2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献

Learning Hardware Dynamics Model from Experiments for Locomotion Optimization 从运动优化实验中学习硬件动力学模型

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593804

Kuo Chen, Sehoon Ha, K. Yamane

{"title":"Learning Hardware Dynamics Model from Experiments for Locomotion Optimization","authors":"Kuo Chen, Sehoon Ha, K. Yamane","doi":"10.1109/IROS.2018.8593804","DOIUrl":"https://doi.org/10.1109/IROS.2018.8593804","url":null,"abstract":"The hardware compatibility of legged locomotion is often illustrated by Zero Moment Point (ZMP) that has been extensively studied for decades. One of the most popular models for computing the ZMP is the linear inverted pendulum (LIP) model that expresses ZMP as a linear function of the center of mass(COM) and its acceleration. In the real world, however, it may not accurately predict the true ZMP of hardware due to various reasons such as unmodeled dynamics and differences between simulation model and hardware. In this paper, we aim to improve the theoretical ZMP model by learning the real hardware dynamics from experimental data. We first optimize the motion plan using the theoretical ZMP model and collect COP data by executing the motion on a force plate. We then train a new ZMP model that maps the motion plan variable to the actual ZMP and use the learned model for finding a new hardware-compatible motion plan. Through various locomotion tasks of a quadruped, we demonstrate that motions planned for the learned ZMP model are compatible on hardware when those for the theoretical ZMP model are not. Furthermore, experiments using ZMP models with different complexities reveal that overly complex models may suffer from over-fitting even though they can potentially represent more complex, unmodeled dynamics.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"95 1","pages":"3807-3814"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74099106","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

Video Motion Capture from the Part Confidence Maps of Multi-Camera Images by Spatiotemporal Filtering Using the Human Skeletal Model 基于人体骨骼模型时空滤波的多摄像头图像局部置信度图视频动作捕捉

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593867

Takuya Ohashi, Y. Ikegami, Kazuki Yamamoto, W. Takano, Yoshihiko Nakamura

引用次数: 25

A 3D Laparoscopic Imaging System Based on Stereo-Photogrammetry with Random Patterns 基于随机模式立体摄影测量的三维腹腔镜成像系统

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593733

Congying Sui, Zerui Wang, Yunhui Liu

{"title":"A 3D Laparoscopic Imaging System Based on Stereo-Photogrammetry with Random Patterns","authors":"Congying Sui, Zerui Wang, Yunhui Liu","doi":"10.1109/IROS.2018.8593733","DOIUrl":"https://doi.org/10.1109/IROS.2018.8593733","url":null,"abstract":"In this paper, we propose a novel 3D laparoscopic imaging system based on stereo-photogrammetry which is assisted by projecting patterns on the tissue surface. The proposed laparoscopic imaging system has three optic channels, two of which are responsible for stereo vision feedback and the other one is used for coded structured patterns projection. The projected patterns provide the robustness to homogeneous tissue surface since they add more features that can be relied on in the stereo matching. Image fiber bundles (100k pixels) and Gradient-index (GRIN) lenses are utilized to facilitate the remote image acquisition and miniaturization of the laparoscopic probe. Moreover, we adopt a digital micromirror device (DMD) and high-speed cameras to achieve fast pattern switching (up to 4 kHz) and high frame rate image acquisition. The system configuration allows for implementation of the time multiplexing pattern codification strategy in the 3D laparoscopic imaging system to enhance the reliability and resolution of the 3D surface reconstruction. A prototype is established, and various experiments are conducted. Comparative experimental results prove the advantages of our system design. The static and dynamic 3D reconstruction results validate the performance of the proposed 3D laparoscopic imaging system quantitatively and qualitatively.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"51 1","pages":"1276-1282"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74879173","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

A Novel Soft Elbow Exosuit to Supplement Bicep Lifting Capacity 一种新型软性肘部外服以增强肱二头肌的举升能力

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8594403

Carly M. Thalman, Quoc P. Lam, P. Nguyen, Saivimal Sridar, Panagiotis Polygerinos

{"title":"A Novel Soft Elbow Exosuit to Supplement Bicep Lifting Capacity","authors":"Carly M. Thalman, Quoc P. Lam, P. Nguyen, Saivimal Sridar, Panagiotis Polygerinos","doi":"10.1109/IROS.2018.8594403","DOIUrl":"https://doi.org/10.1109/IROS.2018.8594403","url":null,"abstract":"This paper investigates the design of a soft elbow exosuit capable of providing supplemental lifting assistance by reducing muscle activity of the bicep muscle. The aim is to improve the efficiency and endurance of workers who are tasked with repetitive lifting. The design consists of an array of pneumatically pressurized soft actuators, which are encased in nylon fabric that allows for a high force-to-weight ratio of 211.SN/g. An analytical model governing the bending behavior of two consecutive actuators and torque generated by the exosuit is developed, with test results showing less than 10% error from the theoretical model. An elbow joint torque value of 27.6N.m is achieved at 300kPa, which is comparable to the 30N.m maximum set by OSHA requirements in the USA. Further testing with a healthy participant is performed using surface electromyography (sEMG) sensors and a motion capture system to assess the capabilities of the exosuit to provide active assistance to the bicep during isometric and concentric contractions. Measurable assistance to lifting is observed with minimal obstruction to the user's range of motion for all experiments.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"1 1","pages":"6965-6971"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74899558","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: 48

High-Speed Stealth Walking of Underactuated Biped Utilizing Effects of Upper-Body Control and Semicircular Feet 利用上肢控制和半圆形足的欠驱动双足高速隐身行走

