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Design of a Parallel Haptic Device with Gravity Compensation by using its System Weight 利用系统重量进行重力补偿的并联触觉装置设计
2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9197065
Sung-moon Hur, Jaeyoung Park, Jaeheung Park, Yonghwan Oh
{"title":"Design of a Parallel Haptic Device with Gravity Compensation by using its System Weight","authors":"Sung-moon Hur, Jaeyoung Park, Jaeheung Park, Yonghwan Oh","doi":"10.1109/ICRA40945.2020.9197065","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9197065","url":null,"abstract":"This paper proposes a 6 degree of freedom (DoF) manipulator for haptic application. The proposed haptic device, named GHap, is designed based on the four-bar-linkage mechanism for linear motion with the ring-type gimbal mechanism. To improve the force display ability, the device is designed to compensate the gravity force of the manipulator by its own weight. The conceptual mechanical design is compared by placing the third joint, which controls the four-bar mechanism, in two different configurations. The forward kinematics and the jacobian of GHap are presented. Finally, the gravity compensation method and open-loop force display performance of the proposed haptic device are validated by an experiment with the GHap prototype.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"6 1","pages":"11103-11108"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77985271","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
Real-Time UAV Path Planning for Autonomous Urban Scene Reconstruction 基于自主城市场景重构的实时无人机路径规划
2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9196558
Qi Kuang, Jinbo Wu, Jia Pan, Bin Zhou
{"title":"Real-Time UAV Path Planning for Autonomous Urban Scene Reconstruction","authors":"Qi Kuang, Jinbo Wu, Jia Pan, Bin Zhou","doi":"10.1109/ICRA40945.2020.9196558","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9196558","url":null,"abstract":"Unmanned aerial vehicles (UAVs) are frequently used for large-scale scene mapping and reconstruction. However, in most cases, drones are operated manually, which should be more effective and intelligent. In this article, we present a method of real-time UAV path planning for autonomous urban scene reconstruction. Considering the obstacles and time costs, we utilize the top view to generate the initial path. Then we estimate the building heights and take close-up pictures that reveal building details through a SLAM framework. To predict the coverage of the scene, we propose a novel method which combines information on reconstructed point clouds and possible coverage areas. The experimental results reveal that the reconstruction quality of our method is good enough. Our method is also more time-saving than the state-of-the-arts.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"18 1","pages":"1156-1162"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75134707","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
Perception-aware time optimal path parameterization for quadrotors 四旋翼机感知时间最优路径参数化
2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9197157
Igor Spasojevic, Varun Murali, S. Karaman
{"title":"Perception-aware time optimal path parameterization for quadrotors","authors":"Igor Spasojevic, Varun Murali, S. Karaman","doi":"10.1109/ICRA40945.2020.9197157","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9197157","url":null,"abstract":"The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different choices of perceptual modalities are available, the low weight and power budgets of quadrotor systems makes a camera ideal for on-board navigation and estimation algorithms. However, this does come with a set of challenges. The limited field of view of the camera can restrict the visibility of salient regions in the environment, which dictates the necessity to consider perception and planning jointly. The main contribution of this paper is an efficient time optimal path parametrization algorithm for quadrotors with limited field of view constraints. We show in a simulation study that a state-of-the-art controller can track planned trajectories, and we validate the proposed algorithm on a quadrotor platform in experiments.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"10 1","pages":"3213-3219"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75531004","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: 27
Deep Depth Fusion for Black, Transparent, Reflective and Texture-Less Objects 深度融合黑色，透明，反射和无纹理的对象
2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9196894
Chun-Yu Chai, Yu-Po Wu, Shiao-Li Tsao
