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检索条件"任意字段=Conference on Next-Generation Robots and Systems"

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Occlusion-Aware Multi-Robot 3D Tracking

Occlusion-Aware Multi-Robot 3D Tracking

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IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： Hausman, Karol Kahn, Gregory Patil, Sachin Mueller, Joerg Goldberg, Ken Abbeel, Pieter Sukhatme, Gaurav S. Univ Southern Calif Dept Comp Sci Los Angeles CA 90089 USA Univ Calif Berkeley Dept Elect Engn & Comp Sci Berkeley CA 94720 USA

ISBN: (纸本)9781509037629

We introduce an optimization-based control approach that enables a team of robots to cooperatively track a target using onboard sensing. In this setting, the robots are required to estimate their own positions as well as concurrently track the target. Our probabilistic method generates controls that minimize the expected uncertainty of the target. Additionally, our method efficiently reasons about occlusions between robots and takes them into account for the control generation. We evaluate our approach in a number of experiments in which we simulate a team of quadrotor robots flying in three-dimensional space to track a moving target on the ground. We compare our method to other state-of-the-art approaches represented by the random sampling technique, lattice planning method, and our previous method. Our experimental results indicate that our method achieves up to 8 times smaller maximum tracking error and up to 2 times smaller average tracking error than the next best approach in the presented scenarios.

关键词： robots

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Shaping Energetically Efficient Brachiation Motion for a 24-DOF Gorilla Robot

Shaping Energetically Efficient Brachiation Motion for a 24-...

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IEEE/RSJ International conference on Intelligent robots and systems

作者： Pchelkin, Stepan S. Shiriaev, Anton S. Mettin, Uwe Freidovich, Leonid B. Aoyama, Tadayoshi Lu, Zhiguo Fukuda, Toshio Norwegian Univ Sci & Technol Dept Engn Cybernet NO-7491 Trondheim Norway Umea Univ Dept Appl Phys & Elect SE-90187 Umea Sweden Nagoya Univ Dept Mech Sci & Engn Nagoya Aichi 4648601 Japan

ISBN: (纸本)9781612844558

We consider a 24-degrees-of-freedom monkey robot that is supposed to perform brachiation locomotion, i.e. swinging from one row of a horizontal ladder to the next one using the arms. The robot hand is constructed as a planar hook so that the contact point about which the robot swings is a passive hinge. We identify the 10 most relevant degrees of freedom for this underactuated mechanical system and formulate a tractable search: (a) introduce a family of coordination patterns to be enforced on the dynamics with respect to a path coordinate;(b) formulate geometric equality constraints that are necessary for periodic locomotion;(c) generate trajectories from integrable reduced dynamics associated with the passive hinge;(d) evaluate the energetic cost of transport. Moreover, we observe that a linear approximation of the reduced dynamics can be used for trajectory generation which allows us to incorporate the gradient of the cost function into the search algorithm.

关键词： Dynamic Robot Locomotion Underactuated robots Trajectory generation Virtual Holonomic Constraints

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Allostatic Control for Robot Behaviour Regulation: an extension to path planning

Allostatic Control for Robot Behaviour Regulation: an extens...

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IEEE/RSJ International conference on Intelligent robots and systems

作者： Sanchez Fibla, Marti Bernardet, Ulysses Verschure, Paul F. M. J. Univ Pompeu Fabra Dept Technol SPECS E-08018 Barcelona Spain

ISBN: (纸本)9781424466757

Rodents are optimal real-world foragers that can smoothly regulate behaviors like homing and exploration combined with more elaborate abilities as food source localization. Here we investigate a robot based model that implements the self-regulatory processes that underly optimal foraging of rodents in unknown environments and is also able to combine it with goal directed behaviors. Behavior is decomposed into minimal homeostatic subsystems that regulate themselves through the local perception/detection of a gradient. On a higher level, the allostatic control orchestrates the interaction of the different homeostatic modules allowing it to dynamically manage the interactions between the desired values of each subsystem to achieve stability on a meta behavioral level. In this case, we show that overall behavioral stability can be achieved. We validate our model by comparing the behavior of both simulated and real robots with that of rodents. Our next step is then to justify gradients as a valid biological assumption by giving a biologically plausible process for generating them from a cognitive map, in this case, a set of approximated hippocampal place cells. We finally formulate path planning ( used for goal reaching, e. g. food source localization) in the same context of a gradient map generation that can be then inserted as an additional subsystem of the higher meta level allostatic control.

