2019 International Conference on Robotics and Automation (ICRA)最新文献_第7页

Design and Analysis of A Miniature Two-Wheg Climbing Robot with Robust Internal and External Transitioning Capabilities 具有鲁棒内外过渡能力的微型两轮爬行机器人的设计与分析

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793910

Darren C. Y. Koh, A. G. Dharmawan, H. Hariri, G. Soh, S. Foong, Roland Bouffanais, H. Low, K. Wood

引用次数: 8

Accounting for Part Pose Estimation Uncertainties during Trajectory Generation for Part Pick-Up Using Mobile Manipulators 基于移动机械手的零件提取轨迹生成过程中零件姿态估计的不确定性

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793501

Shantanu Thakar, P. Rajendran, Vivek Annem, A. Kabir, Satyandra K. Gupta

引用次数: 20

Robotic Forceps without Position Sensors using Visual SLAM 使用视觉SLAM的无位置传感器的机器人钳

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794321

Takuya Iwai, T. Kanno, Tetsuro Miyazaki, Toshihiro Kawase, K. Kawashima

引用次数: 0

Integrated UWB-Vision Approach for Autonomous Docking of UAVs in GPS-denied Environments gps拒绝环境下无人机自主对接的集成超宽带视觉方法

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793851

Thien-Minh Nguyen, T. Nguyen, Muqing Cao, Zhirong Qiu, Lihua Xie

引用次数: 41

Control and Configuration Planning of an Aerial Cable Towed System 空中电缆拖曳系统的控制与配置规划

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794396

Julian Erskine, A. Chriette, S. Caro

引用次数: 7

ModQuad-Vi: A Vision-Based Self-Assembling Modular Quadrotor ModQuad-Vi:一种基于视觉的自组装模块化四旋翼飞行器

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794056

Guanrui Li, Bruno Gabrich, David Saldaña, J. Das, Vijay R. Kumar, Mark H. Yim

引用次数: 26

Intent-Uncertainty-Aware Grasp Planning for Robust Robot Assistance in Telemanipulation 鲁棒机器人辅助遥操作的意图-不确定性感知抓取规划

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793819

Michael Bowman, Songpo Li, Xiaoli Zhang

{"title":"Intent-Uncertainty-Aware Grasp Planning for Robust Robot Assistance in Telemanipulation","authors":"Michael Bowman, Songpo Li, Xiaoli Zhang","doi":"10.1109/ICRA.2019.8793819","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793819","url":null,"abstract":"Promoting a robot agent’s autonomy level, which allows it to understand the human operator’s intent and provide motion assistance to achieve it, has demonstrated great advantages to the operator’s intent in teleoperation. However, the research has been limited to the target approaching process. We advance the shared control technique one step further to deal with the more challenging object manipulation task. Appropriately manipulating an object is challenging as it requires fine motion constraints for a certain manipulation task. Although these motion constraints are critical for task success, they are subtle to observe from ambiguous human motion. The disembodiment problem and physical discrepancy between the human and robot hands bring additional uncertainty, make the object manipulation task more challenging. Moreover, there is a lack of modeling and planning techniques that can effectively combine the human motion input and robot agent’s motion input while accounting for the ambiguity of the human intent. To overcome this challenge, we built a multi-task robot grasping model and developed an intent-uncertainty-aware grasp planner to generate robust grasp poses given the ambiguous human intent inference inputs. With this validated modeling and planning techniques, it is expected to extend teleoperated robots’ functionality and adoption in practical telemanipulation scenarios.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"30 1","pages":"409-415"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73990089","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

Visual Guidance and Automatic Control for Robotic Personalized Stent Graft Manufacturing 机器人个性化支架制造的视觉引导与自动控制

