2012 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第4页

A new hybrid actuator approach for force-feedback devices 力反馈装置的一种新的混合执行器方法

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385784

C. Rossa, J. Lozada, A. Micaelli

引用次数: 14

Deformable structure from motion by fusing visual and inertial measurement data 通过融合视觉和惯性测量数据，使结构从运动中变形

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385671

S. Giannarou, Zhiqiang Zhang, Guang-Zhong Yang

{"title":"Deformable structure from motion by fusing visual and inertial measurement data","authors":"S. Giannarou, Zhiqiang Zhang, Guang-Zhong Yang","doi":"10.1109/IROS.2012.6385671","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385671","url":null,"abstract":"Accurate recovery of the 3D structure of a deforming surgical environment during minimally invasive surgery is important for intra-operative guidance. One key component of reliable reconstruction is accurate camera pose estimation, which is challenging for monocular cameras due to the paucity of reliable salient features, coupled with narrow baseline during surgical navigation. With recent advances in miniaturized MEMS sensors, the combination of inertial and vision sensing can provide increased robustness for camera pose estimation particularly for scenes involving tissue deformation. The aim of this work is to propose a robust framework for intra-operative free-form deformation recovery based on structure-from-motion. A novel adaptive Unscented Kalman Filter (UKF) parameterization scheme is proposed to fuse vision information with data from an Inertial Measurement Unit (IMU). The method is built on a compact scene representation scheme suitable for both surgical episode identification and instrument-tissue motion modelling. Detailed validation with both synthetic and phantom data is performed and results derived justify the potential clinical value of the technique.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"13 1","pages":"4816-4821"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87865611","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: 14

Embodiment enables the spinal engine in quadruped robot locomotion 实施例使脊柱发动机在四足机器人运动中发挥作用

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386048

Qian Zhao, K. Nakajima, H. Sumioka, Xiaoxiang Yu, R. Pfeifer

{"title":"Embodiment enables the spinal engine in quadruped robot locomotion","authors":"Qian Zhao, K. Nakajima, H. Sumioka, Xiaoxiang Yu, R. Pfeifer","doi":"10.1109/IROS.2012.6386048","DOIUrl":"https://doi.org/10.1109/IROS.2012.6386048","url":null,"abstract":"The biological hypothesis of spinal engine states that locomotion is mainly achieved by the spine, while the legs may serve as assistance. Inspired by this hypothesis, a compliant, multiple degree-of-freedom, biologically-inspired spine has been embedded into a quadruped robot, named Kitty, which has no actuation on the legs. In this paper, we demonstrate how versatile behaviors (bounding, trotting, and turning) can be generated exclusively by the spine's movements through dynamical interaction between the controller, the body, and the environment, known as embodiment. Moreover, we introduce information theoretic approach to quantitatively study the spine internal dynamics and its effect on the bounding gait based on three spinal morphologies. These three morphologies differ in the position of virtual spinal joint where the spine is easier to get bent. The experimental results reveal that locomotion can be enhanced by using the spine featuring a rear virtual spinal joint, which offers more freedom for the rear legs to move forward. In addition, the information theoretic analysis shows that, according to the morphological differences of the spine, the information structure changes. The relationship between the observed behavior of the robot and the corresponding information structure is discussed in detail.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"11 1","pages":"2449-2456"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86850999","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: 32

RoboStudio: A visual programming environment for rapid authoring and customization of complex services on a personal service robot RoboStudio:用于在个人服务机器人上快速编写和定制复杂服务的可视化编程环境

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386105

C. Datta, C. Jayawardena, I. Kuo, B. MacDonald

引用次数: 52

Generating informative paths for persistent sensing in unknown environments 生成在未知环境中持续感知的信息路径

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385730

D. Soltero, M. Schwager, D. Rus

引用次数: 42

Active stabilization of a humanoid robot for impact motions with unknown reaction forces 具有未知反作用力的仿人机器人冲击运动的主动稳定

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385854

Seung-Joon Yi, Byoung-Tak Zhang, D. Hong, Daniel D. Lee

引用次数: 16

Long-Range Pedestrian Detection using stereo and a cascade of convolutional network classifiers 远距离行人检测使用立体和级联的卷积网络分类器

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386029

Z. Kira, R. Hadsell, G. Salgian, S. Samarasekera

引用次数: 12

The RobotChallenge - A research inspired practical lecture 机器人挑战-一个研究启发的实践讲座

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385496

B. Munske, J. Kotlarski, T. Ortmaier

{"title":"The RobotChallenge - A research inspired practical lecture","authors":"B. Munske, J. Kotlarski, T. Ortmaier","doi":"10.1109/IROS.2012.6385496","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385496","url":null,"abstract":"This paper presents a new university course combining theoretical lectures with a robot competition. The main intention is to offer a practical course including hands-on experiences being close to current research topics in the field of mobile robotics. For this purpose, a commercial mobile robot is equipped with state of the art sensors, allowing autonomous execution of manipulation tasks. The course consists of three thematical sections. At the beginning of each, lectures provide the theoretical background. On this basis, the participants are addressed to develop algorithms and to solve specific tasks, delivered in homework packages, self-reliantly or in a team. Finally, the developed software components need to be merged to solve a predefined scenario, e.g. autonomous part handling. At the end of a thematic section, students demonstrate their developed solutions within a challenge and explain their approaches in a presentation. Starting with teleoperation and object recognition, the RobotChallenge ends up with navigation in unknown terrain. Besides others, the participants acquire soft-skills, such as project and team management. Being carried out for the first time in winter term 2011/2012, the RobotChallenge successfully promotes profound understanding of mobile robotics that is applied during practical experiences. It turns out, that aspiring to win competions lead to a high motivation of the students w.r.t. development of appropriate solutions.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"11 1","pages":"1072-1077"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86512154","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

An interaction-torque controller for robotic exoskeletons with flexible joints: Preliminary experimental results 柔性关节机器人外骨骼的交互力矩控制器:初步实验结果

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385834

R. Vertechy, A. Frisoli, M. Solazzi, D. Pellegrinetti, M. Bergamasco

引用次数: 10

On-line human action recognition by combining joint tracking and key pose recognition 结合关节跟踪和关键姿态识别的在线人体动作识别

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385863

E. Weng, L. Fu

{"title":"On-line human action recognition by combining joint tracking and key pose recognition","authors":"E. Weng, L. Fu","doi":"10.1109/IROS.2012.6385863","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385863","url":null,"abstract":"In this paper, we present a boosting approach by combining the pose estimation and the upper body tracking to on-line recognize human actions. Instead of using a predefined pose to initialize the human skeleton, we construct a key poses database with depth HOG features as searching indexes. When user enters the camera view, we automatically search the database to get the initial skeleton. Then we use the particle filter to track human upper body parts. At the same time, we feed the tracking joints into the hidden Markov models to on-line spot and recognize the performed action. In order to rectify tracking errors, we apply the action recognition results and reuse our key poses database to reinforce the tracking process. Our contributions of the proposed approach are three-fold. First, our method can recognize human poses and actions at the same time. Second, with the key poses database and action recognition results as the feedback, the tracking process becomes more efficient and accurate. Third, we propose a spotting method based on the gradient of HMM probabilities, which thus enables our method to achieve on-line spotting and recognition. Experimental results demonstrate the effectiveness of the proposed approach.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"66 1","pages":"4112-4117"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86104662","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: 20