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检索条件"任意字段=3rd International Conference on Robot Intelligence Technology and Applications"

共 6130 条记录，以下是4601-4610 订阅

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Monte Carlo Localization Incorporating an Error Correction Vector for Mobile robots

Monte Carlo Localization Incorporating an Error Correction V...

引用

international conference on System Science and Engineering (ICSSE)

作者： Kung, Yen-Cheng Hsu, Chen-Chien Wang, Wei-Yen Natl Taiwan Normal Univ Dept Elect Engn 162 He Ping East RdSect 1 Taipei 106 Taiwan

ISBN: (纸本)9781614995227;9781614995210

Nowadays, Monte Carlo Localization (MCL) algorithm is the most commonly used algorithm for a mobile robot to localize itself automatically, and has shown good performances because of its ability to model arbitrary distributions and robustness towards noisy input data. This paper presents an improved Monte Carlo Localization algorithm incorporating an error correction vector, which is calculated from the sensor's error information, and therefore, can achieve better performances in both accuracy and efficiency. Through practical application of the method which incorporates the error correction vector when conducting the program's prediction stage, the particles move closer to the real robot's position. Experimental results show that the proposed algorithm can increase the probability for particles to better estimate the robot's position.

关键词： Monte Carlo localization particle filter error correction vector

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An Adaptive Sliding Mode Controller for Synchronized Joint Position Tracking Control of robot Manipulators 12

An Adaptive Sliding Mode Controller for Synchronized Joint P...

引用

12th international conference on Informatics in Control Automation and robotics (ICINCO)

作者： Hu, Youmin Liu, Jie Wu, Bo Zhou, Kaibo Ge, Mingfeng Huazhong Univ Sci & Technol State Key Lab Digital Mfg Equipment & Technol Luoyu Rd 1037 Wuhan Peoples R China Huazhong Univ Sci & Technol Sch Automat Wuhan Peoples R China

ISBN: (纸本)9789897581496

A novel adaptive sliding mode control algorithm is derived to deal with synchronized joint position tracking control of robot manipulators. The proposed algorithm does not require the precise dynamic model, and is very practical. The cross-coupled technology is incorporated into the adaptive sliding mode control architecture through feedback of joint position errors and synchronization errors. Its robustness is verified by the Lyapunov stability theory. Simulation results obtained from a 3-link non-linear planer robot manipulator demonstrate the effectiveness of the approach under various disturbances.

关键词： Joint Position Tracking Synchronized Control Adaptive Sliding Mode Control robot Manipulator

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robot Joint Module Equipped with Joint Torque Sensor with Disk-Type Coupling for Torque Error Reduction 1

引用

8th international conference on Intelligent robotics and applications (ICIRA)

作者： Min, Jae-Kyung Yu, Hong-Seon Ahn, Kuk-Hyun Song, Jae-Bok Korea Univ Sch Mech Engn Seoul South Korea

ISBN: (数字)9783319228792

ISBN: (纸本)9783319228792;9783319228785

Force control and collision detection of a robot were usually conducted using a 6 axis force/torque sensor mounted at the end-effector. This scheme, however, suffers from its high cost and inability to detect collisions at the robot body. As an alternative, joint torque sensors embedded in each joint were used, but they also suffered from various errors in torque measurement. To solve this problem, a robot joint module with an improved joint torque sensor is proposed in this study. In the proposed torque sensor, a cross-roller bearing and disk-type coupling are added to prevent the moment load from adversely affecting the measurement of the joint torque and to reduce the stress induced in the assembly process of the sensor. The performance of the proposed joint torque sensor was verified through various experiments.

关键词： Joint torque sensor robot joint module Disk-type coupling Torque measurement Moment load

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Art and Coffee in the Museum 3rd

Art and Coffee in the Museum

引用

3rd international conference on Distributed, Ambient, and Pervasive Interactions (DAPI) held as Part of 17th international conference on Human-Computer Interaction (HCI)

作者： Partarakis, Nikolaos Zidianakis, Emmanouil Antona, Margherita Stephanidis, Constantine Fdn Res & Technol Hellas FORTH Inst Comp Sci Iraklion 70013 Crete Greece Univ Crete Dept Comp Sci Rethimnon Greece

