2020 IEEE International Conference on Robotics and Automation (ICRA)最新文献_第4页

Reducing Uncertainty in Pose Estimation under Complex Contacts via Force Forecast 利用力预测减少复杂接触下姿态估计的不确定性

2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9197190

Huitan Mao, J. Xiao

引用次数: 6

Enhancing Bilevel Optimization for UAV Time-Optimal Trajectory using a Duality Gap Approach 利用对偶间隙法增强无人机时间最优轨迹的双层优化

2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9196789

Gao Tang, Weidong Sun, Kris K. Hauser

{"title":"Enhancing Bilevel Optimization for UAV Time-Optimal Trajectory using a Duality Gap Approach","authors":"Gao Tang, Weidong Sun, Kris K. Hauser","doi":"10.1109/ICRA40945.2020.9196789","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9196789","url":null,"abstract":"Time-optimal trajectories for dynamic robotic vehicles are difficult to compute even for state-of-the-art nonlinear programming (NLP) solvers, due to nonlinearity and bang-bang control structure. This paper presents a bilevel optimization framework that addresses these problems by decomposing the spatial and temporal variables into a hierarchical optimization. Specifically, the original problem is divided into an inner layer, which computes a time-optimal velocity profile along a given geometric path, and an outer layer, which refines the geometric path by a Quasi-Newton method. The inner optimization is convex and efficiently solved by interior-point methods. The gradients of the outer layer can be analytically obtained using sensitivity analysis of parametric optimization problems. A novel contribution is to introduce a duality gap in the inner optimization rather than solving it to optimality; this lets the optimizer realize warm-starting of the interior-point method, avoids non-smoothness of the outer cost function caused by active inequality constraint switching. Like prior bilevel frameworks, this method is guaranteed to return a feasible solution at any time, but converges faster than gap-free bilevel optimization. Numerical experiments on a drone model with velocity and acceleration limits show that the proposed method performs faster and more robustly than gap-free bilevel optimization and general NLP solvers.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"563 1","pages":"2515-2521"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77767681","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: 7

Schmidt-EKF-based Visual-Inertial Moving Object Tracking 基于schmidt - ekf的视觉惯性运动目标跟踪

2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9197352

Kevin Eckenhoff, Patrick Geneva, Nate Merrill, G. Huang

{"title":"Schmidt-EKF-based Visual-Inertial Moving Object Tracking","authors":"Kevin Eckenhoff, Patrick Geneva, Nate Merrill, G. Huang","doi":"10.1109/ICRA40945.2020.9197352","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9197352","url":null,"abstract":"In this paper we investigate the effect of tightly-coupled estimation on the performance of visual-inertial localization and dynamic object pose tracking. In particular, we show that while a joint estimation system outperforms its decoupled counterpart when given a \"proper\" model for the target’s motion, inconsistent modeling, such as choosing improper levels for the target’s propagation noises, can actually lead to a degradation in ego-motion accuracy. To address the realistic scenario where a good prior knowledge of the target’s motion model is not available, we design a new system based on the Schmidt-Kalman Filter (SKF), in which target measurements do not update the navigation states, however all correlations are still properly tracked. This allows for both consistent modeling of the target errors and the ability to update target estimates whenever the tracking sensor receives non-target data such as bearing measurements to static, 3D environmental features. We show in extensive simulation that this system, along with a robot-centric representation of the target, leads to robust estimation performance even in the presence of an inconsistent target motion model. Finally, the system is validated in a real-world experiment, and is shown to offer accurate localization and object pose tracking performance.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"1 1","pages":"651-657"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79890133","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: 11

Material Handling by Humanoid Robot While Pushing Carts Using a Walking Pattern Based on Capture Point 基于捕获点行走模式的人形机器人推车搬运物料

2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9196872

Jean Chagas Vaz, P. Oh

引用次数: 6

Analytical Expressions of Serial Manipulator Jacobians and their High-Order Derivatives based on Lie Theory* 基于Lie理论的串联机械臂雅可比矩阵及其高阶导数解析表达式*