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794123

Yu Guo, Miao Sun, F. P. Lo, Benny P. L. Lo

{"title":"Visual Guidance and Automatic Control for Robotic Personalized Stent Graft Manufacturing","authors":"Yu Guo, Miao Sun, F. P. Lo, Benny P. L. Lo","doi":"10.1109/ICRA.2019.8794123","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794123","url":null,"abstract":"Personalized stent graft is designed to treat Abdominal Aortic Aneurysms (AAA). Due to the individual difference in arterial structures, stent graft has to be custom made for each AAA patient. Robotic platforms for autonomous personalized stent graft manufacturing have been proposed in recently which rely upon stereo vision systems for coordinating multiple robots for fabricating customized stent grafts. This paper proposes a novel hybrid vision system for real-time visual-sevoing for personalized stent-graft manufacturing. To coordinate the robotic arms, this system is based on projecting a dynamic stereo microscope coordinate system onto a static wide angle view stereo webcam coordinate system. The multiple stereo camera configuration enables accurate localization of the needle in 3D during the sewing process. The scale-invariant feature transform (SIFT) method and color filtering are implemented for stereo matching and feature identifications for object localization. To maintain the clear view of the sewing process, a visual-servoing system is developed for guiding the stereo microscopes for tracking the needle movements. The deep deterministic policy gradient (DDPG) reinforcement learning algorithm is developed for real-time intelligent robotic control. Experimental results have shown that the robotic arm can learn to reach the desired targets autonomously.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"11 1","pages":"8740-8746"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91294875","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

Improving the Performance of Auxiliary Null Space Tasks via Time Scaling-Based Relaxation of the Primary Task 基于时间尺度的主任务松弛改进辅助零空间任务的性能

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794225

Nico Mansfeld, Youssef Michel, T. Bruckmann, S. Haddadin

{"title":"Improving the Performance of Auxiliary Null Space Tasks via Time Scaling-Based Relaxation of the Primary Task","authors":"Nico Mansfeld, Youssef Michel, T. Bruckmann, S. Haddadin","doi":"10.1109/ICRA.2019.8794225","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794225","url":null,"abstract":"Kinematic redundancy enhances the dexterity and flexibility of robot manipulators. By exploiting the redundant degrees of freedom, auxiliary null space tasks can be carried out in addition to the primary task. Such auxiliary tasks are often formulated in terms of a performance or safety criterion that shall be minimized. If the optimization criterion, however, is defined in global terms, then it is directly affected by the primary task. As a consequence, the task achievement of the auxiliary task may be unnecessarily detrimented by the main task. In addition to modifying the primary task via constraint relaxation, a possible solution for improving the performance of the auxiliary task is to relax the primary task temporarily via time scaling. This gives the null space task more time for achieving its objective. In this paper, we propose several such time scaling schemes and verify their performance for a DLR/KUKA Lightweight Robot with one redundant degree of freedom. Finally, we extend the concept to multiple prioritized tasks and provide a simulation example.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"1 1","pages":"9342-9348"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88867347","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: 1

Surfel-Based Dense RGB-D Reconstruction With Global And Local Consistency 基于surf的全局和局部一致性稠密RGB-D重建

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794355

Yi Yang, W. Dong, M. Kaess

{"title":"Surfel-Based Dense RGB-D Reconstruction With Global And Local Consistency","authors":"Yi Yang, W. Dong, M. Kaess","doi":"10.1109/ICRA.2019.8794355","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794355","url":null,"abstract":"Achieving high surface reconstruction accuracy in dense mapping has been a desirable target for both robotics and vision communities. In the robotics literature, simultaneous localization and mapping (SLAM) systems use RGB-D cameras to reconstruct a dense map of the environment. They leverage the depth input to provide accurate local pose estimation and a locally consistent model. However, drift in the pose tracking over time leads to misalignments and artifacts. On the other hand, offline computer vision methods, such as the pipeline that combines structure-from-motion (SfM) and multi-view stereo (MVS), estimate the camera poses by performing batch optimization. These methods achieve global consistency, but suffer from heavy computation loads. We propose a novel approach that integrates both methods to achieve locally and globally consistent reconstruction. First, we estimate poses of keyframes in the offline SfM pipeline to provide strong global constraints at relatively low cost. Afterwards, we compute odometry between frames driven by off-the-shelf SLAM systems with high local accuracy. We fuse the two pose estimations using factor graph optimization to generate accurate camera poses for dense reconstruction. Experiments on real-world and synthetic datasets demonstrate that our approach produces more accurate models comparing to existing dense SLAM systems, while achieving significant speedup with respect to state-of-the-art SfM-MVS pipelines.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"9 5","pages":"5238-5244"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91480866","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: 5