2019 19th International Conference on Advanced Robotics (ICAR)最新文献_第4页

Neural network position and orientation control of an inverted pendulum on wheels 轮式倒立摆的神经网络定位控制

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981659

Christian Dengler, B. Lohmann

{"title":"Neural network position and orientation control of an inverted pendulum on wheels","authors":"Christian Dengler, B. Lohmann","doi":"10.1109/ICAR46387.2019.8981659","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981659","url":null,"abstract":"In this contribution, we develop a feedback controller for a wheeled inverted pendulum in the form of a neural network that is not only stabilizing the unstable system, but also allows the wheeled robot to drive to arbitrary positions within a certain radius and take a desired orientation, without the need to compute a feasible trajectory to the desired position online. While some techniques from the reinforcement learning community can be used to optimize the parameters of a general feedback controller, i.e. policy gradient methods, the method used in this work is an approach related to imitation learning or learning from demonstration. The demonstration data however does not result from e.g. a human demonstrator, but is a set of precomputed optimal trajectories. The neural network is trained to imitate the behavior of those optimal trajectories. We show that a good choice of initial states and a large number of training targets can be used to alleviate a problem of imitation learning, namely deviating from training trajectories, and we demonstrate results in simulation as well as on the physical system.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"13 1","pages":"350-355"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89274234","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: 0

Extended Calculation of the Dynamic Separation Distance for Robot Speed Adaption in the Human-Robot Interaction 人机交互中机器人速度自适应动态分离距离的扩展计算

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981635

Paul Glogowski, Kai Lemmerz, A. Hypki, B. Kuhlenkötter

{"title":"Extended Calculation of the Dynamic Separation Distance for Robot Speed Adaption in the Human-Robot Interaction","authors":"Paul Glogowski, Kai Lemmerz, A. Hypki, B. Kuhlenkötter","doi":"10.1109/ICAR46387.2019.8981635","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981635","url":null,"abstract":"Speed and separation monitoring (SSM) is one of the four permitted collaborative operations in human-robot interaction (HRI). Current standards and guidelines provide users and system integrators with a simple basis to calculate permissible separation distances between human workers and robots. However, high impact factors due to various simplifications result in oversized safety zones, which in practice often leads to difficulties in layout and process design. The very large safety zones that have been required so far are one of the existing obstacles to the implementation of HRI applications, especially in SSM. This paper describes extension approaches to determine the dynamic separation distance more precisely and to calculate the adapted robot speed. The developed methods are integrated into an existing HRI simulation tool based on the Robot Operating System (ROS) and finally analyzed. Taking into account the normative conditions, the implemented methods enable users and system integrators to simulate, analyze and optimize HRI scenarios already in the planning phase.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"8 1","pages":"205-212"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78163753","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

ROSI: A Novel Robotic Method for Belt Conveyor Structures Inspection ROSI:一种新型机器人带式输送机结构检测方法

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981561

G. Garcia, Filipe A. S. Rocha, M. Torre, W. Serrantola, F. Lizarralde, Andre Franca, G. Pessin, G. Freitas

{"title":"ROSI: A Novel Robotic Method for Belt Conveyor Structures Inspection","authors":"G. Garcia, Filipe A. S. Rocha, M. Torre, W. Serrantola, F. Lizarralde, Andre Franca, G. Pessin, G. Freitas","doi":"10.1109/ICAR46387.2019.8981561","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981561","url":null,"abstract":"Belt conveyors play an essential role in the transportation of dry bulk material in different industries. Inspecting conveyor belts structures and its components, such as idlers rolls, is a fundamental task to guarantee the proper production flow. Traditionally, these are cognitive inspections based on sound and vision. In this paper we describe a novel procedure to inspect belt conveyor structures with a robotic device. The system is composed by (i) a mobile platform capable of moving in different terrains, overcoming obstacles and traversing stairs with different slopes, (ii) a robotic manipulator with six degrees of freedom, and (iii) a set of sensors including microphone, accelerometers, laser, and cameras. Preliminary field tests validated the proposed system for mining operations allowing the identification of enhancements regarding platform mobility and control strategy. Based on the kinematic model, we present a control method to command both the mobile platform and robotic manipulator considering the robotic device as a whole-body system. The strategy is validated through simulations using ROS and V-REP.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"3 1","pages":"326-331"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78479542","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: 10

NMPC Strategy for a Quadrotor UAV in a 3D Unknown Environment 三维未知环境下四旋翼无人机的NMPC策略

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981556

Iuro B. P. Nascimento, A. Ferramosca, L. Pimenta, G. Raffo

引用次数: 7

Visual SLAM in Human Populated Environments: Exploring the Trade-off between Accuracy and Speed of YOLO and Mask R-CNN 人口稠密环境下的视觉SLAM: YOLO与Mask R-CNN准确率与速度的权衡

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981617

J. C. V. Soares, M. Gattass, M. Meggiolaro

引用次数: 12

GPS emulation via visual-inertial odometry for inspection drones 通过视觉惯性里程计的GPS仿真检测无人机

