2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献_第9页

MMAC Height Control System of a Quadrotor for Constant Unknown Load Transportation 恒未知载荷运输四旋翼飞行器的MMAC高度控制系统

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8594215

Pedro Outeiro, C. Cardeira, P. Oliveira

引用次数: 3

Virtual Occupancy Grid Map for Submap-based Pose Graph SLAM and Planning in 3D Environments 三维环境中基于子地图的姿态图SLAM与规划的虚拟占用网格图

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8594234

Bing-Jui Ho, Paloma Sodhi, P. Teixeira, Ming Hsiao, Tushar Kusnur, M. Kaess

引用次数: 31

A Novel Autonomous Robot for Greenhouse Applications 一种新型温室自动化机器人

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8594233

Lars Grimstad, Remy Zakaria, Tuan-Dung Le, P. From

{"title":"A Novel Autonomous Robot for Greenhouse Applications","authors":"Lars Grimstad, Remy Zakaria, Tuan-Dung Le, P. From","doi":"10.1109/IROS.2018.8594233","DOIUrl":"https://doi.org/10.1109/IROS.2018.8594233","url":null,"abstract":"This paper presents a novel agricultural robot for greenhouse applications. In many greenhouses, including the greenhouse used in this work, sets of pipes run along the floor between plant rows. These pipes are components of the greenhouse heating system, and doubles as rails for trolleys used by workers. A flat surface separates the start of each rail set at the greenhouse headland. If a robot is to autonomously drive along plant rows, and also be able to move from one set of rails to the next, it must be able to locomote both on rails and on flat surfaces. This puts requirements on mechanical design and navigation, as the robot must cope with two very different operational environments. The robot presented in this paper has been designed to overcome these challenges and allows for autonomous operation both in open environments and on rails by using only low-cost sensors. The robot is assembled using a modular system created by the authors and tested in a greenhouse during ordinary operation. Using the robot, we map the environment and automatically determine the starting point of each rail in the map. We also show how we are able to identify rails and estimate the robots pose relative to theses using only a low-cost 3D camera. When a rail is located, the robot makes the transition from floor to rail and travels along the row of plants before it moves to the next rail set which it has identified in the map. The robot is used for UV treatment of cucumber plants.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"19 1","pages":"1-9"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87291253","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: 14

A Confidence-Based Shared Control Strategy for the Smart Tissue Autonomous Robot (STAR) 基于置信度的智能组织自主机器人(STAR)共享控制策略

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8594290

H. Saeidi, J. Opfermann, M. Kam, S. Raghunathan, S. Léonard, A. Krieger

{"title":"A Confidence-Based Shared Control Strategy for the Smart Tissue Autonomous Robot (STAR)","authors":"H. Saeidi, J. Opfermann, M. Kam, S. Raghunathan, S. Léonard, A. Krieger","doi":"10.1109/IROS.2018.8594290","DOIUrl":"https://doi.org/10.1109/IROS.2018.8594290","url":null,"abstract":"Autonomous robotic assisted surgery (RAS) systems aim to reduce human errors and improve patient outcomes leveraging robotic accuracy and repeatability during surgical procedures. However, full automation of RAS in complex surgical environments is still not feasible and collaboration with the surgeon is required for safe and effective use. In this work, we utilize our Smart Tissue Autonomous Robot (STAR) to develop and evaluate a shared control strategy for the collaboration of the robot with a human operator in surgical scenarios. We consider 2D pattern cutting tasks with partial blood occlusion of the cutting pattern using a robotic electrocautery tool. For this surgical task and RAS system, we i) develop a confidence-based shared control strategy, ii) assess the pattern tracking performances of manual and autonomous controls and identify the confidence models for human and robot as well as a confidence-based control allocation function, and iii) experimentally evaluate the accuracy of our proposed shared control strategy. In our experiments on porcine fat samples, by combining the best elements of autonomous robot controller with complementary skills of a human operator, our proposed control strategy improved the cutting accuracy by 6.4%, while reducing the operator work time to 44% compared to a pure manual control.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"42 1","pages":"1268-1275"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90573001","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: 17