{"title":"Deep Depth Fusion for Black, Transparent, Reflective and Texture-Less Objects","authors":"Chun-Yu Chai, Yu-Po Wu, Shiao-Li Tsao","doi":"10.1109/ICRA40945.2020.9196894","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9196894","url":null,"abstract":"Structured-light and stereo cameras, which are widely used to construct point clouds for robotic applications, have different limitations on estimating depth values. Structured-light cameras fail in black, transparent, and reflective objects, which influence the light path; stereo cameras fail in texture-less objects. In this work, we propose a depth fusion model that complements these two types of methods to generate high-quality point clouds for short-range robotic applications. The model first determines the fusion weights from the two input depth images and then refines the fused depth using color features. We construct a dataset containing the aforementioned challenging objects and report the performance of our proposed model. The results reveal that our method reduces the average L1 distance on depth prediction by 75% and 52% compared with the original depth output of the structured-light camera and the stereo model, respectively. A noticeable improvement on the Iterative Closest Point (ICP) algorithm can be achieved by using the refined depth images output from our method.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"2 1","pages":"6766-6772"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75659340","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: 3
Bi-Convex Approximation of Non-Holonomic Trajectory Optimization 非完整轨迹优化的双凸逼近
2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9197092
A. Singh, Raghu Ram Theerthala, M. Babu, U. R. Nair, K. Krishna
{"title":"Bi-Convex Approximation of Non-Holonomic Trajectory Optimization","authors":"A. Singh, Raghu Ram Theerthala, M. Babu, U. R. Nair, K. Krishna","doi":"10.1109/ICRA40945.2020.9197092","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9197092","url":null,"abstract":"Autonomous cars and fixed-wing aerial vehicles have the so-called non-holonomic kinematics which non-linearly maps control input to states. As a result, trajectory optimization with such a motion model becomes highly non-linear and non-convex. In this paper, we improve the computational tractability of non-holonomic trajectory optimization by reformulating it in terms of a set of bi-convex cost and constraint functions along with a non-linear penalty. The bi-convex part acts as a relaxation for the non-holonomic trajectory optimization while the residual of the penalty dictates how well its output obeys the non-holonomic behavior. We adopt an alternating minimization approach for solving the reformulated problem and show that it naturally leads to the replacement of the challenging non-linear penalty with a globally valid convex surrogate. Along with the common cost functions modeling goal-reaching, trajectory smoothness, etc., the proposed optimizer can also accommodate a class of non-linear costs for modeling goal-sets, while retaining the bi-convex structure. We benchmark the proposed optimizer against off-the-shelf solvers implementing sequential quadratic programming and interior-point methods and show that it produces solutions with similar or better cost as the former while significantly outperforming the latter. Furthermore, as compared to both off-the-shelf solvers, the proposed optimizer achieves more than 20x reduction in computation time.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"106 1","pages":"476-482"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75672300","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
Design of a Roller-Based Dexterous Hand for Object Grasping and Within-Hand Manipulation 一种基于滚轮的灵巧手的抓握与手内操作设计
2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9197146
Shenli Yuan, A. D. Epps, Jerome B. Nowak, J. Salisbury
{"title":"Design of a Roller-Based Dexterous Hand for Object Grasping and Within-Hand Manipulation","authors":"Shenli Yuan, A. D. Epps, Jerome B. Nowak, J. Salisbury","doi":"10.1109/ICRA40945.2020.9197146","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9197146","url":null,"abstract":"This paper describes the development of a novel non-anthropomorphic robot hand with the ability to manipulate objects by means of articulated, actively driven rollers located at the fingertips. An analysis is conducted and systems of equations for two-finger and three-finger manipulation of a sphere are formulated to demonstrate full six degree of freedom nonholonomic spatial motion capability. A prototype version of the hand was constructed and used to grasp and manipulate a variety of objects. Tests conducted with the prototype confirmed the validity of the mathematical analysis. Unlike conventional approaches to within-hand manipulation using legacy robotic hands, the continuous rotation capability of our rolling fingertips allows for unbounded rotation of a grasped object without the need for finger gaiting.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"53 1","pages":"8870-8876"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72889748","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: 36
Preliminary Study of an Aerial Manipulator with Elastic Suspension 弹性悬架航空机械臂的初步研究
2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9196942
Arda Yiğit, Gustave Grappe, L. Cuvillon, S. Durand, J. Gangloff
{"title":"Preliminary Study of an Aerial Manipulator with Elastic Suspension","authors":"Arda Yiğit, Gustave Grappe, L. Cuvillon, S. Durand, J. Gangloff","doi":"10.1109/ICRA40945.2020.9196942","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9196942","url":null,"abstract":"This paper presents a preliminary study of an Aerial Manipulator suspended by a spring to a robotic carrier. The suspended aerial manipulator is actuated by six pairs of contra-rotating propellers generating a 6-DoF wrench. Simulations show path following results using a computed torque (feedback linearization) control strategy. Active vibration canceling is validated experimentally on a first prototype.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"31 1","pages":"4287-4293"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74617986","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
