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

共 918 条记录，以下是41-50 订阅

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Modular Design of Image Based Visual Servo Control for Dynamic Mechanical Systems 15th

Modular Design of Image Based Visual Servo Control for Dynam...

引用

15th International Symposium of robotics Research (ISRR)

作者： Mahony, Robert Australian Natl Univ Canberra ACT 0200 Australia

ISBN: (纸本)9783319293639;9783319293622

This paper presents a modular framework for design of image based visual servo control for fully actuated dynamic mechanical systems. The approach taken uses the formalism of port Hamiltonian systems to track energy exchanged between the mechanical system and virtual potentials or Hamiltonians associated with each image feature. Asymptotic stability of the system is guaranteed by injecting damping to the otherwise conservative system. A simple approach based on full state measurement is presented and then extended to deal with unmeasured relative depth of image features.

关键词： Asymptotic stability

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Force Sensing by Microrobot on a Chip 15th

Force Sensing by Microrobot on a Chip

引用

15th International Symposium of robotics Research (ISRR)

作者： Kawahara, Tomohiro Arai, Fumihito Kyushu Inst Technol Wakamatsu Ku 2-4 Hibikino Kitakyushu Fukuoka 8080196 Japan Nagoya Univ Chikusa Ku Furo Cho Nagoya Aichi 4648603 Japan

ISBN: (纸本)9783319293639;9783319293622

In this paper, we discuss a force sensing by microrobot called magnetically driven microtool (MMT) in a microfluidic chip. On-chip force sensor is fabricated by assembling layers to neglect the friction issue and it is actuated by permanent magnets, which supply mN order force to stimulate microorganisms. The displacement is magnified by designing beams on the force sensor and the sensor achieved 100 mu N resolutions. We succeeded in on-chip stimulation and evaluation of Pleurosira laevis by developed MMT with force sensing structure.

关键词： Data communication equipment

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Unsupervised 3D Object Discovery and Categorization for Mobile Robots 15th

Unsupervised 3D Object Discovery and Categorization for Mobi...

引用

15th International Symposium of robotics Research (ISRR)

作者： Shin, Jiwon Triebel, Rudolph Siegwart, Roland ETH Autonomous Syst Lab Zurich Switzerland Univ Oxford Oxford Mobile Robot Grp Oxford England

ISBN: (纸本)9783319293639;9783319293622

We present a method for mobile robots to learn the concept of objects and categorize them without supervision using 3D point clouds from a laser scanner as input. In particular, we address the challenges of categorizing objects discovered in different scans without knowing the number of categories. The underlying object discovery algorithm finds objects per scan and gives them locally-consistent labels. To associate these object labels across all scans, we introduce class graph which encodes the relationship among local object class labels. Our algorithm finds the mapping from local class labels to global category labels by inferring on this graph and uses this mapping to assign the final category label to the discovered objects. We demonstrate on real data our algorithm's ability to discover and categorize objects without supervision.

关键词： Mobile robots

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Computational Human Model as Robot Technology 15th

Computational Human Model as Robot Technology

引用

15th International Symposium of robotics Research (ISRR)

作者： Nakamura, Yoshihiko Univ Tokyo Dept Mechanoinformat Bunkyo Ku 7-3-1 Hongo Tokyo 1138656 Japan

ISBN: (纸本)9783319293639;9783319293622

The study of computational approach to human understanding has been the history of artificial intelligence. The robotics developments in algorithms and software have prepared the powerful research tools that were not available when the study of intelligence started from unembodied frameworks. The computational human model is a large field of research. The author and the colleagues have studied by focussing on behavioral modeling and anatomical modeling. The aims of study on human modeling are double faces of a coin. One side is to develop the technological foundation to predict human behaviors including utterance for robots communicating with the humans. The other side is to develop the quantitative methods to estimate the internal states of the humans. The former directly connected to the development of robotic applications in the aging societies. The latter finds fields of application in medicine, rehabilitation, pathology, gerontology, development, and sports science. This paper survey the recent research of the authors group on the anatomical approach to the computational human modeling.

关键词： Behavioral research

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A Multi-robot Control Policy for Information Gathering in the Presence of Unknown Hazards 15th

A Multi-robot Control Policy for Information Gathering in th...

引用

15th International Symposium of robotics Research (ISRR)

作者： Schwager, Mac Dames, Philip Rus, Daniela Kumar, Vijay Univ Penn Grasp Lab 3330 Walnut St Philadelphia PA 19104 USA MIT Comp Sci & Artificial Intelligence Lab 32 Vassar St Cambridge MA 02139 USA

ISBN: (纸本)9783319293639;9783319293622

This paper addresses the problem of deploying a network of robots to gather information in an environment, where the environment is hazardous to the robots. This may mean that there are adversarial agents in the environment trying to disable the robots, or that some regions of the environment tend to make the robots fail, for example due to radiation, fire, adverse weather, or caustic chemicals. A probabilistic model of the environment is formulated, under which recursive Bayesian filters are used to estimate the environment events and hazards online. The robots must control their positions both to avoid sensor failures and to provide useful sensor information by following the analytical gradient of mutual information computed using these online estimates. Mutual information is shown to combine the competing incentives of avoiding failure and collecting informative measurements under a common objective. Simulations demonstrate the performance of the algorithm.

