2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献_第5页

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

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

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

Tentacle-based moving obstacle avoidance for omnidirectional robots with visibility constraints 具有可视性约束的全向机器人触手移动避障

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8202310

Abdellah Khelloufi, N. Achour, R. Passama, A. Cherubini

引用次数: 16

Quadrotor-UAV optimal coverage path planning in cluttered environment with a limited onboard energy 四旋翼无人机在有限机载能量干扰下的最优覆盖路径规划

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8202264

Y. Bouzid, Y. Bestaoui, H. Siguerdidjane

引用次数: 43

Supervisory control of a humanoid robot in microgravity for manipulation tasks 仿人机器人微重力操作任务的监督控制

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8206229

Logan Farrell, Philip Strawser, K. Hambuchen, W. Baker, Julia M. Badger

{"title":"Supervisory control of a humanoid robot in microgravity for manipulation tasks","authors":"Logan Farrell, Philip Strawser, K. Hambuchen, W. Baker, Julia M. Badger","doi":"10.1109/IROS.2017.8206229","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206229","url":null,"abstract":"Teleoperation is the dominant form of dexterous robotic tasks in the field. However, there are many use cases in which direct teleoperation is not feasible such as disaster areas with poor communication as posed in the DARPA Robotics Challenge or robot operations on spacecraft far from Earth. Presented is a solution that combines the Affordance Template Framework for object interaction with TaskForce for supervisory control in order to accomplish high-level task objectives with basic autonomous behavior from the robot. This framework has allowed the robot to take corrective actions before requesting assistance from the user. This work is demonstrated with Robonaut 2 removing a Cargo Transfer Bag from a simulated logistics resupply vehicle for spaceflight using a single operator command. This was executed with 80% success with no human involvement and 95% success with limited human interaction. This technology sets the stage to do any number of high-level tasks using a similar framework, allowing the robot to accomplish tasks with minimal to no human interaction.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"101 1","pages":"3797-3802"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88937356","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

Tracking a varying number of people with a visually-controlled robotic head 用视觉控制的机器人头跟踪不同数量的人

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8206274

Yutong Ban, Xavier Alameda-Pineda, Fabien Badeig, Silèye O. Ba, R. Horaud

引用次数: 17

Design and characterization of Stormram 4: An MRI-compatible robotic system for breast biopsy Stormram 4的设计和特性:一个mri兼容的乳房活检机器人系统

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8202256

V. Groenhuis, F. Siepel, J. Veltman, S. Stramigioli

{"title":"Design and characterization of Stormram 4: An MRI-compatible robotic system for breast biopsy","authors":"V. Groenhuis, F. Siepel, J. Veltman, S. Stramigioli","doi":"10.1109/IROS.2017.8202256","DOIUrl":"https://doi.org/10.1109/IROS.2017.8202256","url":null,"abstract":"Targeting of small lesions with high precision is essential in an early phase of breast cancer for diagnosis and accurate follow up, and subsequently determines prognosis. Current techniques to diagnose breast cancer are suboptimal, and there is a need for a small, MRI-compatible robotic system able to target lesions with high precision and direct feedback of MRI. Therefore, the design and working mechanism of the new Stormram 4, an MRI-compatible needle manipulator with four degrees of freedom, will be presented to take biopsies of small lesions in the MRI scanner. Its dimensions (excluding racks and needle) are 72×51×40 mm, and the system is driven by two linear and two curved pneumatic stepper motors. The T-26 linear motor measures 26×21×16 mm, has a nominal step size of 0.25 mm and the measured maximum force is 63N at 0.65 MPa. The workspace has a total volume of 2.2 L. Accuracy measurements have shown that the mean positioning error is 0.7 mm, with a reproducibility of 0.1 mm. Velocity measurements with 5 m long tubes show a maximum stepping frequency of 8 Hz (maximum force) to 30 Hz (unloaded). These results show that the robot might be able to target lesions with sub-millimeter accuracy within reasonable time for the MRI-guided breast biopsy procedure.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"78 1","pages":"928-933"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85635578","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: 16

A kinodynamic steering-method for legged multi-contact locomotion 腿式多接触运动的动力学转向方法

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8206217

Pierre Fernbach, S. Tonneau, A. Prete, M. Taïx

引用次数: 24

Multi-step-ahead information-based feedback control for active binaural localization 主动双耳定位的多步前馈信息反馈控制

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8206589

Gabriel Bustamante, P. Danès

引用次数: 8