Grasp Control for Enhancing Dexterity of Parallel Grippers 提高并联抓取器灵巧性的抓取控制
2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9196873
M. Costanzo, G. Maria, Gaetano Lettera, C. Natale
{"title":"Grasp Control for Enhancing Dexterity of Parallel Grippers","authors":"M. Costanzo, G. Maria, Gaetano Lettera, C. Natale","doi":"10.1109/ICRA40945.2020.9196873","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9196873","url":null,"abstract":"A robust grasp controller for both slipping avoidance and controlled sliding is proposed based on force/tactile feedback only. The model-based algorithm exploits a modified LuGre friction model to consider rotational frictional sliding motions. The modification relies on the Limit Surface concept where a novel computationally efficient method is introduced to compute in real-time the minimum grasping force to balance tangential and torsional loads. The two control modalities are considered by the robot motion planning algorithm that automatically generates robot motions and gripper commands to solve complex manipulation tasks in a material handling application.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"76 1","pages":"524-530"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73605664","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
Reliable frame-to-frame motion estimation for vehicle-mounted surround-view camera systems 车载环视相机系统可靠的帧间运动估计
2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9197176
Yifu Wang, Kun Huang, Xin-Zhong Peng, Hongdong Li, L. Kneip
{"title":"Reliable frame-to-frame motion estimation for vehicle-mounted surround-view camera systems","authors":"Yifu Wang, Kun Huang, Xin-Zhong Peng, Hongdong Li, L. Kneip","doi":"10.1109/ICRA40945.2020.9197176","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9197176","url":null,"abstract":"Modern vehicles are often equipped with a surround-view multi-camera system. The current interest in autonomous driving invites the investigation of how to use such systems for a reliable estimation of relative vehicle displacement. Existing camera pose algorithms either work for a single camera, make overly simplified assumptions, are computationally expensive, or simply become degenerate under non-holonomic vehicle motion. In this paper, we introduce a new, reliable solution able to handle all kinds of relative displacements in the plane despite the possibly non-holonomic characteristics. We furthermore introduce a novel two-view optimization scheme which minimizes a geometrically relevant error without relying on 3D point related optimization variables. Our method leads to highly reliable and accurate frame-to-frame visual odometry with a full-size, vehicle-mounted surround-view camera system.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"7 1","pages":"1660-1666"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73908769","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
Studying Navigation as a Form of Interaction: a Design Approach for Social Robot Navigation Methods* 将导航作为一种交互形式进行研究:一种社交机器人导航方法的设计方法*
2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9197037
Philip Scales, O. Aycard, V. Aubergé
{"title":"Studying Navigation as a Form of Interaction: a Design Approach for Social Robot Navigation Methods*","authors":"Philip Scales, O. Aycard, V. Aubergé","doi":"10.1109/ICRA40945.2020.9197037","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9197037","url":null,"abstract":"Social Navigation methods attempt to integrate knowledge from Human Sciences fields such as the notion of Proxemics into mobile robot navigation. They are often evaluated in simulations, or lab conditions with informed participants, and studies of the impact of the robot behavior on humans are rare. Humans communicate and interact through many vectors, among which are motion and positioning, which can be related to social hierarchy and the socio-physical context. If a robot is to be deployed among humans, the methods it uses should be designed with this in mind. This work acts as the first step in an ongoing project in which we explore how to design navigation methods for mobile robots destined to be deployed among humans. We aim to consider navigation as more than just a functionality of the robot, and to study the impact of robot motion on humans. In this paper, we focus on the person-following task. We selected a state of the art person-following method as the basis for our method, which we modified and extended in order for it to be more general and adaptable. We conducted pilot experiments using this method on a real mobile robot in ecological contexts. We used results from the experiments to study the Human-Robot Interaction as a whole by analysing both the person-following method and the human behavior. Our preliminary results show that the way in which the robot followed a person had an impact on the interaction that emerged between them.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"54 1","pages":"6965-6972"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74088475","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
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