2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献_第10页

New method for decoupling the articular stiffness identification: Application to an industrial robot with double encoding system on its 3 first axis 关节刚度辨识解耦的新方法:在工业机器人三轴双编码系统中的应用

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-01 DOI: 10.1109/IROS.2017.8205950

Alexandre Ambiehl, S. Garnier, Kévin Subrin, B. Furet

引用次数: 5

Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah 策略正则化模型预测控制稳定麻省理工学院猎豹不同四足步态

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-01 DOI: 10.1109/IROS.2017.8206268

G. Bledt, Patrick M. Wensing, Sangbae Kim

引用次数: 68

Optimal control-based online motion planning for cooperative lane changes of connected and automated vehicles 基于最优控制的网联自动车辆协同变道在线运动规划

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-01 DOI: 10.1109/IROS.2017.8206215

Bai Li, Youmin Zhang, Yuming Ge, Zhijiang Shao, Pu Li

{"title":"Optimal control-based online motion planning for cooperative lane changes of connected and automated vehicles","authors":"Bai Li, Youmin Zhang, Yuming Ge, Zhijiang Shao, Pu Li","doi":"10.1109/IROS.2017.8206215","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206215","url":null,"abstract":"This work formulates the multi-vehicle lane change motion planning task as a centralized optimal control problem, which is beneficial in being generic and complete. However, a direct solution to this optimal control problem is numerically intractable due to the dimensionality of the collision-avoidance constraints and nonlinearity of the vehicle kinematics. A progressively constrained dynamic optimization (PCDO) method is proposed to facilitate the numerical solving process of this complicated problem. PCDO guarantees to efficiently obtain an optimum to the original optimal control problem via solving a sequence of simplified problems which gradually judge and reserve only the active collision-avoidance constraints. A first-regularization-then-action strategy, together with the look-up table technique, is developed for online solutions. At the regularization stage, the vehicles form a standard formation by linear acceleration/deceleration only. At the action stage, the vehicles execute lane change motions computed offline and recorded in the look-up table. This makes online motion planning feasible because 1) the computational complexity at the regularization stage scales linearly rather than exponentially with the vehicle number; and 2) online computation at the action stage is fully avoided through data extraction from the look-up table.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"8 12 1","pages":"3689-3694"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78490415","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: 32

Formalization and analysis of jacobian matrix in screw theory and its application in kinematic singularity 螺旋理论中雅可比矩阵的形式化、分析及其在运动奇异性中的应用

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-01 DOI: 10.1109/IROS.2017.8206115

Aixuan Wu, Zhiping Shi, Xiumei Yang, Yong Guan, Yongdong Li, Xiaoyu Song

引用次数: 2

External control of walking direction, using cross-wire mobile assist suit 外部控制行走方向，采用跨线移动辅助套装

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-01 DOI: 10.1109/IROS.2017.8202273

Kenta Murakami, S. John, Mayumi Komatsu, S. Adachi

引用次数: 3

Grasp evaluation method for applying static loads leading to beam failure 掌握施加静载荷导致梁破坏的评估方法

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-01 DOI: 10.1109/IROS.2017.8206496

M. Abdeetedal, M. Kermani

{"title":"Grasp evaluation method for applying static loads leading to beam failure","authors":"M. Abdeetedal, M. Kermani","doi":"10.1109/IROS.2017.8206496","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206496","url":null,"abstract":"This paper deals with the problem of purposefully failing or yielding an object by a robotic gripper. We propose a grasp quality measure fabricated for robotic harvesting in which picking a crop from its stem is desired. The proposed metric characterizes a suitable grasp configuration for systematically controlling the failure behavior of an object to break it at the desired location while avoiding damage on other areas. Our approach is based on failure task information and gripper wrench insertion capability. Failure task definition is accomplished using failure theories. Gripper wrench insertion capability is formulated by modeling the friction between the object and gripper. A new method inspired by human pre-manipulation process is introduced to utilize gripper itself as a friction measurement device. The provided friction model is capable of handling the anisotropic behavior of materials which is the case for fruits and vegetables. The evaluation method is formulated as a quasistatic grasp problem. Additionally, the general case of both fully-actuated and under-actuated grippers are considered. As a validation of the proposed evaluation method, experimental results for failing parts using Kuka Light-Weight Robot IV robot are presented.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"4 1","pages":"5999-6004"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73175479","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

Online visual robot tracking and identification using deep LSTM networks 基于深度LSTM网络的在线视觉机器人跟踪与识别

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-01 DOI: 10.1109/IROS.2017.8206512

Hafez Farazi, Sven Behnke

引用次数: 19

Depth-aware convolutional neural networks for accurate 3D pose estimation in RGB-D images 深度感知卷积神经网络在RGB-D图像中精确的三维姿态估计

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-01 DOI: 10.1109/IROS.2017.8206469

L. Porzi, Adrián Peñate Sánchez, E. Ricci, F. Moreno-Noguer

引用次数: 9

Markovian jump linear systems-based filtering for visual and GPS aided inertial navigation system 基于马尔可夫跳变线性系统的视觉和GPS辅助惯性导航滤波

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-01 DOI: 10.1109/IROS.2017.8206265

R. Inoue, V. Guizilini, M. Terra, F. Ramos

引用次数: 2

A point sampling algorithm for 3D matching of irregular geometries 不规则几何图形三维匹配的点采样算法

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-01 DOI: 10.1109/IROS.2017.8206609

Tolga Birdal, Slobodan Ilic

{"title":"A point sampling algorithm for 3D matching of irregular geometries","authors":"Tolga Birdal, Slobodan Ilic","doi":"10.1109/IROS.2017.8206609","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206609","url":null,"abstract":"We present a 3D mesh re-sampling algorithm, carefully tailored for 3D object detection using point pair features (PPF). Computing a sparse representation of objects is critical for the success of state-of-the-art object detection, recognition and pose estimation methods. Yet, sparsity needs to preserve fidelity. To this end, we develop a simple, yet very effective point sampling strategy for detection of any CAD model through geometric hashing. Our approach relies on rendering the object coordinates from a set of views evenly distributed on a sphere. Actual sampling takes place on 2D domain over these renderings; the resulting samples are efficiently merged in 3D with the aid of a special voxel structure and relaxed with Lloyd iterations. The generated vertices are not concentrated only on critical points, as in many keypoint extraction algorithms, and there is even spacing between selected vertices. This is valuable for quantization based detection methods, such as geometric hashing of point pair features. The algorithm is fast and can easily handle the elongated/acute triangles and sharp edges typically existent in industrial CAD models, while automatically pruning the invisible structures. We do not introduce structural changes such as smoothing or interpolation and sample the normals on the original CAD model, achieving the maximum fidelity. We demonstrate the strength of this approach on 3D object detection in comparison to similar sampling algorithms.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"80 1","pages":"6871-6878"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77120782","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: 19