关键词： approximated hippocampal place cells biological assumption biologically plausible process food source localization goal directed behaviors gradient map generation higher meta level allostatic control homeostatic modules homeostatic subsystems mobile robots optimal foraging optimal real world foragers overall behavioral stability path planning path planning robot based model robot behaviour regulation self regulatory process

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A Probabilistic Approach to Robot Trajectory generation 13

A Probabilistic Approach to Robot Trajectory Generation

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13th IEEE-RAS International conference on Humanoid robots (Humanoids)

作者： Paraschos, Alexandros Neumann, Gerhard Peters, Jan Tech Univ Darmstadt Intelligent Autonomous Syst lab Darmstadt Germany Max Planck Inst Intelligent Syst Robot Learning Grp Tubingen Germany

ISBN: (纸本)9781479926190

Motor Primitives (MPs) are a promising approach for the data-driven acquisition as well as for the modular and re-usable generation of movements. However, a modular control architecture with MPs is only effective if the MPs support co-activation as well as continuously blending the activation from one MP to the next. In addition, we need efficient mechanisms to adapt a MP to the current situation. Common approaches to movement primitives lack such capabilities or their implementation is based on heuristics. We present a probabilistic movement primitive approach that overcomes the limitations of existing approaches. We encode a primitive as a probability distribution over trajectories. The representation as distribution has several beneficial properties. It allows encoding a time-varying variance profile. Most importantly, it allows performing new operations - a product of distributions for the co-activation of MPs conditioning for generalizing the MP to different desired targets. We derive a feedback controller that reproduces a given trajectory distribution in closed form. We compare our approach to the existing state-of-the art and present real robot results for learning from demonstration.

关键词： feedback learning systems manipulators motion control statistical distributions time-varying systems MPs feedback controller learning from demonstration modular control architecture motor primitives probabilistic movement primitive approach probability distribution robot trajectory generation time-varying variance profile Equations Mathematical model Noise Probabilistic logic robots Trajectory Vectors

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A Pattern Generator of Humanoid robots Walking on a Rough Terrain using a Handrail

A Pattern Generator of Humanoid Robots Walking on a Rough Te...

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IEEE/RSJ International conference on Intelligent robots and systems

作者： Koyanagi, Ken'ichi Hirukawa, Hirohisa Hattori, Shizuko Morisawa, Mitsuharu Nakaoka, Shin'ichiro Univ Tsukuba 1-1-1 Tenohdai Tsukuba Ibaraki 3058571 Japan Natl Inst Advanced Indu Sci Tsukuba Ibaraki 3058568 Japan

ISBN: (纸本)9781424420575

This paper presents a biped humanoid robot that is able to walk on a rough terrain while touching a handrail. The contact wrench sum (CWS for short) is used as the criterion to judge if the contact between the robot and the environment is strongly stable under the sufficient friction assumption, where the contact points are not coplanar and the normal vectors at the points are not identical. It is confirmed that the proposed pattern generator can make the robot walk as desired in dynamics simulations and experiments, and the motions can be improved by a hand position control and using waist joints.

关键词： Anthropomorphic robots

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ARMAR-4: A 63 DOF Torque Controlled Humanoid Robot 13

ARMAR-4: A 63 DOF Torque Controlled Humanoid Robot

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13th IEEE-RAS International conference on Humanoid robots (Humanoids)

作者： Asfour, Tamim Schill, Julian Peters, Heiner Klas, Cornelius Buecker, Jens Sander, Christian Schulz, Stefan Kargov, Artem Werner, Tino Bartenbach, Volker

ISBN: (纸本)9781479926190

We present the mechatronic design of the next generation of our humanoid robots, the humanoid robot ARMAR-4, a full body torque controlled humanoid robot with 63 active degrees of freedom, 63 actuators, 214 sensors, 76 microcontroller for low-level control, 3 PCs for perception, high-level control and balancing, a weight of 70 kg including batteries and total height of 170 cm. In designing the robot we follow an integrated approach towards the implementation of high performance humanoid robot systems, able to act and interact in the real world using only on-board sensors and computation power. Special attention was paid to the realization of advanced bimanual manipulation and locomotion capabilities. The paper presents the design concept of the robot and its mechatronic realization.

关键词： design humanoid robots mechatronics torque control 63 DOF torque controlled humanoid robot ARMAR-4 bimanual manipulation computation power degrees of freedom locomotion capability mechatronic design on-board sensor Humanoid robots Joints Legged locomotion Robot sensing systems Torque Humanoid robots Degree of freedom Microelectromechanical devices Manipulator sensing systems Biped locomotion Torque Torque control Joints Joints design concept

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Cellular robotic systems: Self-organizing robots and kinetic pattern generation

Cellular robotic systems: Self-organizing robots and kinetic...

