2012 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第6页

Harp plucking robotic finger 竖琴弹拨机器人的手指

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385720

D. Chadefaux, Jean-Loïc Le Carrou, M. Vitrani, Sylvere Billout, L. Quartier

引用次数: 1

Efficient search for correct and useful topological maps 有效搜索正确和有用的拓扑图

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386155

Collin Johnson, B. Kuipers

引用次数: 9

A novel spring mechanism to reduce energy consumption of robotic arms 一种减少机械臂能量消耗的新型弹簧机构

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385488

M. Plooij, M. Wisse

{"title":"A novel spring mechanism to reduce energy consumption of robotic arms","authors":"M. Plooij, M. Wisse","doi":"10.1109/IROS.2012.6385488","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385488","url":null,"abstract":"Most conventional robotic arms use motors to accelerate the manipulator. This leads to an unnecessary high energy consumption when performing repetitive tasks. This paper presents an approach to reduce energy consumption in robotic arms by performing its repetitive tasks with the help of a parallel spring mechanism. A special non-linear spring characteristic has been achieved by attaching a spring to two connected pulleys. This parallel spring mechanism provides for the accelerations of the manipulator without compromising its ability to vary the task parameters (the time per stroke, the displacement per stroke the grasping time and the payload). The energy consumption of the arm with the spring mechanism is compared to that of the same arm without the spring mechanism. Optimal control studies show that the robotic arm uses 22% less energy due to the spring mechanism. On the 2 DOF prototype, we achieved an energy reduction of 20%. The difference was due to model simplifications. With a spring mechanism, there is an extra energetic cost, because potential energy has to be stored into the spring during startup. This cost is equal to the total energy savings of the 2 DOF arm during 8 strokes. Next, there could have been an energetic cost to position the manipulator outside the equilibrium position. We have designed the spring mechanism in such a way that this holding cost is negligible for a range of start- and end positions. The performed experiments showed that the implementation of the proposed spring mechanism results in a reduction of the energy consumption while the arm is still able to handle varying task parameters.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"85 1","pages":"2901-2908"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79728512","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: 64

A system of automated training sample generation for visual-based car detection 基于视觉的汽车检测自动训练样本生成系统

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386060

Chao Wang, Huijing Zhao, F. Davoine, H. Zha

引用次数: 8

Robust and fast visual tracking using constrained sparse coding and dictionary learning 使用约束稀疏编码和字典学习的鲁棒和快速视觉跟踪

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385459

Tianxiang Bai, Youfu Li, Xiaolong Zhou

引用次数: 6

Fighting fires with human robot teams 与人类机器人团队一起灭火

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386269

E. Martinson, W. Lawson, Samuel Blisard, Anthony M. Harrison, J. Trafton

引用次数: 12

An integrated approach of attention control of target human by nonverbal behaviors of robots in different viewing situations 不同视觉情境下机器人非语言行为对目标人注意力控制的综合研究

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385480

M. M. Hoque, Dipankar Das, Tomomi Onuki, Yoshinori Kobayashi, Y. Kuno

{"title":"An integrated approach of attention control of target human by nonverbal behaviors of robots in different viewing situations","authors":"M. M. Hoque, Dipankar Das, Tomomi Onuki, Yoshinori Kobayashi, Y. Kuno","doi":"10.1109/IROS.2012.6385480","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385480","url":null,"abstract":"A major challenge in HRI is to design a social robot that can attract a target human's attention to control his/her attention toward a particular direction in various social situations. If a robot would like to initiate an interaction with a person, it may turn its gaze to him/her for eye contact. However, it is not an easy task for the robot to make eye contact because such a turning action alone may not be enough to initiate an interaction in all situations, especially when the robot and the human are not facing each other or the human intensely attends to his/her task. In this paper, we propose a conceptual model of attention control with four phases: attention attraction, eye contact, attention avoidance, and attention shift. In order to initiate an attention control process, the robot first tries to gain the target participant's attention toward it through head turning, or head shaking action depending on the three viewing situations where the robot is captured in his/her field of view (central field of view, near peripheral field of view, and far peripheral field of view). After gaining her/his attention, the robot makes eye contact only with the target person through showing gaze awareness by blinking its eyes, and directs her/his attention toward an object by turning its eyes and head cues. Moreover, the robot can show attention to aversion behaviors if non-target persons look at it. We design a robot based on the proposed approach, and it is confirmed as effective to control the target participant's attention in experimental evaluation.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"18 1","pages":"1399-1406"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88575610","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: 8

Feature-based terrain classification for LittleDog 《LittleDog》基于特征的地形分类

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386042

Paul Filitchkin, Katie Byl

引用次数: 99

Segmentation of unknown objects in indoor environments 室内环境中未知物体的分割

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385661

A. Richtsfeld, Thomas Morwald, J. Prankl, M. Zillich, M. Vincze

引用次数: 172

Playmate robots that can act according to a child's mental state 可以根据孩子的精神状态采取行动的玩伴机器人

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386037

Kasumi Abe, Akiko Iwasaki, Tomoaki Nakamura, T. Nagai, A. Yokoyama, T. Shimotomai, Hiroyuki Okada, T. Omori

引用次数: 17