. We evaluated our approach using image sequences acquired while a person walks. Our experiments show that the proposed approach is able to cope with scale drift.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73013729","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: 24

A parameterized control methodology for a modular flying vehicle 模块化飞行器的参数化控制方法

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385706

Raymond Oung, M. P. Cruz, R. D’Andrea

引用次数: 5

A non-linear approach to space dimension perception by a naive agent 幼稚智能体空间维度感知的非线性方法

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385632

Alban Laflaquière, S. Argentieri, Olivia Breysse, Stéphane Genet, B. Gas

引用次数: 24

“Open sesame!” adaptive force/velocity control for opening unknown doors “芝麻开门!打开未知门的自适应力/速度控制

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.3182/20120905-3-HR-2030.00047

Y. Karayiannidis, Christian Smith, Petter Ögren, D. Kragic

{"title":"“Open sesame!” adaptive force/velocity control for opening unknown doors","authors":"Y. Karayiannidis, Christian Smith, Petter Ögren, D. Kragic","doi":"10.3182/20120905-3-HR-2030.00047","DOIUrl":"https://doi.org/10.3182/20120905-3-HR-2030.00047","url":null,"abstract":"The problem of door opening is fundamental for robots operating in domestic environments. Since these environments are generally less structured than industrial environments, several types of uncertainties associated with the dynamics and kinematics of a door must be dealt with to achieve successful opening. This paper proposes a method that can open doors without prior knowledge of the door kinematics. The proposed method can be implemented on a velocity-controlled manipulator with force sensing capabilities at the end-effector. The method consists of a velocity controller which uses force measurements and estimates of the radial direction based on adaptive estimates of the position of the door hinge. The control action is decomposed into an estimated radial and tangential direction following the concept of hybrid force/motion control. A force controller acting within the velocity controller regulates the radial force to a desired small value while the velocity controller ensures that the end effector of the robot moves with a desired tangential velocity leading to task completion. This paper also provides a proof that the adaptive estimates of the radial direction converge to the actual radial vector. The performance of the control scheme is demonstrated in both simulation and on a real robot.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75722899","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: 31

Stability analysis of tacit learning based on environmental signal accumulation 基于环境信号积累的隐性学习稳定性分析

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385631

S. Shimoda, Y. Yoshihara, K. Fujimoto, Takashi Yamamoto, Iwao Maeda, H. Kimura

{"title":"Stability analysis of tacit learning based on environmental signal accumulation","authors":"S. Shimoda, Y. Yoshihara, K. Fujimoto, Takashi Yamamoto, Iwao Maeda, H. Kimura","doi":"10.1109/IROS.2012.6385631","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385631","url":null,"abstract":"Tacit learning is the novel learning scheme based on the principle of biological control to create the appropriate behaviors adapted to the environment. Signal accumulation is the key factor for tacit learning in the process of behavior adaptation. To clarify the role of the signal accumulation in the learning process, we analyzed it dividing into the two processes depending on the control speed. The fast process is used for the behavior control and the slow process is used for the behavior adaptation to the environment. We developed the continuous-time controller for tacit learning with the integrators and showed that the signal accumulation can estimate a part of the robot model through the interactions between the robot body and the environment. This capability of tacit learning is useful to control a plant where the modeling errors and model changes are the critical problems for the stable controls. As the prominent example of the control of such plant, we experimentally verified that tacit learning can create the bipedal walking gait that pushes the ground by the support leg at the moment of losing contact with the ground.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78247442","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: 11

Semantic categorization of outdoor scenes with uncertainty estimates using multi-class gaussian process classification 基于多类高斯过程分类的不确定性户外场景语义分类

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386073

Rohan Paul, Rudolph Triebel, D. Rus, P. Newman

引用次数: 31