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Real-Time Systems Evaluation for Robotics Using the Hart-ROS Benchmark 基于Hart-ROS基准的机器人实时系统评估
2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981645
M. Pinto, A. Oliveira, M. A. Wehrmeister
{"title":"Real-Time Systems Evaluation for Robotics Using the Hart-ROS Benchmark","authors":"M. Pinto, A. Oliveira, M. A. Wehrmeister","doi":"10.1109/ICAR46387.2019.8981645","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981645","url":null,"abstract":"Robotic systems frequently have features that make them to operate in a real-time system (RTS). Therefore, it is proposed a benchmark whose objective is the real-time performance evaluation of a system configuration for use in robotics. The system to be evaluated must provide some kind of fixed-priority preemptive scheduling. The publisher/subscriber paradigm is used to evaluates the real-time communication performance, because it is considered widely accepted in robotics community. If the RTS does not contain the paradigm natively, it must be implemented using one of its APIs (Application Programming Interface). The performance evaluation is made inscreasing some system parameter and veryfing if the tasks do not lose deadlines. As case study, a RTS configuration was developed in an embedded system using Linux coupled to a realtime co-kernel. The results obtained in this case study present the benchmark practical value and the viability of the developed configuration as a real-time robotics controller.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"37 1","pages":"290-295"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77906448","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: 3
Motion Generation Interface of ROS to PODO Software Framework for Wheeled Humanoid Robot 轮式人形机器人ROS - PODO软件框架运动生成接口
2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981593
Moonyoung Lee, Yujin Heo, Saihim Cho, Hyunsub Park, Jun-Ho Oh
{"title":"Motion Generation Interface of ROS to PODO Software Framework for Wheeled Humanoid Robot","authors":"Moonyoung Lee, Yujin Heo, Saihim Cho, Hyunsub Park, Jun-Ho Oh","doi":"10.1109/ICAR46387.2019.8981593","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981593","url":null,"abstract":"This paper discusses the development of robot motion generation interface between a real-time software architecture and a non-real-time robot operating system. In order for robots to execute intelligent manipulation or navigation, close integration of high-level perception and low-level control is required. However, many available open-source perception modules are developed in ROS, which operates on Linux OS that don't guarantee RT performance. This can lead to non-deterministic responses and stability problems that can adversely affect robot control. As a result, many robotic systems devote RTOS for low-level motion control. Similarly, the humanoid robot platform developed at KAIST, Hubo, utilizes a custom real-time software framework called PODO. Although PODO provides easy interface for motion generation, it lacks interface to high-level frameworks such as ROS. As such, we present a new motion generation interface between ROS and PODO that enables users to generate motion trajectories through standard ROS messages while leveraging a real-time motion controller. With the proposed communication interface, we demonstrate series of manipulator tasks on the actual wheeled humanoid platform, M-Hubo. The overall communication interface responsiveness was at most 27 milliseconds.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"22 1","pages":"456-461"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76772660","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: 5
Maximizing Robot Manipulability along Paths in Collision-free Motion Planning 无碰撞运动规划中机器人沿路径可操作性最大化
2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981591
Sascha Kaden, Ulrike Thomas
{"title":"Maximizing Robot Manipulability along Paths in Collision-free Motion Planning","authors":"Sascha Kaden, Ulrike Thomas","doi":"10.1109/ICAR46387.2019.8981591","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981591","url":null,"abstract":"A major task in motion planning is to find suitable movements with large manipulability, while collision-free operation must be guaranteed. This condition is increasingly important in the collaboration between humans and robots, as the capability of avoidance to humans or dynamic obstacles must be ensured anytime. For this purpose, paths in motion planning have to be optimized with respect to manipulability and distance to obstacles. Because with a large manipulability the robot has at any time, the possibility of evading due to the greater freedom of movement. Alternatively, the robot can be pushed away by using a Cartesian impedance control. To achieve this, we have developed a combined approach. First, we introduce a Rapidly-exploring Random Tree, which is extended and optimized by state costs for manipulability. Secondly, we perform an optimization using the STOMP method and Gaussian Mixture Models. With this dual approach we are able to find paths in narrow passages and simultaneously optimize the path in terms of manipulability.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"59 1","pages":"105-110"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85527878","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: 3
Step modeling and safe path planning for a lower limb exoskeleton 下肢外骨骼的步进建模和安全路径规划
2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981644
Vitor G. Santos, Luís B. P. Nascimento, Daniel H. S. Fernandes, D. S. Pereira, P. Alsina, M. Araújo
