this paper describes some simple but useful computer vision techniques for human-robot interaction. First, an omnidirectional camera setting is described that can detect people in the surroundings of the robot, giving...
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ISBN:
(纸本)9789728865832
this paper describes some simple but useful computer vision techniques for human-robot interaction. First, an omnidirectional camera setting is described that can detect people in the surroundings of the robot, giving their angular positions and a rough estimate of the distance. the device can be easily built with inexpensive components. Second, we comment on a color-based face detection technique that can alleviate skin-color false positives. third, a person tracking and recognition system is described. Finally, a simple head nod and shake detector is described, suitable for detecting affirmative/negative, approval/disapproval, understanding/disbelief head gestures.
this paper proposes a method for dynamically varying the gains of a mobile robot controller that takes into account, not only errors to the reference trajectory but also the uncertainty in the localisation. To do this...
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ISBN:
(纸本)9789897583803
this paper proposes a method for dynamically varying the gains of a mobile robot controller that takes into account, not only errors to the reference trajectory but also the uncertainty in the localisation. To do this, the covariance matrix of a state observer is used to indicate the precision of the perception. CMA-ES, an evolutionary algorithm is used to train a neural network that is capable of adapting the robot's behaviour in real-time. Using a car-like vehicle model in simulation. Promising results show significant trajectory following performances improvements thanks to control gains fluctuations by using this new method. Simulations demonstrate the capability of the system to controlthe robot in complex environments, in which classical static controllers could not guarantee a stable behaviour.
A central requirement for the development of robotic systems, that are capable of autonomous operation in non-specific environments, is the ability to create maps of their operating locale. the creation of these maps ...
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ISBN:
(纸本)9789728865832
A central requirement for the development of robotic systems, that are capable of autonomous operation in non-specific environments, is the ability to create maps of their operating locale. the creation of these maps is a non trivial process as the robot has to interpret the findings of its sensors so as to make deductions regarding the state of its environment. Current approaches fall into two broad categories: on-line and offline. An on-line approach is characterised by its ability to construct a map as the robot traverses its operating environment, however this comes at the cost of representational clarity. An offline approach on the other hand requires all sensory data to be gathered before processing begins but is capable of creating more accurate maps. In this paper we present a new means of constructing occupancy grid maps which addresses this problem.
Quadruped robot has great potential in traversing irregular terrains. Normally its performance relies greatly on the accuracy of local terrain data that the onboard sensor system acquired. In order to reduce its relia...
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A high accurate position control structure for energy optimal actuation of an aircraft ram air inlet actuator is presented in this paper. the structure comprises a feedforward planning of the energy optimal reference ...
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this paper deals with multi-arms fruits picking in orchards. More specifically, the goal is to controlthe arms to approach the fruits position. To achieve this task a VPC strategy has been designed to take into accou...
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ISBN:
(纸本)9789897583803
this paper deals with multi-arms fruits picking in orchards. More specifically, the goal is to controlthe arms to approach the fruits position. To achieve this task a VPC strategy has been designed to take into account the dynamic of the environment as well as the various constraints inherent to the mechanical system, visual servoing manipulation and shared workspace. Our solution has been evaluated in simulation using on PR2 arms model. Different models of visual features prediction have been tested and the entire VPC strategy has been run on various cases. the obtained results show the interest and the efficiency of this strategy to perform a fruit picking task.
this paper relates to the problem of a path following task for a wheeled mobile platform of (2,0) type. Two kinematic control algorithms, Micaelli-Samson algorithm and Soetanto-Lapierre-Pascoal algorithm, which are ba...
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ISBN:
(纸本)9789898565716
this paper relates to the problem of a path following task for a wheeled mobile platform of (2,0) type. Two kinematic control algorithms, Micaelli-Samson algorithm and Soetanto-Lapierre-Pascoal algorithm, which are based on either the Serret-Frenet frame with an orthogonal projection or the Serret-Frenet frame with a nonorthogonal projection of a robot on the desired path, were presented. the additional condition that should be imposed on the function δ, which is a parameter depending on a linear velocity of the robot and on a distance error, was described. the influence of the function δ on the convergence of the non-singular algorithm has been shown using computer simulations.
the proceedings contain 61 papers. the topics discussed include: soft actuators that self-create bone for biohybrid (micro)robotics;cell extraction automation in single cell surgery using the aspiration method;multi-m...
ISBN:
(纸本)9781665459730
the proceedings contain 61 papers. the topics discussed include: soft actuators that self-create bone for biohybrid (micro)robotics;cell extraction automation in single cell surgery using the aspiration method;multi-material fabrication for magnetically driven miniature soft robots using stereolithography;eddy current damping of magnetically actuated neurosurgical instruments;a mechanical metamaterial structure with chiral concave quadrilateral negative Poisson’s ratio;a miniature tubular linear electromagnetic actuator: design, modeling and experimental validation;a predictive model of seal condition in automated patch clamp system;design of a compliant vertical micropositioning stage inspired by lamina emergent mechanism;data-driven feedforward hysteresis compensation with genetic algorithm for atomic force microscope;characterization of a trilateration method using hall effect sensors for microrobot position tracking;evolving morphologies for locomoting micro-scale robotic agents;cooperative control of dual-arm concentric tube continuum robots;and microfluidic electrochemical sensor for heavy metal detection using pyrolytic carbon electrodes and valveless micropump.
this paper presents the work in progress on the design and testing of a distributed ultrasound-based sensory system for hybrid 1D and 2D environment visualisation. Many common sensors used in robotics, such as infrare...
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ISBN:
(纸本)9789897581984
this paper presents the work in progress on the design and testing of a distributed ultrasound-based sensory system for hybrid 1D and 2D environment visualisation. Many common sensors used in robotics, such as infrared and ultrasonic sensors, cameras and lasers mainly focus on quantifying distances and shapes, while rarely have the ability to differentiate among different sensed surfaces/materials. We propose an inexpensive prototype sensory system based on popular ultrasonic sensors which uses ultrasonic reflections to determine the acoustic reflection coefficients. this additional feature allows differentiating among sensed objects. Moreover, the developed ultrasonic cells are equipped with a microcontroller for basic signal processing and a communication link for integration into a sensor network. In this paper, we discuss the possibility of fusing obtained sensor array data and laser measurements.
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