A framework for distributed computing consists of an integrated set of service components that allow distributed systems to operate together. Typically, distributed component frameworks offer at least the following se...
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Many places in the world are too rugged or enclosed for vehicles to access. Even today, material transport to such areas is limited to manual labor and beasts of burden. Modern advancements in wearable robotics may ma...
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ISBN:
(纸本)9783540481102
Many places in the world are too rugged or enclosed for vehicles to access. Even today, material transport to such areas is limited to manual labor and beasts of burden. Modern advancements in wearable robotics may make those methods obsolete. Lower extremity exoskeletons seek to supplement the intelligence and sensory systems of a human with the significant strength and endurance of a pair of wearable robotic legs that support a payload. This article first outlines the use of Clinical Gait Analysis data as the framework for the design of such a system at UC Berkeley. This data is used to design the exoskeleton degrees of freedom and size its actuators. It will then give an overview of one of the control schemes implemented on the BLEEX. The control algorithm described here increases the system closed loop sensitivity to its wearer's forces and torques without any measurement from the wearer (such as force, position, or electromyogram signal). The control algorithm uses the inverse dynamics of the exoskeleton, scaled by a number smaller than unity, as a positive feedback controller. This controller almost destabilizes the system since it leads to an overall loop gain slightly smaller than unity and results in a large sensitivity to all wearer's forces and torques thereby allowing the exoskeleton to shadow its wearer.
The software development process in robotics has been changing in recent years. Instead of developing monolithic programs for specific robots, programmers are using software components to build all kinds of robotic ap...
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3d reconstruction from a single image is inherently an ambiguous problem. Yet when we look at a picture, we can often infer 3d information about the scene. Humans perform single-image 3d reconstruct ions by using a va...
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ISBN:
(纸本)9783540481102
3d reconstruction from a single image is inherently an ambiguous problem. Yet when we look at a picture, we can often infer 3d information about the scene. Humans perform single-image 3d reconstruct ions by using a variety of single-image depth cues, for example, by recognizing objects and surfaces, and reasoning about how these surfaces are connected to each other. In this paper, we focus on the problem of automatic 3d reconstruction of indoor scenes, specifically ones (sometimes called "Manhattan worlds") that consist mainly of orthogonal planes. We use a Markov random field (MRF) model to identify the different planes and edges in the scene, as well as their orientations. Then, an iterative optimization algorithm is applied to infer the most probable position of all the planes, and thereby obtain a 3d reconstruction. Our approach is fully automatic-given an input image, no human intervention is necessary to obtain an approximate 3d reconstruction.
POMDPs provide a rich framework for planning and control in partially observable domains. Recent new algorithms have greatly improved the scalability of POMDPs, to the point where they can be used in robot application...
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ISBN:
(纸本)9783540481102
POMDPs provide a rich framework for planning and control in partially observable domains. Recent new algorithms have greatly improved the scalability of POMDPs, to the point where they can be used in robot applications. In this paper, we describe how approximate POMDP solving can be further improved by the use of a new theoretically-motivated algorithm for selecting salient information states. We present the algorithm, called PEMA, demonstrate competitive performance on a range of navigation tasks, and show how this approach is robust to mismatches between the robot's physical environment and the model used for planning.
Running robots on a deployment in the "real world" is very different from running them in a laboratory setting. Environmental conditions, such as lighting, are often completely beyond your control. There is ...
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Networked robotics [SG02, SG03] is a kind of Human-Robot Interaction [HRI04];the human operator collaborates with the robot for the execution of difficult tasks for which the robot cannot achieve a high level of auton...
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Parallel robots are nowadays leaving academic laboratories and are finding their way in an increasingly larger number of application fields such as telescopes, fine positioning devices, fast packaging, machine-tool, m...
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Recently, research on humanoid-type robots has become increasingly active, and a broad array of fundamental issues are under investigation. However, in order to achieve a humanoid robot which can operate in human envi...
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Autism is a pervasive developmental disorder that is characterized by social and communicative impairments. Social robots recognize and respond to human social cues with appropriate behaviors. Social robots, and the t...
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ISBN:
(纸本)9783540481102
Autism is a pervasive developmental disorder that is characterized by social and communicative impairments. Social robots recognize and respond to human social cues with appropriate behaviors. Social robots, and the technology used in their construction, can be unique tools in the study of autism. Based on three years of integration and immersion with a clinical research group, this paper discusses how social robots will make an impact on the ways in which we diagnose, treat, and understand autism.
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