ISBN: (纸本)9783319208046;9783319208039

Natural interaction refers to people interacting with technology as they are used to interact with the real world in everyday life, through gestures, expressions, movements, etc., and discovering the world by looking around and manipulating physical objects [16]. In the domain of cultural heritage research has been conducted in a number of directions including (a) Personalised Information in Museums, (b) Interactive Exhibits, (c) Interactive Games Installations in Museums, (d) Museum Mobile applications, (e) Museums presence on the Web and (f) Museum Social applications. Most museums target family groups and organize family-oriented events in their programs but how families choose to visit particular museums in response to their leisure needs has rarely been highlighted. This work exploits the possibility of extending the usage of AmI technology, and thus the user experience, within leisure spaces provided by museums such as cafeterias. The Museum Coffee Table is an augmented physical surface where physical objects can be used for accessing information about artists and their creations. At the same entertainment for children is facilitated through the integration of popular games on the surface. As a result, the entire family can seat around the table, drink coffee and complete their visit to the museum acquiring additional knowledge and playing games.

关键词： Ambient intelligence Tabletop interaction Augmented reality Cultural heritage Interactive surfaces

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Decoupling Control Based on Dynamic Model of 4-DOF Wafer Handling robot 8th

Decoupling Control Based on Dynamic Model of 4-DOF Wafer Han...

引用

8th international conference on Intelligent robotics and applications (ICIRA)

作者： Yang, Lei Wang, Nianfeng Inovance Technol Co R&D Dept Shenzhen Peoples R China S China Univ Technol Sch Mech & Automobile Engn Guangzhou 510641 Guangdong Peoples R China

To provide high velocity and performance, a dynamic model based on 4-DOF wafer handling robot in semiconductor industry is setup in the paper, formulas are derived, and also stability proof is given. In the final part... 详细信息

ISBN: (纸本)9783319228730;9783319228723

关键词： Decoupling control Dynamic model Wafer handling robot

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Fast Calibration of Rotating and Swivelling 3-D Laser Scanners Exploiting Measurement Redundancies

Fast Calibration of Rotating and Swivelling 3-D Laser Scanne...

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IEEE/RSJ international conference on Intelligent robots and Systems (IROS)

作者： Oberlaender, Jan Pfotzer, Lars Roennau, Arne Dillmann, Ruediger FZI Res Ctr Informat Technol Dept Interact Diag & Serv Syst IDS Haid Und Neu Str 10-14 D-76131 Karlsruhe Germany Karlsruhe Inst Technol Inst Anthropomat Humanoids & Intelligence Syst Lab D-76131 Karlsruhe Germany

ISBN: (纸本)9781479999941

New sensor systems, efficient planning algorithms and increased computational power have led to a growing interest in high-resolution 3-D data for challenging applications like mobile manipulation, 3-D mapping and object recognition. 3-D laser scanners built using a rotating or swivelling 2-D laser scanner are a widespread technology for obtaining 3-D point clouds, but convenient calibration methods are needed to increase the sensor precision and loosen the requirements on mechanical tolerances. We present an approach for the automatic self-calibration of such scanners, using only a single scan of a targetless environment recorded over a complete 360. rotation of the external motor that controls the motion of the 2-D sensor. By exploiting the intrinsic redundancies of the recorded point clouds and decimating the clouds using a voxel grid filter, we are able to compute and optimize a point cloud quality measure very quickly and without relying on explicit calibration targets. Our results on simulated and real data show the effectiveness of our approach by creating high-quality 3-D point clouds.

关键词： Calibration Kinematics Mirrors Redundancy robot sensing systems Three-dimensional displays

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A ToF-Aided Approach to 3D Mesh-Based Reconstruction of Isometric Surfaces 3rd

A ToF-Aided Approach to 3D Mesh-Based Reconstruction of Isom...

引用

3rd international conference on Pattern Recognition applications and Methods (ICPRAM)

作者： Hosseini, S. Jafar Araujo, Helder Univ Coimbra Dept Elect & Comp Engn Inst Syst & Robot Coimbra Portugal

ISBN: (纸本)9783319255309;9783319255293

In this paper, we investigate structure-from-motion (SfM) for surfaces that deform isometrically. Our SfM framework is intended for the estimation of both the 3D surface and the camera motion at one time through a template-based approach founded on the combination of a ToF sensor and a conventional RGB camera. The objective is to take advantage of depth maps acquired by the ToF sensor so that a considerable enhancement can be achieved in the reconstruction of the non-rigid structure using the high-resolution images captured by means of the RGB camera. A triangular mesh is adopted to represent isometric surfaces. The depth of a sparse set of 3D feature points spread all over the surface will be obtained with the help of the ToF camera, thereby enabling the recovery of the depth of the mesh vertices using a multivariate linear system. Subsequently, a non-linear constraint is formed based on the projected length of each edge of the mesh. A second non-linear constraint is then used for minimizing re-projection errors. These constraints are finally incorporated into an optimization scheme to solve for structure and motion. Experimental results show that the proposed approach has good performance even if only a low-resolution depth image is used.

