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检索条件"丛书名=Springer Tracts in Advanced Robotics"

共 918 条记录，以下是361-370 订阅

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Anthropomorphic Soft robotics - From Torque Control to Variable Intrinsic Compliance

Anthropomorphic Soft Robotics - From Torque Control to Varia...

引用

14th International Symposium on robotics Research (ISSR)

作者： Albu-Schaeffer, Alin Eiberger, Oliver Fuchs, Matthias Grebenstein, Markus Haddadin, Sami Ott, Christian Stemmer, Andreas Wimboeck, Thomas Wolf, Sebastian Borst, Christoph Hirzinger, Gerd German Aerosp Ctr DLR Inst Robot & Mechatron Cologne Germany

ISBN: (纸本)9783642194566

The paper gives an overview on the developments at the German Aerospace Center DLR towards anthropomorphic robots which not only try to approach the force and velocity performance of humans, but also have similar safety and robustness features based on a compliant behaviour. We achieve this compliance either by joint torque sensing and impedance control, or, in our newest systems, by compliant mechanisms (so called VIA - variable impedance actuators), whose intrinsic compliance can be adjusted by an additional actuator. Both approaches required highly integrated mechatronic design and advanced, nonlinear control and planning strategies, which are presented in this paper.

关键词： Actuators

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Haptography: Capturing and Recreating the Rich Feel of Real Surfaces

Haptography: Capturing and Recreating the Rich Feel of Real ...

引用

14th International Symposium on robotics Research (ISSR)

作者： Kuchenbecker, Katherine J. Romano, Joseph McMahan, William Univ Penn Grasp Lab Hapt Grp Philadelphia PA 19104 USA

ISBN: (纸本)9783642194566

Haptic interfaces, which allow a user to touch virtual and remote environments through a hand-held tool, have opened up exciting new possibilities for applications such as computer-aided design and robot-assisted surgery. Unfortunately, the haptic renderings produced by these systems seldom feel like authentic re-creations of the richly varied surfaces one encounters in the real world. We have thus envisioned the new approach of haptography, or haptic photography, in which an individual quickly records a physical interaction with a real surface and then recreates that experience for a user at a different time and/or place. This paper presents an overview of the goals and methods of haptography, emphasizing the importance of accurately capturing and recreating the high frequency accelerations that occur during tool-mediated interactions. In the capturing domain, we introduce a new texture modeling and synthesis method based on linear prediction applied to acceleration signals recorded from real tool interactions. For recreating, we show a new haptography handle prototype that enables the user of a Phantom Omni to feel fine surface features and textures.

关键词： Haptic interfaces

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Combining Laser-Scanning Data and Images for Target Tracking and Scene Modeling

Combining Laser-Scanning Data and Images for Target Tracking...

引用

14th International Symposium on robotics Research (ISSR)

作者： Zha, Hongbin Zhao, Huijing Cui, Jinshi Song, Xuan Ying, Xianghua Peking Univ Key Lab Machine Percept MoE Beijing Peoples R China

ISBN: (纸本)9783642194566

Working environments of modern robots have changed to unstructured, dynamic and outdoor scenes. There emerged several new challenges along with these changes, mainly in perception of both static and dynamic objects of the scenes. To tackle these new challenges, this research focused on study of advanced perception systems that can simultaneously model static scenes and track dynamic objects. Our research has three features. Multi-view and multi-type sensors, together with machine learning based algorithms, are utilized to obtain robust and reliable mapping/tracking results. In addition, a car-based mobile perception system is developed for exploring large sites. Finally, to improve robustness of the multi-view and mobile perception system, some new camera calibration methods are proposed. This paper presents an overview of our recent study on above mentioned ideas and technologies. Specifically we will focus on multi-sensor based multiple target tracking, simultaneous 3D mapping and target tracking in a mobile platform, and camera calibration.

关键词： Target tracking

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Learning Landmark Selection Policies for Mapping Unknown Environments

Learning Landmark Selection Policies for Mapping Unknown Env...