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593821

F. Asano

引用次数: 0

Modeling and Control of Multiple Aerial-Ground Manipulator System (MAGMaS) with Load Flexibility 具有负载柔性的多地空机械臂系统(MAGMaS)建模与控制

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593834

Hyunsoo Yang, Nicolas Staub, A. Franchi, Dongjun Lee

{"title":"Modeling and Control of Multiple Aerial-Ground Manipulator System (MAGMaS) with Load Flexibility","authors":"Hyunsoo Yang, Nicolas Staub, A. Franchi, Dongjun Lee","doi":"10.1109/IROS.2018.8593834","DOIUrl":"https://doi.org/10.1109/IROS.2018.8593834","url":null,"abstract":"The MAGMaS (Multiple Aerial-Ground Manipulator System) was proposed in [1] as a heterogeneous system composed of multiple ground (mobile) manipulators and aerial robots to collaboratively manipulate a long/large-sized object and demonstrated therein for rigid load manipulation. Here, we extend this result of [1] to the case of load manipulation with flexibility, which is crucial for long/slender object manipulation, yet, not considered in [1]. We first provide a rigorous modeling of the load flexibility and its effects on the MAGMaS dynamics. We then propose a novel collaborative control framework for flexible load-tip pose tracking, where the ground manipulator provides slower nominal pose tracking with overall load weight holding, whereas the aerial robot allows for faster vibration suppression with some load weight sharing. We also discuss the issue of controllability stemming from that the aerial robot provides less number of actuation than the modes of the load flexibility; and elucidate some peculiar conditions for this vibration suppression controllability. Simulations are also performed to demonstrate the effectiveness of the proposed theory.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"85 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73036288","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

PRISM: Pose Registration for Integrated Semantic Mapping PRISM:姿态配准集成语义映射

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593681

Justin W. Hart, Rishi Shah, Sean Kirmani, Nick Walker, Kathryn Baldauf, Nathan John, P. Stone

{"title":"PRISM: Pose Registration for Integrated Semantic Mapping","authors":"Justin W. Hart, Rishi Shah, Sean Kirmani, Nick Walker, Kathryn Baldauf, Nathan John, P. Stone","doi":"10.1109/IROS.2018.8593681","DOIUrl":"https://doi.org/10.1109/IROS.2018.8593681","url":null,"abstract":"Many robotics applications involve navigating to positions specified in terms of their semantic significance. A robot operating in a hotel may need to deliver room service to a named room. In a hospital, it may need to deliver medication to a patient's room. The Building-Wide Intelligence Project at UT Austin has been developing a fleet of autonomous mobile robots, called BWIBots, which perform tasks in the computer science department. Tasks include guiding a person, delivering a message, or bringing an object to a location such as an office, lecture hall, or classroom. The process of constructing a map that a robot can use for navigation has been simplified by modern SLAM algorithms. The attachment of semantics to map data, however, remains a tedious manual process of labeling locations in otherwise automatically generated maps. This paper introduces a system called PRISM to automate a step in this process by enabling a robot to localize door signs – a semantic markup intended to aid the human occupants of a building – and to annotate these locations in its map.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"81 1","pages":"896-902"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73266935","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

Humanoid Teleoperation Using Task-Relevant Haptic Feedback 使用任务相关触觉反馈的类人远程操作

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593521

Firas Abi-Farraj, Bernd Henze, Alexander Werner, M. Panzirsch, C. Ott, M. Roa

引用次数: 25

A Model Predictive Control Approach for Vision-Based Object Grasping via Mobile Manipulator 一种基于视觉的移动机械手抓取物体的模型预测控制方法

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593759

M. Logothetis, G. Karras, Shahab Heshmati-alamdari, Panagiotis Vlantis, K. Kyriakopoulos

引用次数: 19

On-Chip Virtual Vortex Gear and Its Application 片上虚拟涡旋齿轮及其应用

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593418

T. Takayama, C. Tsai, M. Kaneko

{"title":"On-Chip Virtual Vortex Gear and Its Application","authors":"T. Takayama, C. Tsai, M. Kaneko","doi":"10.1109/IROS.2018.8593418","DOIUrl":"https://doi.org/10.1109/IROS.2018.8593418","url":null,"abstract":"This video presents a microfluidic phenomenon called “Virtual Vortex Gear (VVG)” and an application of it. The video contains 4 parts and is described as follows: The 1st part shows an application of VVG as a controllable valve in a micro fluidic system and the on and off of the valve are controlled by different flow speeds. The valve is turned on when the flow speed is high enough, and vice versa. The 2nd part shows the generation of VVG and its mechanism. When the flow speed, which is proportional to Reynolds Number, is gradually increased, the flow pattern evolves in the order as (1)parallel streamlines, (2)one vortex, (3)two vortices and eventually (4)three vortices including the last vortex inside the circular chamber. The evolution indicates the transmission of flow energy from the main stream to the inside of the chamber when the flow speed is over a certain range. In addition, every two adjacent vortices rotate in opposite directions which is just like a set of gears, and that is why we named it “VVG”. In the 3rd part, an application of VVG for chemical injection is demonstrated. A colored liquid is represented for the chemical and is surrounded by different sheath flow for the control of injection locations. It is found that only the fluid in a particular pinpoint can be injected into the target chamber. Furthermore, the complex but stable 3D flow patterns are visualized from the video. The last part of the video shows that different amount of chemical injection can be performed in different chambers along the same main stream and the distribution of the color is gradually become uniform by spontaneous diffusing.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"90 1","pages":"5544-5544"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72551746","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