关键词： Robots

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robotics, Vision and Control 2nd ed. 2017

引用

丛书名： springer tracts in advanced robotics

2017年

作者： Peter Corke

ISBN: (数字)9783319544137

ISBN: (纸本)9783319544120

Robotic vision, the combination of robotics and computer vision, involves the application of computer algorithms to data acquired from sensors. The research community has developed a large body of such algorithms but for a newcomer to the field this can be quite daunting. For over 20 years the author has maintained two open-source MATLAB Toolboxes, one for robotics and one for vision. They provide implementations of many important algorithms and allow users to work with real problems, not just trivial examples. This book makes the fundamental algorithms of robotics, vision and control accessible to all. It weaves together theory, algorithms and examples in a narrative that covers robotics and computer vision separately and together. Using the latest versions of the Toolboxes the author shows how complex problems can be decomposed and solved using just a few simple lines of code. The topics covered are guided by real problems observed by the author over many years as a practitioner of both robotics and computer vision. It is written in an accessible but informative style, easy to read and absorb, and includes over 1000 MATLAB and Simulink examples and over 400 figures. The book is a real walk through the fundamentals of mobile robots, arm robots. then camera models, image processing, feature extraction and multi-view geometry and finally bringing it all together with an extensive discussion of visual servo systems. This second edition is completely revised, updated and extended with coverage of Lie groups, matrix exponentials and twists; inertial navigation; differential drive robots; lattice planners; pose-graph SLAM and map making; restructured material on arm-robot kinematics and dynamics; series-elastic actuators and operational-space control; Lab color spaces; light field cameras; structured light, bundle adjustment and visual odometry; and photometric visual servoing. An authoritative book, reaching across fields, thoughtfully conceived and brilliantly accompli

关键词： robotics. Computer vision. MATLAB. Control systems.

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Opportunities and Challenges with Autonomous Micro Aerial Vehicles 15th

Opportunities and Challenges with Autonomous Micro Aerial Ve...

引用

15th International Symposium of robotics Research (ISRR)

作者： Kumar, Vijay Michael, Nathan Univ Penn Dept Mech Engn & Appl Mech Grasp Lab Philadelphia PA 19104 USA

ISBN: (纸本)9783319293639;9783319293622

We survey the recent work on micro-UAVs, a fast-growing field in robotics, outlining the opportunities for research and applications, along with the scientific and technological challenges. Micro-UAVs can operate in three-dimensional environments, explore and map multi-story buildings, manipulate and transport objects, and even perform such tasks as assembly. While fixed-base industrial robots were the main focus in the first two decades of robotics, and mobile robots enabled most of the significant advances during the next two decades, it is likely that UAVs, and particularly micro-UAVs will provide a major impetus for the third phase of development.

关键词： Industrial robots

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Active Classification: Theory and Application to Underwater Inspection 15th

Active Classification: Theory and Application to Underwater ...

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15th International Symposium of robotics Research (ISRR)

作者： Hollinger, Geoffrey A. Mitra, Urbashi Sukhatme, Gaurav S. Univ Southern Calif Viterbi Sch Engn Comp Sci Dept Los Angeles CA 90089 USA Univ Southern Calif Viterbi Sch Engn Elect Engn Dept Los Angeles CA 90089 USA

ISBN: (纸本)9783319293639;9783319293622

We discuss the problem in which an autonomous vehicle must classify an object based on multiple views. We focus on the active classification setting, where the vehicle controls which views to select to best perform the classification. The problem is formulated as an extension to Bayesian active learning, and we show connections to recent theoretical guarantees in this area. We formally analyze the benefit of acting adaptively as new information becomes available. The analysis leads to a probabilistic algorithm for determining the best views to observe based on information theoretic costs. We validate our approach in two ways, both related to underwater inspection: 3D polyhedra recognition in synthetic depth maps and ship hull inspection with imaging sonar. These tasks encompass both the planning and recognition aspects of the active classification problem. The results demonstrate that actively planning for informative views can reduce the number of necessary views by up to 80 % when compared to passive methods.

关键词： Information theory

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Progress on "Pico" Air Vehicles 15th

Progress on "Pico" Air Vehicles

引用

15th International Symposium of robotics Research (ISRR)

作者： Wood, Robert J. Finio, Benjamin Karpelson, Michael Ma, Kevin Perez-Arancibia, Nestor O. Sreetharan, Pratheev S. Tanaka, Hiro Whitney, John P. Harvard Sch Engn & Appl Sci 33 Oxford St Cambridge MA 02138 USA

ISBN: (纸本)9783319293639;9783319293622

As the characteristic size of a flying robot decreases, the challenges for successful flight revert to basic questions of fabrication, actuation, fluid mechanics, stabilization, and power-whereas such questions have in general been answered for larger aircraft. When developing a flying robot on the scale of a common housefly, all hardware must be developed from scratch as there is nothing "off-the-shelf" which can be used for mechanisms, sensors, or computation that would satisfy the extreme mass and power limitations. This technology void also applies to techniques available for fabrication and assembly of the aeromechanical components: the scale and complexity of the mechanical features requires new ways to design and prototype at scales between macro and MEMS, but with rich topologies and material choices one would expect in designing human-scale vehicles. With these challenges in mind, we present progress in the essential technologies for insect-scale robots, or "pico" air vehicles.

关键词： Fluid mechanics

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Learning from Experience in Manipulation Planning: Setting the Right Goals 15th

Learning from Experience in Manipulation Planning: Setting t...

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15th International Symposium of robotics Research (ISRR)

作者： Dragan, Anca D. Gordon, Geoffrey J. Srinivasa, Siddhartha S. Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA Carnegie Mellon Univ Machine Learning Dept Pittsburgh PA 15213 USA

ISBN: (纸本)9783319293639;9783319293622

In this paper, we describe a method of improving trajectory optimization based on predicting good initial guesses from previous experiences. In order to generalize to new situations, we propose a paradigm shift: predicting qualitative attributes of the trajectory that place the initial guess in the basin of attraction of a low-cost solution. We start with a key such attribute, the choice of a goal within a goal set that describes the task, and show the generalization capabilities of our method in extensive experiments on a personal robotics platform.

关键词： Artificial intelligence

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