2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献_第4页

Online learning for human classification in 3D LiDAR-based tracking 基于三维激光雷达跟踪的人体分类在线学习

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-28 DOI: 10.1109/IROS.2017.8202247

Zhi Yan, T. Duckett, N. Bellotto

引用次数: 92

Repetition sampling for efficiently planning similar constrained manipulation tasks 重复采样，有效地规划类似的约束操作任务

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-26 DOI: 10.1109/IROS.2017.8206116

Peter Lehner, A. Albu-Schäffer

引用次数: 21

On the uncertainty propagation: Why uncertainty on lie groups preserves monotonicity? 关于不确定性传播:为什么李群上的不确定性保持单调性?

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-26 DOI: 10.1109/IROS.2017.8206181

Youngji Kim, Ayoung Kim

引用次数: 14

Large-scale, drift-free SLAM using highly robustified building model constraints 使用高度鲁棒化建筑模型约束的大规模无漂移SLAM

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8205966

Achkan Salehi, V. Gay-Bellile, S. Bourgeois, N. Allezard, F. Chausse

引用次数: 5

Actuator design of compliant walkers via optimal control 基于最优控制的柔性步行器执行器设计

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8202228

Gabriele Buondonno, Justin Carpentier, Guilhem Saurel, N. Mansard, Alessandro De Luca, J. Laumond

引用次数: 11

Control of a variable stiffness joint for catching a moving object 用于捕捉移动物体的可变刚度关节的控制

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8206350

A. Bhole, J. Kumle, S. S. Groothuis, R. Carloni

引用次数: 1

A novel insect-inspired optical compass sensor for a hexapod walking robot 一种用于六足步行机器人的新型昆虫光学罗盘传感器

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8206183

Julien Dupeyroux, J. Diperi, M. Boyron, S. Viollet, J. Serres

{"title":"A novel insect-inspired optical compass sensor for a hexapod walking robot","authors":"Julien Dupeyroux, J. Diperi, M. Boyron, S. Viollet, J. Serres","doi":"10.1109/IROS.2017.8206183","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206183","url":null,"abstract":"In an outdoor autonomous navigational context, classic compass sensors such as magnetometers have to deal with unpredictable magnetic disturbances. In this paper, we propose to get inspiration from the insect navigational abilities to design a celestial compass based on linear polarization of ultraviolet (UV) skylight. To compute the solar meridian relative orientation, our 3D-printed celestial compass uses only two pixels created by two UV-light photo-sensors topped with linear polarizers arranged orthogonally to each other, in the same manner that was observed in insects' Dorsal Rim Area ommatidia. The compass was then embedded on our hexapod walking robot called Hexabot. We first tested the UV-polarized light compass to compensate for yaw random disturbances. We then used the compass to maintain Hexabot's heading direction constant in a straight-forward task, knowing the robot has important yaw drifts. Experiments under various meteorological conditions provided steady state heading direction errors from 0.3° under clear sky conditions to 1.9° under overcast sky, which suggests interesting precision and reliability to make this optical compass suitable for robotics.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"186 1","pages":"3439-3445"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77487021","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

Collision selective LGMDs neuron models research benefits from a vision-based autonomous micro robot 碰撞选择性LGMDs神经元模型的研究得益于基于视觉的自主微型机器人

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8206254

Qinbing Fu, Cheng Hu, Tian Liu, Shigang Yue

{"title":"Collision selective LGMDs neuron models research benefits from a vision-based autonomous micro robot","authors":"Qinbing Fu, Cheng Hu, Tian Liu, Shigang Yue","doi":"10.1109/IROS.2017.8206254","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206254","url":null,"abstract":"The developments of robotics inform research across a broad range of disciplines. In this paper, we will study and compare two collision selective neuron models via a vision-based autonomous micro robot. In the locusts' visual brain, two Lobula Giant Movement Detectors (LGMDs), i.e. LGMD1 and LGMD2, have been identified as looming sensitive neurons responding to rapidly expanding objects, yet with different collision selectivity. Both neurons have been modeled and successfully applied in robotic vision system for perceiving potential collisions in an efficient and reliable manner. In this research, we conduct binocular neuronal models, for the first time combining the functionalities of LGMD1 and LGMD2 neurons, in the visual modality of a ground mobile robot. The results of systematic on-line experiments demonstrated three contributions of this research: (1) The arena tests involving multiple robots verified the effectiveness and robustness of a reactive motion control strategy via integrating a bilateral pair of LGMD1 and LGMD2 models for collision detection in dynamic scenarios. (2) We pinpointed the different collision selectivity between LGMD1 and LGMD2 neuron models, which fulfill corresponding biological research. (3) The utilized micro robot may also benefit researches on other embedded vision systems as well as swarm robotics.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"35 1","pages":"3996-4002"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85857877","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: 29

Active stabilization of a stiff quadruped robot using local feedback 基于局部反馈的刚性四足机器人主动镇定

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8206369

R. Vasconcelos, Simon Hauser, F. Dzeladini, Mehmet Mutlu, T. Horvat, Kamilo Melo, P. Oliveira, A. Ijspeert

{"title":"Active stabilization of a stiff quadruped robot using local feedback","authors":"R. Vasconcelos, Simon Hauser, F. Dzeladini, Mehmet Mutlu, T. Horvat, Kamilo Melo, P. Oliveira, A. Ijspeert","doi":"10.1109/IROS.2017.8206369","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206369","url":null,"abstract":"Animal locomotion exhibits all the features of complex non linear systems such as multi-stability, critical fluctuation, limit cycle behavior and chaos. Studying these aspects on real robots has been proved difficult and therefore results mostly rely on the use of computer simulation. Simple control approaches — based on phase oscillators — have been proposed and exhibit several of these features. In this work, we compare two types of controllers: (a) an open loop control approach based on phase oscillators and (b) the Tegotae-based closed loop extension of this controller. The first controller has been shown to exhibit synchronization features between the body and the controller when applied to a quadruped robot with compliant leg structures. In this contribution, we apply both controllers to the locomotion of a stiff quadruped structure. We show that the Tegotae-controller exhibits self-organizing behavior, such as spontaneous gait transition and critical fluctuation. Moreover, it exhibits features such as the ability to stabilize both asymmetric and symmetric morphological changes, despite the lack of compliance in the leg.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"45 1","pages":"4903-4910"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88401336","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

Vision-based minimum-time trajectory generation for a quadrotor UAV 基于视觉的四旋翼无人机最短时间轨迹生成

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8206522

Bryan Penin, R. Spica, P. Giordano, F. Chaumette

引用次数: 34