{"title":"Step modeling and safe path planning for a lower limb exoskeleton","authors":"Vitor G. Santos, Luís B. P. Nascimento, Daniel H. S. Fernandes, D. S. Pereira, P. Alsina, M. Araújo","doi":"10.1109/ICAR46387.2019.8981644","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981644","url":null,"abstract":"The walking experience in environments with obstacles is a challenge for patients with lower limb pathology. A transparent exoskeleton is an interesting solution since it guarantees the performance of autonomous motion. In this paper, we present a new method to detect and model steps using point cloud data to find a feasible path for the exoskeleton to perform. We use a RGB-D sensor to obtain depth information and perform a scene segmentation strategy. Next, we classify the different detected elements either as a floor, step or obstacle and then use a path planning method to find a collision-free path. Experiments show that the system accomplished satisfactory results for the presented scenarios.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"37 4 1","pages":"560-565"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82723313","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: 2
SwarMap: Occupancy Grid Mapping with a Robotic Swarm SwarMap:机器人群的占用网格映射
2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981640
Rodrigo Chaves, Paulo A. F. Rezeck, L. Chaimowicz
{"title":"SwarMap: Occupancy Grid Mapping with a Robotic Swarm","authors":"Rodrigo Chaves, Paulo A. F. Rezeck, L. Chaimowicz","doi":"10.1109/ICAR46387.2019.8981640","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981640","url":null,"abstract":"In recent years, robotic swarms have been studied as an alternative to replace complex and expensive robots in the execution of different types of tasks. In this paper, we propose an approach to cooperatively build occupancy grid maps using large groups of simpler robots. Robots randomly explore the environment and update a shared occupancy grid stored in the cloud using Bayesian Filters. They localize themselves based on odometry and use pair-to-pair neighborhood communication to exchange pose information and reduce the uncertainty through a Kalman Filter. Simulated and real experiments are performed to show the effectiveness and scalability of the proposed approach.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"28 4 1","pages":"727-732"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82839051","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
Nonlinear Disturbance Observer for External Force Estimation in a Cooperative Robot* 基于非线性扰动观测器的协同机器人外力估计*
2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981583
Shirin Yousefizadeh, T. Bak
{"title":"Nonlinear Disturbance Observer for External Force Estimation in a Cooperative Robot*","authors":"Shirin Yousefizadeh, T. Bak","doi":"10.1109/ICAR46387.2019.8981583","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981583","url":null,"abstract":"In human-robot cooperation, where the robot shares workspace with humans, safety of the operator becomes a major concern. To this aim, the robot is required to detect forces from the human operator and the environment, and react to them accordingly. Since force sensors can be very expensive, force estimation methods are proposed. In this paper, the goal is to estimate the external forces acting on the end-effector of the robot. These forces make torques at the joint space. To estimate the applied joint space external torques, a nonlinear disturbance observer is proposed. The estimated torque can be converted into task space force, using the Jacobian matrix. The suggested method is demonstrated on a WallMoBot, which is designed to help the operator to install heavy glass panels. Simulation results and preliminary experimental results are presented to show the validity of the proposed observer in estimating the applied joint space external torques of the WallMoBot.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"48 1","pages":"220-226"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84443707","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: 7
Evaluation of exercise motivation competence of a humanoid robot: a case study in Brazil 仿人机器人运动动机能力评价:以巴西为例
2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981555
G. Garcia, G. Christmann, R. S. Guerra, G. Librelotto, E. Hirt, Marinara Rübenich Fumagalli
{"title":"Evaluation of exercise motivation competence of a humanoid robot: a case study in Brazil","authors":"G. Garcia, G. Christmann, R. S. Guerra, G. Librelotto, E. Hirt, Marinara Rübenich Fumagalli","doi":"10.1109/ICAR46387.2019.8981555","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981555","url":null,"abstract":"Regular physical exercise and decreasing sedentary behavior are essential for the health of adults [1]. However, even with well known benefits, in 2016, it was determined that the prevalence of insufficient physical activity in the world population was 27.5% [2]. In this paper, we utilized a humanoid robot as an instructor for physical exercise in a stationary bicycle. By applying questionnaires as well as recording sensor data, we measured the impact of the robot in the motivation and other psychological aspects, as well as the performance in 14 participants. The participants were males and females with an average age of 23.5 ± 2.38 years, and were equally and randomly divided in two groups: one with the robot instructor, and a control group. They performed two exercise sessions, after which they answered the questionnaires. The results were not statistically significant (p < 0.05), but show a trend of the robot having a positive impact in the group that interacted with it, regarding their motivation, pleasure and enjoyment. The interaction also seems to have positively influenced the mood of the participants. The perceived effort, as well as average speed and cycled distance did not seem to have been influenced by the robot. Future studies, with a larger sample size, are needed to confirm the trend shown here.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"39 1","pages":"462-467"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89401411","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