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1988 IEEE International Workshop on Intelligent robots and systems: Toward the next generation Robot and System, IROS 1988

作者： Wang, Jing Deni, Gerardo Center for Robotic Systems University of California Santa BarbaraCA93106 United States

The concept and computational model of Cellular Robotic systems (CRS) is introduced. A CRS consists of a large (but finite) number of autonomous robots operating on a cellular space under distributed control. No synchronous clock or shared memory is assumed. robots in such systems have to cooperate to accomplish prespecificd global tasks under the government of a protocol. The problem of robots in a CRS spatially rearranging themselves to form desired "patterns" within the field of operation is discussed. An example protocol that generates alternating pattern of robots in one dimensional linear arrangements and a protocol that makes robots to "seal" all sides of two-dimensional rectangular grids are presented. Mathematical proofs on the correctness of these protocols have been obtained. We discuss the application and engineering of CRS with examples in redundant sensing aggregates and automated escape systems. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Distributed parameter control systems

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Entropy-Based Strategies for Physical Exploration of the Environment's Degrees of Freedom

Entropy-Based Strategies for Physical Exploration of the Env...

引用

IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： Otte, Stefan Kulick, Johannes Toussaint, Marc Brock, Oliver Univ Stuttgart Machine Learning & Robot Lab Stuttgart Germany

ISBN: (纸本)9781479969340

Physical exploration refers to the challenge of autonomously discovering and learning how to manipulate the environment's degrees of freedom (DOF)-by identifying promising points of interaction and pushing or pulling object parts to reveal DOF and their properties. Recent existing work focused on sub-problems like estimating DOF parameters from given data. Here, we address the integrated problem, focusing on the higher-level strategy to iteratively decide on the next exploration point before applying motion generation methods to execute the explorative action and data analysis methods to interpret the feedback. We propose to decide on exploration points based on the expected information gain, or change in entropy in the robot's current belief (uncertain knowledge) about the DOF. To this end, we first define how we represent such a belief. This requires dealing with the fact that the robot initially does not know which random variables (which DOF, and depending on their type, which DOF properties) actually exist. We then propose methods to estimate the expected information gain for an exploratory action. We analyze these strategies in simple environments and evaluate them in combination with full motion planning and data analysis in a physical simulation environment.

关键词： Entropy Friction Joints Random variables robots Trajectory Uncertainty

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The Latest generation Whegs™ Robot Features a Passive-Compliant Body Joint

The Latest Generation Whegs™ Robot Features a Passive-Compl...

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IEEE/RSJ International conference on Intelligent robots and systems

作者： Boxerbaum, Alexander S. Oro, Julio Peterson, Gilbert Quinn, Roger D. Case Western Reserve Univ Dept Mech & Aerosp Engn Biologically Inspired Robot Lab Cleveland OH 44106 USA Air Force Inst Technol ANT lab Dayton OH 45424 USA

ISBN: (纸本)9781424420575

Current autonomous and semi-autonomous robotic platforms are limited to functioning in highly structured environments such as buildings and roads. Autonomous robots that could explore and navigate rugged terrain and highly unstructured environments such as collapsed buildings would have large dividends in civilian and military applications. In this work, we present the next generation of Whegs (TM) robots, DAGSI Wbegs (TM), which has been completed and extensively field tested. Several innovations have made the robot more rugged and well suited to autonomous operation. Specifically, an actively controlled, passively compliant body joint has been tested in three different modes of operation to judge the usefulness of the mechanism. A two-dimensional dynamic simulation of the robot has also been constructed, and has been used to study the effects of weight distribution on obstacle climbing and to investigate future autonomous climbing strategies. Moving the center of mass forward allowed the robot to climb taller obstacles. DAGSI Whegs (TM) can climb rectangular obstacles as tall as 2.19 times the length of a leg.

关键词： Biologically-inspired robotics legged vehicles robotic simulation search and rescue robots reduced actuation

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On the discrete-continuous control of basic skills for humanoid robots

On the discrete-continuous control of basic skills for human...

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IEEE/RSJ International conference on Intelligent robots and systems

作者： Milighetti, G. Kuntze, H. -B. Fraunhofer Inst IITB Dept Measurement Control & Diag Syst Karlsruhe Germany

ISBN: (纸本)9781424402588

Within the next years a new generation of humanoid robots is going to be developed being able to manage autonomously sophisticated tasks in a complex, time variant domestic environment. To cope with these advanced requirements a new multi-sensor based discrete-continuous supervisory control concept is proposed, which is able to accomplish even complex human skills. Each skill is divided into a sequence of Primitive Skills (PS). Depending on the multi-sensor perception of the robot state, the discrete control has to provide an optimal selection and activation of different PS. On the other hand the continuous control has to assure that each PS is performed by means of the most appropriate sub-controllers. Both theoretical approach and experimental results of the ongoing research will be presented in this paper.

关键词： humanoid robot supervisory control multisensor primitive skill discrete-continuous control

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