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Attention Driven Grasping for Clearing a Heap of Objects

Attention Driven Grasping for Clearing a Heap of Objects

引用

IEEE/RSJ international conference on Intelligent robotics and Systems

作者： Karthik Mahesh Varadarajan Ekaterina Potapova Markus Vincze Vienna University of Technology Automation and Control Institute Gusshausstrasse 30 / E376 A-1040 Vienna Austria

ISBN: (纸本)9781467317375

Generation of grasps for automated object manipulation in cluttered scenarios presents major challenges for various modules of the pipeline such as 2D/3D visual processing, 3D modeling, grasp hypothesis generation, grasp planning and path planning. In this paper, we present a solution framework for solving a complex instance of the problem - represented by a heap of unknown and unstructured objects in a bounded environment - in our case, a box;with the goal being removing all objects in the box using an attention driven object modeling approach to cognitive grasp planning. the focus of the algorithm delves on Grasping by Components (GBC), with a prioritization scheme derived from scene based attention and attention driven segmentation. In order to overcome the traditional challenge of segmentation performing poorly in cluttered scenes, we employ a novel active segmentation approach suited to our scenario. While the attention module helps prioritize objects in the heap and salient regions, the GBC scheme segments out parts and generates grasp hypotheses for each part. GBC is a very important component of any scalable and holistic grasping system since it abstracts point cloud object data with parametric shapes and no apriori knowledge (such as 3D models) is required. Earlier work in 3D model building (such as CAD based, simple geometries, bounding boxes, Superquadrics etc.) have depended on precise shape and pose recognition as well as exhaustive training to learn or exhaustive searching in grasp space to generate good grasp hypotheses. these methods are not scalable for real-time scenarios, complex shapes and unknown environments - key challenges in robotic grasping. In order to alleviate this concern, we present a novel parametric algorithm to estimate grasp points and approach vectors from the 3D parametric shape model, along with innovative schemes to optimize the computation of the parametric models as well as to refine the generated grasp hypotheses based on th

关键词： Superquadrics Grasp Hypotheses Active Segmentation Approach Vectors Attention Grasp hyperquadric heap Path planning Boxes Buxus sempervirens segmentation

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Dynamic Modeling and Simulation of Rowing with a robotics Formalism

Dynamic Modeling and Simulation of Rowing with a Robotics Fo...

引用

16th international conference on methods and models in automation and robotics (MMAR)

作者： Rongere, Francois Khalil, Wisama Kobus, Jean-Michel LMF Nantes France IRCCyN Nantes France

ISBN: (纸本)9781457709142

this paper presents a robotics framework intended to be used for rowing simulation. It provides kinematic and inverse dynamic models for the system composed of boat, rowers and oars. the inverse dynamic model is based on the Recursive Newton-Euler Algorithm with free-floating base dealing with tree-structured systems with kinematic loops. Examples of simulations of a rowing-like model are given along with external force models. It is composed of a total of 6 links for the rower and the oars, the floating boat, and 7 joints. It presents a branched structure with one loop enabling to test the ability of the framework regarding its goals.

关键词： Rowing simulating dynamic models robotics kinematics inverse kinematics modeling and simulation Boats Frameworks formalism BRANCH STRUCTURES

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Asymptotic Stability of the Positive Switched 2D Linear Systems Described by the Roesser models

Asymptotic Stability of the Positive Switched 2D Linear Syst...

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16th international conference on methods and models in automation and robotics (MMAR)

作者： Cimochowski, Robert Bialystok Tech Univ Fac Elect Engn Bialystok Poland

the positive switched 2D linear systems described by the Roesser models are addressed. Necessary and sufficient conditions for the asymptotic stability of the positive switched 2D linear systems described by the Roess... 详细信息

ISBN: (纸本)9781457709142

关键词： asymptotic stability region Linear system Positive Sufficient conditions

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A methodology of estimating hybrid black-box - prior knowledge models of an industrial processes

A methodology of estimating hybrid black-box - prior knowled...

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16th international conference on methods and models in automation and robotics (MMAR)

作者： Stachura, Marcin Janiszowski, Krzysztof Warsaw Univ Technol Fac Mechatron Warsaw Poland

ISBN: (纸本)9781457709142

the paper presents a combined prior knowledge - black-box approach to modeling of the dynamic systems. Proposed methodology assumes two basic steps: first an optimization of a physical model, using Particle Swarm Optimization algorithm is performed. Next, a black-box model is estimated so as to reduce the remaining error of the physical model. Proposed methodology was presented on the example of improving the accuracy of a pneumatic actuator physical model.

关键词： physical models Industrial processes BOX models Dynamic systems particle swarm algorithm basic sequence methodology Pneumatic actuators

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New method of fractional order integrator analog modeling for orders 0.5 and 0.25

New method of fractional order integrator analog modeling fo...

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16th international conference on methods and models in automation and robotics (MMAR)

作者： Sierociuk, Dominik Dzieinski, Andrzej Warsaw Univ Technol Inst Control & Ind Elect Warsaw Poland

ISBN: (纸本)9781457709142

In the paper a novel method of analog modeling of fractional order integrators is presented. In particular, two special cases are discussed, i.e. integrators of order alpha = 0.25, and alpha = 0.5. the method proposed is based on the domino ladder approximation of irrational transfer function. It allows to obtain an analog model using only electric elements like resistors and capacitors of standard produced values.