关键词： Structure from motion Isometric surface ToF camera 3D reconstruction

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Mobile robot Voice Recognition in Control Movements

Mobile Robot Voice Recognition in Control Movements

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3rd international Multi-conference on HUmanities, Law, Literature and Management (IMHLLM’15);3rd international Multi-conference on Agriculture, Ecological and Medical Sciences (IMAEMS’15);3rd international Multi-conference on Research and Innovations in Engineering & technology (IMRIET’15);2015 international conference on Innovative Computational Technologies and Industrial Engineering (ICTIE-2015)

作者： Zakariyya Hassan Abdullahi Nuhu Alhaji Muhammad Jazuli Sanusi Kazaure Amuda F.A. Hussaini Adamu Federal Polytechnic Kazaure Kano State Polytechnic

Speech Recognitions a prominent technology for Human-Computer Interaction(HCI) and Human-robot Interaction(HRI). The increase in the use of robots and automation has significantly attracted the attention of both academic research and industrial applications. In addition to facilitating the daily work the use of robots and automation has helped the productivity and reduces wastage. Although there are many ways that were developed to communicate with the robot, but the ability to communicate verbally can provide a new communication approach. The main objective of this paper is to develop a system that is able to recognize the voice of a consumer and to control the robot movements with verbal instructions. This paper has chosen to use a novel method known as waterfall model. This approach gives a rigorous viewpoint and easy implementation of voice recognition system. The application of voice recognition plays an important role in efforts to convert the oral instructions referred to by the words that can be identified by the System translated into Arrick robot command.

关键词： intelligence,Human-robot Interaction(HRI),Human-Computer Interaction(HCI),waterfall model

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Object Tracking of the Mobile robot Using the Stereo Camera 8th

Object Tracking of the Mobile Robot Using the Stereo Camera

引用

8th international conference on Intelligent robotics and applications (ICIRA)

作者： Ha, Hyun-Uk Yoon, Ha-Neul Kim, Yun-Ki Lee, Dong-Hyuk Lee, Jang-Myung Pusan Natl Univ Dept Elect & Comp Engn Busan South Korea Pusan Natl Univ Dept Elect Engn Busan South Korea

ISBN: (纸本)9783319228730;9783319228723

This paper proposes a visual servoing algorism for the object tracking by a mobile robot with the stereo camera. The mobile robot performs an object recognition and object tracking using the SIFT and CAMSHIFT algorism for the visual servoing. The CAMSHIFT algorism has been used to obtain the three-dimensional position and orientation of the mobile robot. With the visual servoing, a stable balance control has been realized by a control system which calculates a desired angle of the center of gravity whose location depends on variations of link rotation angles of the manipulator. To demonstrate the control performance of the visual servoing, real experiments ware performed using the mobile manipulator system developed for this research.

关键词： Object tracking Mobile robot Stereo camera CAMSHIFT SIFT Visual servoing

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Efficient Collision Detection for Industrial robot Simulation System 8th

Efficient Collision Detection for Industrial Robot Simulatio...

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8th international conference on Intelligent robotics and applications (ICIRA)

作者： Wang, Nianfeng Zheng, Chaochao Zhang, Xianmin S China Univ Technol Sch Mech & Automobile Engn Guangzhou 510641 Guangdong Peoples R China

ISBN: (纸本)9783319228730;9783319228723

As the result of an increasing number of industrial robots, the simulation of industrial robot has become a very active research field. Collision detection for industrial robot simulation system is an essential part. In this paper, we present two kinds of collision detection algorithms, namely, internal collision detection algorithm and external collision detection algorithm. These two kinds of algorithms are based mainly on the bounding volume technology. Internal collision detection algorithm is applicable to the collisions between robotic links and external collision detection algorithm is applicable to the collisions between robotic links and its surrounding obstacles. In addition, we also present two examples of simulation results. The examples prove that the collision detection module can satisfy the collision detection requirement of the industrial robot simulation system.

关键词： Collision detection Simulation system Bounding volumes

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