Sinc-Based Dynamic Movement Primitives for Encoding Point-to-point Kinematic Behaviors 基于自适应的点对点运动行为编码的动态运动原语

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8594479

Dimitrios Papageorgiou, Antonis Sidiropoulos, Z. Doulgeri

引用次数: 5

Algorithms for Task Allocation in Homogeneous Swarm of Robots 同质机器人群任务分配算法

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8594052

Devesh K. Jha

引用次数: 4

SOS: Stereo Matching in O(1) with Slanted Support Windows SOS:立体匹配在O(1)倾斜的支持窗口

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593800

V. Tankovich, Michael Schoenberg, S. Fanello, Adarsh Kowdle, Christoph Rhemann, Maksym Dzitsiuk, Mirko Schmidt, Julien P. C. Valentin, S. Izadi

{"title":"SOS: Stereo Matching in O(1) with Slanted Support Windows","authors":"V. Tankovich, Michael Schoenberg, S. Fanello, Adarsh Kowdle, Christoph Rhemann, Maksym Dzitsiuk, Mirko Schmidt, Julien P. C. Valentin, S. Izadi","doi":"10.1109/IROS.2018.8593800","DOIUrl":"https://doi.org/10.1109/IROS.2018.8593800","url":null,"abstract":"Depth cameras have accelerated research in many areas of computer vision. Most triangulation-based depth cameras, whether structured light systems like the Kinect or active (assisted) stereo systems, are based on the principle of stereo matching. Depth from stereo is an active research topic dating back 30 years. Despite recent advances, algorithms usually trade-off accuracy for speed. In particular, efficient methods rely on fronto-parallel assumptions to reduce the search space and keep computation low. We present SOS (Slanted O(1) Stereo), the first algorithm capable of leveraging slanted support windows without sacrificing speed or accuracy. We use an active stereo configuration, where an illuminator textures the scene. Under this setting, local methods - such as PatchMatch Stereo - obtain state of the art results by jointly estimating disparities and slant, but at a large computational cost. We observe that these methods typically exploit local smoothness to simplify their initialization strategies. Our key insight is that local smoothness can in fact be used to amortize the computation not only within initialization, but across the entire stereo pipeline. Building on these insights, we propose a novel hierarchical initialization that is able to efficiently perform search over disparity and slants. We then show how this structure can be leveraged to provide high quality depth maps. Extensive quantitative evaluations demonstrate that the proposed technique yields significantly more precise results than current state of the art, but at a fraction of the computational cost. Our prototype implementation runs at 4000 fps on modern GPU architectures.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"9 1","pages":"6782-6789"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85364966","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: 13

Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated Robots 柔性驱动机器人弹性结构保持阻抗(ESπ)控制

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593415

Manuel Keppler, Dominic Lakatos, C. Ott, A. Albu-Schäffer

{"title":"Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated Robots","authors":"Manuel Keppler, Dominic Lakatos, C. Ott, A. Albu-Schäffer","doi":"10.1109/IROS.2018.8593415","DOIUrl":"https://doi.org/10.1109/IROS.2018.8593415","url":null,"abstract":"We present a new approach for Cartesian impedance control of compliantly actuated robots with possibly nonlinear spring characteristics. It reveals a remarkable stiffness and damping range in the experimental evaluation. The most interesting contribution, is the way the desired closed-loop dynamics is designed. Our control concept allows to add a desired stiffness and damping directly on the end-effector, while leaving the system structure intact. The intrinsic inertial and elastic properties of the system are preserved. This is achieved by introducing new motor coordinates that reflect the desired spring and damper terms. Theoretically, by means of additional motor inertia shaping it is possible to make the end-effector interaction behavior with respect to external loads approach, arbitrarily close, the interaction behavior that is achievable by classical Cartesian impedance control on rigid robots. The physically motivated design approach allows for an intuitive understanding of the resulting closed-loop dynamics. We perform a passivity and stability analysis on the basis of al physically motivated storage and Lyapunov function.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"3 1","pages":"5861-5868"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88457783","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

