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Online motion generation for mirroring human arm motion

Online motion generation for mirroring human arm motion

引用

IEEE International conference on Robotics and Automation (ICRA)

作者： Roman Weitschat Alexander Dietrich Jörn Vogel Robotics and Mechatronics Center DLR - German Aerospace Center Wessling Germany

Motion planning in robotics is a very large field of research. Many different approaches have been developed to create smooth trajectories for robot movement. For example there are optimization algorithms, which optimize kinematic or dynamic properties of a trajectory. Furthermore, nonlinear programming methods like e.g. optimal control, or polynomial based methods are widely used for trajectory generation. Most of these techniques are used to calculate a trajectory in advance, or they are limited to create point-to-point motions, where the robot needs to stop when switching to the next target point, especially, when interpolating in rotational space. In this paper, we combine a low-pass filter and spherical linear interpolation to realize a velocity-limited online trajectory generator for robot orientations in quaternion space. We use the developed motion generator for mirroring a human arm motion with a robot, recorded by a low frequency visual tracking. Using the proposed method, we can replicate the motion of the operator's arm with very little delay and thereby achieve an easy-to-use interface. Furthermore, as we can strictly limit the velocity of the generated motion, the approach can safely be used in human robot collaboration applications.

关键词： Trajectory Quaternions Interpolation Robot sensing systems Service robots

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Energy efficiency of underwater robots 10

Energy efficiency of underwater robots

引用

10th IFAC conference on Manoeuvring and Control of Marine Craft

作者： Kelasidi, E. Pettersen, K. Y. Gravdahl, J. T. NTNU Dept Engn Cybernet Ctr Autonomous Marine Operat & Syst NO-7491 Trondheim Norway NTNU Dept Engn Cybernet NO-7491 Trondheim Norway

Increasing efficiency by improving locomotion methods is a key issue for underwater robots. In this paper, we investigate the power consumption of different underwater robotic systems and compare the energy efficiency of the different robots depending on the desired motion. In particular, we compare the energy efficiency of underwater snake robots, which can provide both inspection and intervention capabilities and thus are interesting candidates for the next generation inspection and intervention AUVs, with those of the widely used robots for subsea operations which are the remotely operated vehicles (ROVs). In order to compare the energy efficiency of underwater snake robots with the energy efficiency of the ROVs, a simulation study is performed comparing the total energy consumption and the cost of transportation of underwater snake robots and ROVs. The simulation results show that with respect to the cost of transportation metric and the total energy consumption the underwater snake robots are more energy efficient for all the compared motion modes compared to the ROVs. (C) 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd.

关键词： Underwater snake robots energy consumption energy efficiency of swimming robots

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Cyber- Physical Approach in a Series of Space Experiments "Kontur" 15th

引用

15th International conference on next-generation Wired/Wireless Advanced Networks and systems (NEW2AN) and 8th conference on Internet of Things and Smart Spaces (ruSMART)

作者： Zaborovsky, Vladimir Muliukha, Vladimir Ilyashenko, Alexander Peter Great St Petersburg Polytech Univ St Petersburg Russia

ISBN: (纸本)9783319231266;9783319231259

The paper analyzes network-centric methods for control cyberphysical objects. Cyber-physical objects interact with each other by transmitting information via computer networks. In the framework of this cyber-physical approach proposed a structure for interactive control system for on-surface robot from International Space Station. This system implements the circuit-torque sensitization algorithms for network delays while transferring data over the computer telecommunication network.

关键词： Cyber-physics robots Force-torque feedback Space experiment

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A Large-Scale 3D Object Recognition Dataset

A Large-Scale 3D Object Recognition Dataset

引用

International conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： Thomas Sølund Anders Glent Buch Norbert Krüger Henrik Aanæs Danish Technological Institute Denmark University of Southern Denmark Odense Denmark Danmarks Tekniske Universitet Lyngby DK

This paper presents a new large scale dataset targeting evaluation of local shape descriptors and 3d object recognition algorithms. The dataset consists of point clouds and triangulated meshes from 292 physical scenes taken from 11 different views, a total of approximately 3204 views. Each of the physical scenes contain 10 occluded objects resulting in a dataset with 32040 unique object poses and 45 different object models. The 45 object models are full 360 degree models which are scanned with a high precision structured light scanner and a turntable. All the included objects belong to different geometric groups, concave, convex, cylindrical and flat 3D object models. The object models have varying amount of local geometric features to challenge existing local shape feature descriptors in terms of descriptiveness and robustness. The dataset is validated in a benchmark which evaluates the matching performance of 7 different state-of-the-art local shape descriptors. Further, we validate the dataset in a 3D object recognition pipeline. Our benchmark shows as expected that local shape feature descriptors without any global point relation across the surface have a poor matching performance with flat and cylindrical objects. It is our objective that this dataset contributes to the future development of next generation of 3D object recognition algorithms. The dataset is public available at http://***/.

关键词： Three-dimensional displays Object recognition Shape Service robots Robot sensing systems

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2015 10th System of systems Engineering conference, SoSE 2015

2015 10th System of Systems Engineering Conference, SoSE 201...

