2012 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第9页

Locomotion with continuum limbs 肢体连续运动

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385810

I. Godage, D. Nanayakkara, D. Caldwell

引用次数: 58

Understanding soft tissue behavior for microlaparoscopic surface scan 了解显微腹腔镜表面扫描的软组织行为

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385915

M. S. Erden, Benoît Rosa, J. Szewczyk, G. Morel

{"title":"Understanding soft tissue behavior for microlaparoscopic surface scan","authors":"M. S. Erden, Benoît Rosa, J. Szewczyk, G. Morel","doi":"10.1109/IROS.2012.6385915","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385915","url":null,"abstract":"This paper presents an approach for understanding the soft tissue behavior in surface contact with a hard object scanning the tissue. The application domain is confocal microlaparoscope imaging, mostly used for imaging the outer surface of the organs in the abdominal cavity. The probe (optic-head) is swept over the tissue to collect sequential images to obtain a large field of view with mosaicing. The problem we address is that the tissue also moves with the probe due to its softness; therefore the resulting mosaic is not in the same shape and dimension as traversed by the probe. Our approach inspires from the finger slip studies and adapts the idea of load-and-slip that explains the movement of the finger when dragged on a hard surface. We propose the concept of loading-distance and perform measurements with in total 84 experiments on beef liver and chicken breast tissues. Our results indicate that the loading-distance can be measured prior to a scan and be used during the scan in order to compensate the movement of the probe. In this way we can have an image-mosaic of the tissue surface in a desired shape.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"56 1","pages":"2928-2934"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79823131","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: 6

Proprioceptive magnetic-field sensing for closed-loop control of magnetic capsule endoscopes 用于磁胶囊内窥镜闭环控制的本体感觉磁场传感

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385708

Katie M. Miller, A. Mahoney, T. Schmid, J. Abbott

引用次数: 27

Equivalent negative stiffness mechanism using three bundled needles inspired by mosquito for achieving easy insertion 等效负刚度机构采用三束针的蚊子启发，实现方便插入

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386088

S. Aoyagi, Y. Takaoki, Hiroki Takayanagi, Chih-hao Huang, Takahiro Tanaka, Masato Suzuki, Tomokazu Takahashi, T. Kanzaki, T. Matsumoto

引用次数: 16

Null space optimization for effective coverage of 3D surfaces using redundant manipulators 零空间优化的有效覆盖三维表面使用冗余操纵

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385960

Jürgen Hess, Gian Diego Tipaldi, Wolfram Burgard

引用次数: 46

Robots move: Bootstrapping the development of object representations using sensorimotor coordination 机器人移动:利用感觉运动协调引导物体表征的发展

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385770

Arren J. Glover, G. Wyeth

{"title":"Robots move: Bootstrapping the development of object representations using sensorimotor coordination","authors":"Arren J. Glover, G. Wyeth","doi":"10.1109/IROS.2012.6385770","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385770","url":null,"abstract":"This paper is concerned with the unsupervised learning of object representations by fusing visual and motor information. The problem is posed for a mobile robot that develops its representations as it incrementally gathers data. The scenario is problematic as the robot only has limited information at each time step with which it must generate and update its representations. Object representations are refined as multiple instances of sensory data are presented; however, it is uncertain whether two data instances are synonymous with the same object. This process can easily diverge from stability. The premise of the presented work is that a robot's motor information instigates successful generation of visual representations. An understanding of self-motion enables a prediction to be made before performing an action, resulting in a stronger belief of data association. The system is implemented as a data-driven partially observable semi-Markov decision process. Object representations are formed as the process's hidden states and are coordinated with motor commands through state transitions. Experiments show the prediction process is essential in enabling the unsupervised learning method to converge to a solution - improving precision and recall over using sensory data alone.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"70 1","pages":"5145-5151"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83853709","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

Control of contact forces: The role of tactile feedback for contact localization 接触力的控制:触觉反馈对接触定位的作用

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385803

A. Prete, F. Nori, G. Metta, L. Natale

{"title":"Control of contact forces: The role of tactile feedback for contact localization","authors":"A. Prete, F. Nori, G. Metta, L. Natale","doi":"10.1109/IROS.2012.6385803","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385803","url":null,"abstract":"This paper investigates the role of precise estimation of contact points in force control. This analysis is motivated by scenarios in which robots make contacts, either voluntarily or accidentally, with different parts of their body. Control paradigms that are usually implemented in robots with no tactile system, make the hypothesis that contacts occur at the end-effectors only. In this paper we try to investigate what happens when this assumption is not verified. First we consider a simple feedforward force control law, and then we extend it by introducing a proportional feedback term. For both controllers we find the error in the resulting contact force, that is induced by a hypothetic error in the estimation of the contact point. We show that, depending on the geometry of the contact, incorrect estimation of contact points can induce undesired joint accelerations. We validate the presented analysis with tests on a simulated robot arm. Moreover we consider a complex real world scenario, where most of the assumptions that we make in our analytical derivation do not hold. Through tests on the iCub humanoid robot we see how errors in contact localization affect the performance of a parallel force/position controller. In order to estimate contact points and contact forces on the forearm of the iCub we do not use any model of the environment, but we exploit its 6-axis force/torque sensor and its sensorized skin.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"62 1","pages":"4048-4053"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84045829","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: 22

State estimation for highly dynamic flying systems using key frame odometry with varying time delays 基于变时滞关键帧里程法的高动态飞行系统状态估计

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385969

Korbinian Schmid, Felix Ruess, M. Suppa, Darius Burschka

{"title":"State estimation for highly dynamic flying systems using key frame odometry with varying time delays","authors":"Korbinian Schmid, Felix Ruess, M. Suppa, Darius Burschka","doi":"10.1109/IROS.2012.6385969","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385969","url":null,"abstract":"System state estimation is an essential part for robot navigation and control. A combination of Inertial Navigation Systems (INS) and further exteroceptive sensors such as cameras or laser scanners is widely used. On small robotic systems with limitations in payload, power consumption and computational resources the processing of exteroceptive sensor data often introduces time delays which have to be considered in the sensor data fusion process. These time delays are especially critical in the estimation of system velocity. In this paper we present a state estimation framework fusing an INS with time delayed, relative exteroceptive sensor measurements. We evaluate its performance for a highly dynamic flight system trajectory including a flip. The evolution of velocity and position errors for varying measurement frequencies from 15Hz to 1Hz and time delays up to 1s is shown in Monte Carlo simulations. The filter algorithm with key frame based odometry permits an optimal, local drift free navigation while still being computationally tractable on small onboard computers. Finally, we present the results of the algorithm applied to a real quadrotor by flying from inside a house out through the window.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"104 1","pages":"2997-3004"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80581075","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: 45

Compliance-based dynamic steering for hexapods 基于顺应性的六足动态转向

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385663

David Zarrouk, R. Fearing

引用次数: 17

A brain-robot interface for studying motor learning after stroke 研究中风后运动学习的脑-机器人接口

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385646

Timm Meyer, Jan Peters, Doris Brtz, T. Zander, B. Scholkopf, S. Soekadar, M. Grosse-Wentrup

引用次数: 22