Towards a Soft Fingertip with Integrated Sensing and Actuation 一种集成传感和驱动的柔软指尖

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8594032

Benjamin W. McInroe, Carolyn L. Chen, Ken Goldberg, R. Bajcsy, R. Fearing

{"title":"Towards a Soft Fingertip with Integrated Sensing and Actuation","authors":"Benjamin W. McInroe, Carolyn L. Chen, Ken Goldberg, R. Bajcsy, R. Fearing","doi":"10.1109/IROS.2018.8594032","DOIUrl":"https://doi.org/10.1109/IROS.2018.8594032","url":null,"abstract":"Soft material robots are attractive for safe interaction with humans and unstructured environments due to their compliance and low intrinsic stiffness and mass. These properties enable new capabilities such as the ability to conform to environmental geometry for tactile sensing and to undergo large shape changes for actuation. Due to the complex coupling between sensing and actuation in high-dimensional nonlinear soft systems, prior work in soft robotics has primarily focused on either sensing or actuation. This paper presents SOFTcell, a novel controllable stiffness tactile device that incorporates both optical sensing and pneumatic actuation. We report details on the device's design and implementation and analyze results from characterization experiments on sensitivity and performance, which show that SOFTcell can controllably increase its effective modulus from 4.4kPa to 46.1kPa. Additionally, we demonstrate the utility of SOFTcell for grasping in a reactive control task in which tactile data is used to detect fingertip shear as a grasped object slips, and cell pressurization is used to prevent the slip without the need to adjust fingertip position.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"157 1","pages":"6437-6444"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90984183","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: 31

A Multi-Rate State Observer for Visual Tracking of Magnetic Micro-Agents Using 2D Slow Medical Imaging Modalities 基于二维慢速医学成像模式的磁微体视觉跟踪多速率状态观测器

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8594349

Mert Kaya, A. Denasi, S. Scheggi, Erdem Agbahca, ChangKyu Yoon, D. Gracias, S. Misra

{"title":"A Multi-Rate State Observer for Visual Tracking of Magnetic Micro-Agents Using 2D Slow Medical Imaging Modalities","authors":"Mert Kaya, A. Denasi, S. Scheggi, Erdem Agbahca, ChangKyu Yoon, D. Gracias, S. Misra","doi":"10.1109/IROS.2018.8594349","DOIUrl":"https://doi.org/10.1109/IROS.2018.8594349","url":null,"abstract":"Minimally invasive surgery can benefit greatly from utilizing micro-agents. These miniaturized agents need to be clearly visualized and precisely controlled to ensure the success of the surgery. Since medical imaging modalities suffer from low acquisition rate, multi-rate sampling methods can be used to estimate the intersample states of micro-agents. Hence, the sampling rate of the controller can be virtually increased even if the position data is acquired using a slow medical imaging modality. This study presents multi-rate Luenberger and Kalman state estimators for visual tracking of micro-agents. The micro-agents are tracked using sum of squared differences and normalized cross correlation based visual tracking. Further, the outputs of the two methods are merged to minimize the tracking error and prevent tracking failures. During the experiments, the micro-agents with different geometrical shapes and sizes are imaged using a 2D ultrasound machine and a microscope, and manipulated using electromagnetic coils. The multi-rate state estimation accuracy is measured using a high speed camera. The precision of the tracking and multi-rate state estimation are verified experimentally under challenging conditions. For this purpose, an elliptical shaped magnetic micro-agent with a length of 48 pixels is used. Maximum absolute error in $x$ and $y$ axes are 2.273 and 2.432 pixels for an 8-fold increase of the sample rate (25 frames per second), respectively. During the experiments, it was observed that the micro-agents could be tracked more reliably using normalized cross correlation based visual tracking and inters ample states could be estimated more accurately using Kalman state estimator. Experimental results show that the proposed method could be used to track micro-agents in medical imaging modalities and estimate system states at intermediate time instants in real-time.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"1 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":"91112809","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: 12