引用

14th International Symposium on robotics Research (ISSR)

作者： Strasdat, Hauke Stachniss, Cyrill Burgard, Wolfram Univ London Imperial Coll Sci Technol & Med Dept Comp 180 Queens Gate London SW7 2AZ England Univ Freiburg Dept Comp Sci D-79110 Freiburg Germany

ISBN: (纸本)9783642194566

In general, a mobile robot that operates in unknown environments has to maintain a map and has to determine its own location given the map. This introduces significant computational and memory constraints for most autonomous systems, especially for lightweight robots such as humanoids or flying vehicles. In this paper, we present a universal approach for learning a landmark selection policy that allows a robot to discard landmarks that are not valuable for its current navigation task. This enables the robot to reduce the computational burden and to carry out its task more efficiently by maintaining only the important landmarks. Our approach applies an unscented Kalman filter for addressing the simultaneous localization and mapping problem and uses Monte-Carlo reinforcement learning to obtain the selection policy. In addition to that, we present a technique to compress learned policies without introducing a performance loss. In this way, our approach becomes applicable on systems with constrained memory resources. Based on real world and simulation experiments, we show that the learned policies allow for efficient robot navigation and outperform handcrafted strategies. We furthermore demonstrate that the learned policies are not only usable in a specific scenario but can also be generalized towards environments with varying properties.

关键词： Robots

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Musical Robots and Interactive Multimodal Systems 2011

引用

丛书名： springer tracts in advanced robotics

2011年

作者： Jorge Solis Kia Ng

ISBN: (数字)9783642222917

ISBN: (纸本)9783642222900

Musical robotics is a multi- and trans-disciplinary research area involving a wide range of different domains that contribute to its development, including: computer science, multimodal interfaces and processing, artificial intelligence, electronics, robotics, mechatronics and more. A musical robot requires many different complex systems to work together; integrating musical representation, techniques, expressions, detailed analysis and controls, for both playing and listening. The development of interactive multimodal systems provides advancements which enable enhanced human-machine interaction and novel possibilities for embodied robotic platforms. This volume is focused on this highly exciting interdisciplinary field. This book consists of 14 chapters highlighting different aspects of musical activities and interactions, discussing cutting edge research related to interactive multimodal systems and their integration with robots to further enhance musical understanding, interpretation, performance, education and enjoyment. It is dichotomized into two sections: Section I focuses on understanding elements of musical performance and expression while Section II concentrates on musical robots and automated instruments. Musical Robots and Interactive Multimodal Systems provides an introduction and foundation for researchers, students and practitioners to key achievements and current research trends on interactive multimodal systems and musical robotics.

关键词： Music robotics Interactive multimedia

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Design and Analysis of Hybrid Systems, with Applications to Robotic Aerial Vehicles

Design and Analysis of Hybrid Systems, with Applications to ...

引用

14th International Symposium on robotics Research (ISSR)

作者： Gillula, Jeremy H. Huang, Haomiao Vitus, Michael P. Tomlin, Claire J. Stanford Univ Dept Comp Sci Stanford CA 94305 USA Stanford Univ Dept Aeronaut & Astronaut Stanford CA 94305 USA Univ Calif Berkeley Elect Engn & Comp Sci Dept Berkeley CA 94720 USA

ISBN: (纸本)9783642194566

Decomposing complex, highly nonlinear systems into aggregates of simpler hybrid modes has proven to be a very successful way of designing and controlling autonomous vehicles. Examples include the use of motion primitives for robotic motion planning and equivalently the use of discrete maneuvers for aggressive aircraft trajectory planning. In all of these approaches, it is extremely important to verify that transitions between modes are safe. In this paper, we present the use of a Hamilton-Jacobi differential game formulation for finding continuous reachable sets as a method of generating provably safe transitions through a sequence of modes for a quadrotor performing a backflip maneuver.

关键词： Hybrid systems

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Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints

Synthesis of Controllers to Create, Maintain, and Reconfigur...

引用

14th International Symposium on robotics Research (ISSR)

作者： Ayanian, Nora Kumar, Vijay Koditschek, Daniel Grasp Lab Philadelphia PA USA

ISBN: (纸本)9783642194566

We address the synthesis of controllers for groups of multi-robot systems that enable them to create desired labelled formations and maintain those formations while travelling through an environment with obstacles, with constraints on communication. We assume that individuals in a group are capable of close coordination via high bandwidth communication, but coordination across groups must be limited because communication links are either sporadic or more expensive. We describe a method for developing feedback controllers that is entirely automatic, and provably correct by construction. We provide a framework with which navigation of multiple groups in environments with obstacles is possible. Our framework enables scaling to many groups of robots. While our paper mainly addresses groups of planar robots in R-2, the basic ideas are extensible to R-3.

