2012 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第3页

Online learning of inverse dynamics via Gaussian Process Regression 通过高斯过程回归在线学习逆动力学

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385817

J. Cruz, W. Owen, D. Kulić

引用次数: 21

Presenting sharp surface shapes using overlapped vibrotactile stimuli 使用重叠的振动触觉刺激呈现尖锐的表面形状

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385975

T. Sakurai, M. Konyo, S. Tadokoro

引用次数: 5

Application of control modes of a master manipulator for a robotic system to assist with single port endoscopic surgery 主机械手控制模式在机器人系统辅助单口内镜手术中的应用

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385581

Takehiko Noguchi, Yo Kobayashi, K. Kawamura, Hiroki Watanabe, Yu Tomono, Y. Sekiguchi, Hiroto Seno, Kazutaka Toyoda, M. Hashizume, M. Fujie

{"title":"Application of control modes of a master manipulator for a robotic system to assist with single port endoscopic surgery","authors":"Takehiko Noguchi, Yo Kobayashi, K. Kawamura, Hiroki Watanabe, Yu Tomono, Y. Sekiguchi, Hiroto Seno, Kazutaka Toyoda, M. Hashizume, M. Fujie","doi":"10.1109/IROS.2012.6385581","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385581","url":null,"abstract":"Recently, increased attention has been focused on single port endoscopic surgery (SPS). We have developed a robotic system for SPS with two surgical manipulators: an endoscopic manipulator and a positioning manipulator that moves the endoscope. The robot can manipulate both the position and orientation of the endoscope to achieve the desirable endoscopic field of view. Two methods can be used to operate the endoscopic view: “control corresponding to position” mode and “control corresponding to velocity” mode. Although both are widely used for moving the visual field, the operability of each method has not been examined quantitatively. Thus, we compare the operability of the two methods for adjusting the endoscopic view, and present the results and suitable applications of each method. The results of the quantitative evaluation experiments show that the “control corresponding to position” mode is suitable for short-distance or precise adjustment of the endoscope, whereas the “control corresponding to velocity” mode is better suited to long-distance movement.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"773 1","pages":"1270-1276"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85419867","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

Active modular elastomer sleeve for soft wearable assistance robots 柔性可穿戴辅助机器人的主动模块化弹性体套筒

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386158

Yong‐Lae Park, Bor-rong Chen, C. Majidi, R. Wood, R. Nagpal, E. Goldfield

{"title":"Active modular elastomer sleeve for soft wearable assistance robots","authors":"Yong‐Lae Park, Bor-rong Chen, C. Majidi, R. Wood, R. Nagpal, E. Goldfield","doi":"10.1109/IROS.2012.6386158","DOIUrl":"https://doi.org/10.1109/IROS.2012.6386158","url":null,"abstract":"A proposed adaptive soft orthotic device performs motion sensing and production of assistive forces with a modular, pneumatically-driven, hyper-elastic composite. Wrapping the material around a joint will allow simultaneous motion sensing and active force response through shape and rigidity control. This monolithic elastomer sheet contains a series of miniaturized pneumatically-powered McKibben-type actuators that exert tension and enable adaptive rigidity control. The elastomer is embedded with conductive liquid channels that detect strain and bending deformations induced by the pneumatic actuators. In addition, the proposed system is modular and can be configured for a diverse range of motor tasks, joints, and human subjects. This modular functionality is accomplished with a decentralized network of self-configuring nodes that manage the collection of sensory data and the delivery of actuator feedback commands. This paper mainly describes the design of the soft orthotic device as well as actuator and sensor components. The characterization of the individual sensors, actuators, and the integrated device is also presented.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"123 1","pages":"1595-1602"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85690525","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: 68

Iterative smoothing approach using Gaussian mixture models for nonlinear estimation 用高斯混合模型进行非线性估计的迭代平滑方法

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385752

Daniel J. Lee, M. Campbell

引用次数: 4

Bio-inspired visual memory for robot cognitive map building and scene recognition 仿生视觉记忆用于机器人认知地图构建和场景识别

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385493

K. Rebai, O. Azouaoui, N. Achour

引用次数: 13

Planning trajectories on uneven terrain using optimization and non-linear time scaling techniques 利用优化和非线性时间尺度技术在不平坦地形上规划轨迹