引用

2015 10th System of systems Engineering conference, SoSE 2015

ISBN: (纸本)9781479976119

The proceedings contain 83 papers. The topics discussed include: omnidirectional rule-based free gait utilizing restrictedness;a system of systems analysis of a multi-probe SPM system;real-time flocking of multiple-quadrotor system of systems;factory production line as SoS;a case study in airplane engine component manufacturing;a wrapper-based feature selection approach using bees algorithm for a wood defect classification system;design of a home multi-robot system for the elderly and disabled;swarm intelligence for the control of a group of robots;multi-agent system of systems to monitor wildfires;a fast map-reduce algorithm for burst errors in big data cloud storage;contribution to system of systems modeling;epoch era analysis in the design of the next generation offshore subsea construction vessels;modeling and dynamic control for a hexapod robot;and electric mobility and charging: systems of systems and infrastructure systems.

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An accurate model for size optimization of an embedded permanent magnet for drug delivery with capsule robots

An accurate model for size optimization of an embedded perma...

引用

IEEE International conference on Technologies for Practical Robot Applications, TePRA 2015

作者： Munoz, Fredy Alici, Gursel Li, Weihua Intelligent Nano-Tera Systems Research Laboratory University of Wollongong Australia School of Mechanical Material and Mechatronic Engineering University of Wollongong WollongongNSW2522 Australia

ISBN: (纸本)9781479987573

An actively controlled drug delivery system (DDS) is an essential module to be included in the next generation of capsule endoscopy. Its development will allow physicians to perform non-invasive procedures and treat diseases in the digestive system. Despite many attempts to magnetically actuate internal permanent magnets (IPMs) embedded in prototype capsule robots to enhance their capabilities, further miniaturization and optimization of the IPMs are required to achieve more efficient torque transmission while minimizing the size of the IPMs. In this paper, we optimize the IPM's size to obtain a high magnetic torque that activates a DDS which is based on an overly miniaturized slider-crank mechanism. The IPM is optimized by means of analytical models. Our experimental results, which are in agreement with the analytical results, show that a high torque and force are generated on the piston of the DDS that expels drug out of a reservoir when an optimized IPM is embedded in the capsule robot. © 2015 IEEE.

关键词： Controlled drug delivery

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ICINCO 2015: Proceedings of the 12th International conference on Informatics in Control, Automation and Robotics

ICINCO 2015: Proceedings of the 12th International Conferenc...

引用

12th International conference on Informatics in Control, Automation and Robotics, ICINCO 2015

ISBN: (纸本)9789897581236

The proceedings contain 159 papers. The topics discussed include: formation control and vision based localization of system of mobile robots;implementation of evolving fuzzy models of a nonlinear process;mobile manipulation - why are humans so much better? and how can we change that?;adaptive decision-level fusion for Fongbe phoneme classification using fuzzy logic and deep belief networks;application of sensory body schemas to path planning for micro air vehicles (MAVs);particle swarm optimization of economic dispatch problem: a brief review transfer;analysis of shapes to measure surfaces - an approach for detection of deformations;flatness based feed-forward control of a flexible robot arm under gravity and joint friction;filling accuracy analysis of the rocket propellant based on the flowmeter measuring model;next generation networks for telecommunications operators providing services to transnational smart grid operators;and an adaptive sliding mode controller for synchronized joint position tracking control of robot manipulators.

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ICINCO 2015 - 12th International conference on Informatics in Control, Automation and Robotics, Proceedings

ICINCO 2015 - 12th International Conference on Informatics i...

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12th International conference on Informatics in Control, Automation and Robotics, ICINCO 2015

ISBN: (纸本)9789897581229

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TRIDENTCOM 2015 - 10th EAI International conference on Testbeds and Research Infrastructures for the Development of Networks and Communities

TRIDENTCOM 2015 - 10th EAI International Conference on Testb...

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10th EAI International conference on Testbeds and Research Infrastructures for the Development of Networks and Communities, TRIDENTCOM 2015

The proceedings contain 21 papers. The topics discussed include: Cypress: a testbed for research in networked cyber-physical systems;an automated testbed for profiling the packet send-time accuracy of embedded devices;authorization-based approach for customized automated resource provisioning services;accessible way-finding testbed: infrastructure and components;the open-multinet upper ontology towards the semantic-based management of federated infrastructures;dynamiQ: a tool for dynamic emulation of networks;a unified monitoring framework for energy consumption and network traffic;the development of China's next generation network and national service testbed;the geni experiment engine;FITeagle: a semantic testbed management framework;large scale experiments of multihop networks in mobile scenarios;scalable monitoring analytics architecture in software-defined infrastructure;docking autonomous robots in passive docks with infrared sensors and QR codes;using deduplicating storage for efficient disk image deployment;PCT and Iot in LTE networks: a study on test cases and test results;towards an interactive experiment framework: dynamiQ;creating a sustainable federation of cloudbased infrastructures for the future internet the fiware approach;cloud-based IoT analytics for the smart grid: experiences from a 3-year pilot;and experiences virtualizing a large-scale test platform for multimedia applications.

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User-centric design of a personal assistance robot (FRASIER) for active aging

User-centric design of a personal assistance robot (FRASIER)...

引用

Annual International conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Taşkın Padır Jeanine Skorinko Velin Dimitrov Worcester Polytechnic Institute Worcester MA US

We present our preliminary results from the design process for developing the Worcester Polytechnic Institute's personal assistance robot, FRASIER, as an intelligent service robot for enabling active aging. The robot capabilities include vision-based object detection, tracking the user and help with carrying heavy items such as grocery bags or cafeteria trays. This work-in-progress report outlines our motivation and approach to developing the next generation of service robots for the elderly. Our main contribution in this paper is the development of a set of specifications based on the adopted user-centered design process, and realization of the prototype system designed to meet these specifications.

关键词： Robot sensing systems Educational robots Aging Mobile robots Psychology Navigation

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