关键词： Controllers

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Learning Visual Representations for Interactive Systems

Learning Visual Representations for Interactive Systems

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14th International Symposium on robotics Research (ISSR)

作者： Piater, Justus Jodogne, Sebastien Detry, Renaud Kraft, Dirk Krueger, Norbert Kroemer, Oliver Peters, Jan Univ Liege INTELSIG Lab B-4000 Liege Belgium Univ Southern Denmark Odense Denmark Max Planck Inst Biolog Cybernet Tubingen Germany

ISBN: (纸本)9783642194566

We describe two quite different methods for associating action parameters to visual percepts. Our RLVC algorithm performs reinforcement learning directly on the visual input space. To make this very large space manageable, RLVC interleaves the reinforcement learner with a supervised classification algorithm that seeks to split perceptual states so as to reduce perceptual aliasing. This results in an adaptive discretization of the perceptual space based on the presence or absence of visual features. Its extension RLJC also handles continuous action spaces. In contrast to the minimalistic visual representations produced by RLVC and RLJC, our second method learns structural object models for robust object detection and pose estimation by probabilistic inference. To these models, the method associates grasp experiences autonomously learned by trial and error. These experiences form a nonparametric representation of grasp success likelihoods over gripper poses, which we call a grasp density. Thus, object detection in a novel scene simultaneously produces suitable grasping options.

关键词： Object detection

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Planning and control for cooperative manipulation and transportation with aerial robots

Planning and control for cooperative manipulation and transp...

引用

14th International Symposium on robotics Research (ISSR)

作者： Fink, Jonathan Michael, Nathan Kim, Soonkyum Kumar, Vijay Univ Penn Philadelphia PA 19104 USA

ISBN: (纸本)9783642194566

We consider the planning and control of multiple aerial robots manipulating and transporting a payload in three dimensions via cables. Individual robot control laws and motion plans enable the control of the payload (position and orientation) along a desired trajectory. We address the fact that robot configurations may admit multiple payload equilibrium solutions by developing constraints for the robot configuration that guarantee the existence of a unique payload pose. Further, we formulate individual robot control laws that enforce these constraints and enable the design of non-trivial payload motion plans. Finally, we propose two quality measures for motion plan design that minimize individual robot motion and maximize payload stability along the trajectory. The methods proposed in the work are evaluated through simulation and experimentation with a team of three quadrotors.

关键词： Aerial robotics manipulation planning kinematics under-actuated control

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Floating Visual Grasp of Unknown Objects Using an Elastic Reconstruction Surface

Floating Visual Grasp of Unknown Objects Using an Elastic Re...

引用

14th International Symposium on robotics Research (ISSR)

作者： Lippiello, Vincenzo Ruggiero, Fabio Siciliano, Bruno Univ Naples Federico II PRISMA Lab Dipartimento Informat & Sistemist Naples Italy

ISBN: (纸本)9783642194566

In this paper a new method for fast visual grasp of unknown objects is presented. The method is composed of an object surface reconstruction algorithm and of a local grasp planner, evolving in a parallel way. The reconstruction algorithm makes use of images taken by a camera carried by the robot, mounted in an eye-in-hand configuration. An elastic reconstruction sphere, composed by masses interconnected each other by springs, is virtually placed around the object. The sphere is let to evolve dynamically under the action of external forces, which push the masses towards the object centroid. To smoothen the surface evolution, spatial dampers are attached to each mass. The reconstruction surface shrinks toward its center of mass until some pieces of its surface intercept the object visual hull, and thus local rejection forces are generated to push out the reconstruction points until they stay into the visual hull. This process shapes the sphere around the unknown object. Running in parallel to the reconstruction algorithm, the grasp planner moves the fingertips, floating on the current available reconstructed surface, according to suitable quality measures. The fingers keep moving towards local minima depending on the evolution of the reconstruction surface deformation. The process stops when the object has been completely reconstructed and the planner reaches a local minimum. Quality measures considering both hand and grasp proprieties are adopted. Simulations are presented, showing the effectiveness of the proposed algorithm.

关键词： Spheres

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