Explore Locally, Plan Globally: A Path Planning Framework for Autonomous Robotic Exploration in Subterranean Environments 局部探索，全局规划:地下环境中自主机器人探索的路径规划框架
2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981594
Tung Dang, Shehryar Khattak, Frank Mascarich, K. Alexis
{"title":"Explore Locally, Plan Globally: A Path Planning Framework for Autonomous Robotic Exploration in Subterranean Environments","authors":"Tung Dang, Shehryar Khattak, Frank Mascarich, K. Alexis","doi":"10.1109/ICAR46387.2019.8981594","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981594","url":null,"abstract":"This paper presents a path planning strategy for the autonomous exploration of subterranean environments. Tailored to the specific challenges and particularities of underground settings, and especially the fact that they often are extremely large in scale, tunnel-like, narrow and multibranched, the proposed method employs a bifurcated local- and global-planning design to enable exploration efficiency and path planning solution resourcefulness. The local planner builds on top of minimum-length random trees and efficiently identifies collision-free paths that optimize for exploration within a local subspace, while simultaneously ensuring enhanced obstacle clearance and thus safety. Accounting for the robot endurance limitations and the possibility that the local planner reaches a dead-end (e.g. a mine heading), the global planner utilizes an incrementally built graph to search within the full range of explored space and is engaged when the robot should be repositioned towards a frontier of the exploration space or when a return-to-home path must be derived. The proposed approach is field evaluated in a set of deployments in an exploratory underground mine drift in Northern Nevada.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"51 1","pages":"9-16"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75148725","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: 33
Nonlinear Model Predictive Control on SE(3) for Quadrotor Trajectory Tracking and Obstacle Avoidance 基于SE(3)的四旋翼飞行器轨迹跟踪与避障非线性模型预测控制
2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981578
Jean C. Pereira, Valter J. S. Leite, G. Raffo
{"title":"Nonlinear Model Predictive Control on SE(3) for Quadrotor Trajectory Tracking and Obstacle Avoidance","authors":"Jean C. Pereira, Valter J. S. Leite, G. Raffo","doi":"10.1109/ICAR46387.2019.8981578","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981578","url":null,"abstract":"Some recent contributions have emerged designing Nonlinear Model Predictive Control (NMPC) for UAVs. However, these approaches often split the problem into upper and inner layers, or attitude and position control, separately, which can be undesirable in complex tasks such as those involving optimal functional cost depending on position and attitude references simultaneously. Moreover, most of their controller's design does not handle the avoidance of representational singularities. Therefore, the present work proposes a NMPC formulated on the Special Euclidean group SE(3), which has a single optimization layer, for quadrotor safe trajectory tracking with obstacle avoidance capacity. A numerical experiment illustrates this proposal and is used to evaluate the controller's performance.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"135 1","pages":"155-160"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73316875","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: 9
Wiring of Control Cabinets using a Distributed Control within a Robot-Based Production Cell 在基于机器人的生产单元中使用分布式控制的控制柜布线
2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981631
Stefanie Spies, M. Bartelt, B. Kuhlenkötter
{"title":"Wiring of Control Cabinets using a Distributed Control within a Robot-Based Production Cell","authors":"Stefanie Spies, M. Bartelt, B. Kuhlenkötter","doi":"10.1109/ICAR46387.2019.8981631","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981631","url":null,"abstract":"The assembly of control cabinets is highly affected by manual processes. Available solutions to automate the processes are complex, designed for one dedicated task, and expensive. Hence, they are uneconomically for most enterprises, because the typical company in the domain of control cabinet assembly is a small or medium sized enterprise with a high variance and low lot size production. Low-cost and flexible solutions that are suitable for these companies are not available. In order to design an appropriate solution, we have implemented a distributed control pattern. Within this paper, we present the resulting architecture as well as our implementation, and we discuss the advantages of our approach.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"5 1","pages":"332-337"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75702044","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: 3
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