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385662

A. Singh, K. Krishna, S. Saripalli

{"title":"Planning trajectories on uneven terrain using optimization and non-linear time scaling techniques","authors":"A. Singh, K. Krishna, S. Saripalli","doi":"10.1109/IROS.2012.6385662","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385662","url":null,"abstract":"In this paper we introduce a novel framework of generating trajectories which explicitly satisfies the stability constraints such as no-slip and permanent ground contact on uneven terrain. The main contributions of this paper are: (1) It derives analytical functions depicting the evolution of the vehicle on uneven terrain. These functional descriptions enable us to have a fast evaluation of possible vehicle stability along various directions on the terrain and this information is used to control the shape of the trajectory. (2) It introduces a novel paradigm wherein non-linear time scaling brought about by parametrized exponential functions are used to modify the velocity and acceleration profile of the vehicle so that these satisfy the no-slip and contact constraints. We show that nonlinear time scaling manipulates velocity and acceleration profile in a versatile manner and consequently has exceptional utility not only in uneven terrain navigation but also in general in any problem where it is required to change the velocity of the robot while keeping the path unchanged like collision avoidance.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"33 1","pages":"3538-3545"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78060173","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: 16

A cyber-physical system for strain measurements in the cerebral aneurysm models 脑动脉瘤模型应变测量的网络物理系统

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385754

Chaoyang Shi, M. Kojima, C. Tercero, H. Anzai, M. Ohta, K. Ooe, S. Ikeda, T. Fukuda, F. Arai, M. Negoro, K. Irie, Guiryong Kwon

{"title":"A cyber-physical system for strain measurements in the cerebral aneurysm models","authors":"Chaoyang Shi, M. Kojima, C. Tercero, H. Anzai, M. Ohta, K. Ooe, S. Ikeda, T. Fukuda, F. Arai, M. Negoro, K. Irie, Guiryong Kwon","doi":"10.1109/IROS.2012.6385754","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385754","url":null,"abstract":"For the development of artificial intelligent diagnosis for cerebrovascular intervention, it is desirable to forecast the growth of cerebral aneurysms. In order to achieve such purpose, it is needed to evaluate wall shear stress, strain, pressure, deformation and flow velocity in the aneurysm region. In this research, we focus on in-vitro strain and deformation measurements of cerebral aneurysm models, and propose a cyber-physical system, in which a scaled-up membranous silicone model of cerebral aneurysm was built and integrated with a specialized pump for the pulsatile blood flow simulation, and a vision system was constructed to measure the strain on different regions on the model with pulsatile blood flow circulated inside. Experimental results show that both distance and area strain maxima were larger for the aneurysm neck (0.042 and 0.052), followed by the aneurysm dome (0.023 and 0.04) and then by the main blood vessel section (0.01 and 0.014), which were complemented with computer fluid dynamics simulation for the inclusion of wall shear stress, oscillatory shear index and aneurysm formation index. Medical imaging data of the cerebral aneurysm in 2008 and 2011 was obtained. Diagnosis results have concordance with the aneurysm growth in 2011. The presented measurement method offers an option for measuring strain and deformation to be complementary with computer fluid dynamics and photoelastic stress analysis for advanced diagnostic in the endovascular surgery.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"20 1","pages":"4137-4142"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78816144","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

Sensing capacitance of underwater objects in bio-inspired electrosense 仿生电感水下物体的传感电容

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386174

Yang Bai, James Snyder, Yonatan Silverman, M. Peshkin, M. A. MacIver

引用次数: 23

Surface material recognition through haptic exploration using an intelligent contact sensing finger 使用智能接触传感手指通过触觉探测识别表面材料

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385815

Hongbin Liu, Xiaojing Song, João Bimbo, L. Seneviratne, K. Althoefer

{"title":"Surface material recognition through haptic exploration using an intelligent contact sensing finger","authors":"Hongbin Liu, Xiaojing Song, João Bimbo, L. Seneviratne, K. Althoefer","doi":"10.1109/IROS.2012.6385815","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385815","url":null,"abstract":"Object surface properties are among the most important information which a robot requires in order to effectively interact with an unknown environment. This paper presents a novel haptic exploration strategy for recognizing the physical properties of unknown object surfaces using an intelligent finger. This developed intelligent finger is capable of identifying the contact location, normal and tangential force, and the vibrations generated from the contact in real time. In the proposed strategy, this finger gently slides along the surface with a short stroke while increasing and decreasing the sliding velocity. By applying a dynamic friction model to describe this contact, rich and accurate surface physical properties can be identified within this stroke. This allows different surface materials to be easily distinguished even if when they have very similar texture. Several supervised learning algorithms have been applied and compared for surface recognition based on the obtained surface properties. It has been found that the naïve Bayes classifier is superior to radial basis function network and k-NN method, achieving an overall classification accuracy of 88.5% for distinguishing twelve different surface materials.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"275 1","pages":"52-57"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76378025","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: 79