2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9197131

Zhongtao Fu, Emmanouil Spyrakos-Papastavridis, Yen-hua Lin, J. Dai

{"title":"Analytical Expressions of Serial Manipulator Jacobians and their High-Order Derivatives based on Lie Theory*","authors":"Zhongtao Fu, Emmanouil Spyrakos-Papastavridis, Yen-hua Lin, J. Dai","doi":"10.1109/ICRA40945.2020.9197131","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9197131","url":null,"abstract":"Serial manipulator kinematics provide a mapping between joint variables in joint-space coordinates, and end-effector configurations in task-space Cartesian coordinates. Velocity mappings are represented via the manipulator Jacobian produced by direct differentiation of the forward kinematics. Acquisition of acceleration, jerk, and snap expressions, typically utilized for accurate trajectory-tracking, requires the computation of high-order Jacobian derivatives. As compared to conventional numerical/D-H approaches, this paper proposes a novel methodology to derive the Jacobians and their high-order derivatives symbolically, based on Lie theory, which requires that the derivatives are calculated with respect to each joint variable and time. Additionally, the technique described herein yields a mathematically sound solution to the high-order Jacobian derivatives, which distinguishes it from other relevant works. Performing computations with respect to the two inertial-fixed and body-fixed frames, the analytical form of the spatial and body Jacobians are derived, as well as their higher-order derivatives, without resorting to any approximations, whose expressions would depend explicitly on the joint state and the choice of reference frames. The proposed method provides more tractable computation of higher-order Jacobian derivatives, while its effectiveness has been verified by conducting a comparative analysis based on experimental data extracted from a KUKA LRB iiwa7 R800 manipulator.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"43 1","pages":"7095-7100"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76782613","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

MagicHand: Context-Aware Dexterous Grasping Using an Anthropomorphic Robotic Hand MagicHand:使用拟人化机械手的环境感知灵巧抓取

2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9196538

Hui Li, Jindong Tan, Hongsheng He

引用次数: 9

A Framework for Interactive Virtual Fixture Generation for Shared Teleoperation in Unstructured Environments 面向非结构化环境下共享遥操作的交互式虚拟夹具生成框架

2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9196579

Vitalii Pruks, J. Ryu

{"title":"A Framework for Interactive Virtual Fixture Generation for Shared Teleoperation in Unstructured Environments","authors":"Vitalii Pruks, J. Ryu","doi":"10.1109/ICRA40945.2020.9196579","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9196579","url":null,"abstract":"Virtual fixtures (VFs) improve human operator performance in teleoperation scenarios. However, the generation of VFs is challenging, especially in unstructured environments. In this work, we introduce a framework for the interactive generation of VF. The method is based on the observation that a human can easily understand just by looking at the remote environment which VF could help in task execution. We propose a user interface that detects features on camera images and permits interactive selection of the features. We demonstrate how the feature selection can be used for designing VF, providing 6-DOF haptic feedback. In order to make the proposed framework more generally applicable to a wider variety of applications, we formalize the process of virtual fixture generation (VFG) into the specification of features, geometric primitives, and constraints. The framework can be extended further by the introduction of additional components. Through the human subject study, we demonstrate the proposed framework is intuitive, easy to use while effective, especially for performing hard contact tasks.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"62 1","pages":"10234-10241"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82542262","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: 6

Stability Criteria of Balanced and Steppable Unbalanced States for Full-Body Systems with Implications in Robotic and Human Gait 全身系统平衡和可步非平衡状态的稳定性准则及其在机器人和人的步态中的应用

2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9196820

William Z. Peng, Carlotta Mummolo, Joo H. Kim

{"title":"Stability Criteria of Balanced and Steppable Unbalanced States for Full-Body Systems with Implications in Robotic and Human Gait","authors":"William Z. Peng, Carlotta Mummolo, Joo H. Kim","doi":"10.1109/ICRA40945.2020.9196820","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9196820","url":null,"abstract":"Biped walking involves a series of transitions between single support (SS) and double support (DS) contact configurations that can include both balanced and unbalanced states. The new concept of steppability is introduced to partition the set of unbalanced states into steppable states and falling (unsteppable) states based on the ability of a biped system to respond to forward velocity perturbations by stepping. In this work, a complete system-specific analysis of the stepping process including full-order nonlinear system dynamics is presented for the DARwIn-OP humanoid robot and a human subject in the sagittal plane with respect to both balance stability and steppability. The balance stability and steppability of each system are analyzed by numerical construction of its balance stability boundaries (BSB) for the initial SS and final DS contact configuration and the steppable unbalanced state boundary (SUB). These results are presented with center of mass (COM) trajectories obtained from walking experiments to benchmark robot controller performance and analyze the variation of balance stability and steppability with COM and swing foot position along the progression of a step cycle. For each system, DS BSBs were obtained with both constrained and unconstrained arms in order to demonstrate the ability of this approach to incorporate the effects of angular momentum and system-specific characteristics such as actuation torque, velocity, and angle limits.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"28 1","pages":"9789-9795"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82575846","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

Practical Persistence Reasoning in Visual SLAM 视觉SLAM的实践持续性推理

2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9196913

Z. S. Hashemifar, Karthik Dantu

引用次数: 7

Highly Parallelizable Plane Extraction for Organized Point Clouds Using Spherical Convex Hulls 基于球面凸壳的高度并行点云平面提取

2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9197139

Hannes Möls, Kailai Li, U. Hanebeck

引用次数: 12