关键词： Analog models integrators fractional order new methods Resistor Device Component LADDER APPROXIMATION

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Direct Adaptive Fuzzy Control for a Two-Link Space Robot

Direct Adaptive Fuzzy Control for a Two-Link Space Robot

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16th international conference on methods and models in automation and robotics (MMAR)

作者： Ulrich, Steve Sasiadek, Jurek Z. Carleton Univ Dept Mech & Aerosp Engn Ottawa ON K1S 5B6 Canada

ISBN: (纸本)9781457709142

An adaptive fuzzy logic control scheme is developed for tracking a square trajectory by the endpoint of a two-link rigid joint space robot. the control strategy is based on a direct adaptive control scheme in which the controller gains are adapted in real-time according to fuzzy logic systems such that the tracking errors between a reference model and the actual robot system outputs are brought to zero.

关键词： adaptive fuzzy control Fuzzy control reference model aerospace robotics control strategy fuzzy logic system controller gain End Point Mentoring Zero follow error Joint space Robot System

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High-level controller for an arm rehabilitation robot - positioning algorithms with respect to EMG data

High-level controller for an arm rehabilitation robot - posi...

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16th international conference on methods and models in automation and robotics (MMAR)

作者： Gmerek, Artur Jan Tech Univ Lodz Inst Automat Control PL-90924 Lodz Poland

ISBN: (纸本)9781457709142

this paper touches upon the issue of dexterous control of rehabilitation robots. there have been proposed a high-level control system and algorithms used for training patients. Emphasis was made especially on the gravitation compensation algorithm, because of the low velocity and acceleration of movement parameters during rehabilitation. the direction of movements was estimated based on the model of surface electromyographic (sEMG) signal, which renders muscle activity very well. the model of manipulator is stable, behaves in a predictable way and, according to the EMG interpretation block, satisfyingly deduces the intention of motion and controls the model.

关键词： Rehabilitation robotics Moving parameter level controller low speed control systems algorithms acceleration Controllers surface modeling

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Modeling and Exact Feed Forward Control of Air and Burned Gas Fraction within SI Engine Cylinders

Modeling and Exact Feed Forward Control of Air and Burned Ga...

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16th international conference on methods and models in automation and robotics (MMAR)

作者： Beckmann, Robert Drewelow, Wolfgang Univ Rostock Inst Automat D-2500 Rostock 1 Germany

ISBN: (纸本)9781457709142

A physically based, nonlinear model of the masses of air and burned gas inside the cylinders of a spark ignition (SI) engine is presented. Goal of this work is to develop a feed forward control law, which perfectly tracks given reference values of these masses. this is done by utilizing the exact linearization approach [1]. the final feed forward control law is verified in combination with a slightly modified design model as well as the original model.

关键词： Engine cylinders FEEDFORWARD CONTROL GAS FRACTION AIR CONTROLLING air Modeling Design models Burns original model Nonlinear models control law reference value

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An unscented Kalman filter approach to designing GMDH neural networks: Application to the tunnel furnace

An unscented Kalman filter approach to designing GMDH neural...

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16th international conference on methods and models in automation and robotics (MMAR)

作者： Luzar, Marcel Mrugalski, Marcin Witczak, Marcin Korbicz, Jozef Univ Zielona Gora Inst Control & Computat Engn PL-65246 Zielona Gora Poland

ISBN: (纸本)9781457709142

this paper presents an identification method of dynamic systems based on the Group Method of Data Handing. In particular, a new structure of the dynamic neuron in pole representation is proposed. Moreover, a new training algorithm based on the Unscented Kalman Filter is presented. the final part of this work contains an illustrative example regarding the application of the proposed approach to an identification of the tunnel furnace.

关键词： Kalman filters Dynamic systems Identification methods Neural network Kalman filter theory

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Modified Bilateral Control by Using Intervention Impedance Based on Passivity of Flexible Master-Slave Manipulators and Its Design methods

Modified Bilateral Control by Using Intervention Impedance B...

引用

international conference on Control, automation and Systems

作者： Takahiko Mori Department of Electronic Control Engineering Gifu National College of Technology

ISBN: (纸本)9781467322478

Recently, study on a control of flexible manipulators have been receiving increasing attension in the domain of master-slave system. the master-slave system is a control system to operate a manipulator for objects in a remote environment which is at a distance from the presence of a human operator. In order to consider the influence by the elasticity of flexible manipulators, it is necessary to study on the control of vibration of flexible master-slave manipulators and the passivity. thus in this paper, we discuss about a new modified bilateral controller considering the elasticity by using intervention impedance in basis on the passivity and a control performance of the system. this paper is organized in the following way: First, we introduce mechanical models of manipulators. Second, we propose bilateral controls by using intervention impedance based on passivity. third, we transeform each models represented by time domain into models represented by s-plain, find the scattering matrix, and prove the passivity of system. Fourth, we propose a new modified controller controller for the purpose of realizaion. Lastly, we show some results of experiments in order to verify the usefulness of proposed controller.

关键词： Tele-robotics Flexible Structure Manipulator Bilateral Control Passivity

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