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981597

D. Dornellas, F. Rosa, A. Bernardino, R. Ribeiro, J. Santos-Victor

{"title":"GPS emulation via visual-inertial odometry for inspection drones","authors":"D. Dornellas, F. Rosa, A. Bernardino, R. Ribeiro, J. Santos-Victor","doi":"10.1109/ICAR46387.2019.8981597","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981597","url":null,"abstract":"This work tested the applicability of a navigation system based on cameras and inertial sensors for a quadrotor UAV, motivated by the desire to expand its operational envelope to regions with low GPS signal reception. A standalone navigation module composed of a stereo camera pair, an IMU, synchronization electronics and a SoC computational board was developed and provided with OKVIS, a recent open-source VIO (Visual-Inertial Odometry) algorithm. In order to quantitatively assess its performance, an indoors dataset was recorded in a controlled environment, with precise ground-truth from a motion capture system. The system was integrated with a quadrotor UAV, functioning as an additional GPS sensor from the perspective of the onboard autopilot. For this end, the VIO trajectory data was georeferenced using information from the onboard GPS receiver, as well as from the orientation estimator embedded in the IMU. To the best of our knowledge, our system is the first to follow this integration approach, this being one of the main contributions of this work. Having validated the system with handheld testing, flight tests were performed. We show, qualitatively, that our system effectively yields improved trajectory estimates under low GPS signal reception.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"26 1","pages":"755-760"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73700571","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

Neural Control for Gait Generation and Adaptation of a Gecko Robot 壁虎机器人步态生成与自适应的神经控制

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981580

Arthicha Srisuchinnawong, Dong Shao, Potiwat Ngamkajornwiwat, Pitiwut Teerakittikul, Z. Dai, A. Ji, P. Manoonpong

{"title":"Neural Control for Gait Generation and Adaptation of a Gecko Robot","authors":"Arthicha Srisuchinnawong, Dong Shao, Potiwat Ngamkajornwiwat, Pitiwut Teerakittikul, Z. Dai, A. Ji, P. Manoonpong","doi":"10.1109/ICAR46387.2019.8981580","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981580","url":null,"abstract":"Geckos are highly adaptable creatures, able to scale a variety of slopes, including walls, and can change their gait depending on their environment. Roboticists have tried to implement this behaviour in gecko robots. So far, an open-loop controlled robot without a tail that uses only one specific gait can climb to a 50° slope. In this paper, we propose neural control that allows a gecko robot to climb to a 70° slope by generating different gaits for various slope angles. The control consists of three main components: a central pattern generator (CPG) for generating various rhythmic patterns, CPG post-processing for shaping the CPG signals, and a delay line for transmitting the shaped CPG signals to drive the legs of the gecko robot. The robot uses a body inclination sensor to provide sensory feedback for gait adaptation. When the incline is below 35°, the robot walks with a predefined fast trot gait. If the incline is increased, it will change its gait from the trot gait to an intermediate gait, followed by a slow wave gait, which is both the most stable and the slowest gait, for climbing the steepest slopes. Using this walking strategy, the robot can efficiently climb a variety of slopes using different gaits and can automatically adapt its gait to maximise speed while ensuring stability.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"36 1","pages":"468-473"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73870262","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

Stochastic Cellular Automata Ant Memory model for swarm robots performing efficiently the garbage collection task 基于随机元胞自动机的蚁群机器人高效垃圾收集模型

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981560

D. A. Lima, G. Oliveira

引用次数: 4

Lazy Steering RRT*: An Optimal Constrained Kinodynamic Neural Network Based Planner with no In-Exploration Steering 懒惰转向RRT*:一种基于约束运动神经网络的无探索转向优化规划

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981551

Mohammadreza Yavari, K. Gupta, M. Mehrandezh

{"title":"Lazy Steering RRT*: An Optimal Constrained Kinodynamic Neural Network Based Planner with no In-Exploration Steering","authors":"Mohammadreza Yavari, K. Gupta, M. Mehrandezh","doi":"10.1109/ICAR46387.2019.8981551","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981551","url":null,"abstract":"Kinodynamic-RRT* provides a sampling based asymptotically-optimal solution for motion planning of kinematically- and dynamically-constrained robots. For nonlinear systems, normally, the time- and energy-clamped steering function solutions needed within the RRT* use numerical iterative schemes such as shooting methods, which are computationally cumbersome. The number of calls to these solvers increases with the size of the tree. Hence, the time complexity of finding feasible steering functions prevents kinodynamic-RRT* for non-linear systems from being utilized in realtime or in situations where fast planning and re-planning are needed. Kinematic/dynamic constraints reduction to make the steering functions solvable in real time has been proposed in literature, however, these methods would affect the optimality of the solution. In this paper, we propose a lazy-steering kinodynmaic RRT* in which, machine learning techniques are used to (1) predict if a randomly-selected node is steerable to, and (2) if the steering is deemed feasible, what would be the estimated energy cost associated, when executing it. This provides a promising framework for implementing Kinodynamic-RRT* in which the use of numerical methods is delayed (hence the name lazy steering) until a potential collision free path has been found, and only then the numerical techniques are invoked. This results in a huge improvement in the run time with little trade off on optimality. Our proposed method was tested via simulation for motion planning of an under-actuated, non-holonomic, quadcopter with nonlinear dynamics in an environment cluttered with obstacles. The lazy-steering RRT* was faster than its counterpart (which was based on some recent works) by two orders of magnitude.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"3 1","pages":"400-407"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73313309","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

An Adaptive Controller with Guarantee of Better Conditioning of the Robot Manipulator Joint-Space Inertia Matrix 一种保证机器人机械臂关节空间惯性矩阵较好调理的自适应控制器

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981558

M. Fonseca, Bruno Vilhena Adorno, P. Fraisse

引用次数: 3