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检索条件"任意字段=International Asia Conference on Informatics in Control, Automation, and Robotics"

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A Neuro-Inspired Approach to Solve a Simultaneous Location and Mapping Task Using Shared Information in Multiple Robots Systems

A Neuro-Inspired Approach to Solve a Simultaneous Location a...

引用

international conference on control, automation, robotics and Vision

作者： Matheus Chaves Menezes Edison Pignaton de Freitas Sen Cheng Alexandre Cesar Muniz de Oliveira Paulo Rogerio de Almeida Ribeiro Graduate Program on Computer Science Federal University of Maranhão São Luís Brazil Graduate Program on Computer Science Federal University of Rio Grande do Sul Porto Alegre Brazil Computational Neuroscience Ruhr University Bochum Bochum Germany Department of Informatics Federal University of Maranhão São Luís Maranhão Department of Computer Engineering Federal University of Maranhão São Luís Maranhão

This paper presents a neuro-inspired mapping approach that uses partial information shared by multiple robots to reduce the time to create a map of an entire environment. Robots using a neurobiologically inspired algorithm, namely RatSLAM, map an environment sharing video information among themselves. RatSLAM, which is based on the navigation system present in the hippocampus of rodents' brain, has been widely used on simultaneous localization and mapping (SLAM) problem. This proposal has been able to generate suitable maps mainly when there is redundant information, e.g. a scene is seen more than once, since this fact activates local view cells that inject activity inside the pose cells via an excitatory link. The work here reported extends this approach by merging partial information acquired by multiple robots. The results from the performed experiments show that the final map built by two robots with shared information is similar to one built by two robots performing the same mapping task individually, i.e. without sharing information. However, the time spent to generate the whole map with the proposed shared approach was smaller than the one without the shared information. Thus, the current approach allows creating a complete map of an environment within a reduced time using multiple robots.

关键词： Navigation Simultaneous localization and mapping Feature extraction Robot vision systems Task analysis Hippocampus

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Evolutionary Morphology for Real Cubic Modular Robots

Evolutionary Morphology for Real Cubic Modular Robots

引用

Congress on Evolutionary Computation

作者： T. Tohge K. Shimada H. Iba Department of Frontier Informatics Graduate School of Frontier Science University of Tokyo Bunkyo Tokyo Japan

Recently modular robots have become more capable of practical applications with the recent improvement of sensors and actuators. Among them, a robot has been developed which can change its pattern according to the landscape or for its own purpose. However, deciding the appropriate pattern and controller manually is not easy with the increased number of modules. In this paper, we propose a new approach to automatically building patterns of block-type robots by means of artificial-life morphogenesis. We empirically show the emergence of the effective patterns in both virtual and real worlds, some of which seem to be surprisingly counter-intuitive.

关键词： Morphology robotics and automation Robot sensing systems Robotic assembly Insects Biological system modeling informatics Actuators Automatic control Fault tolerance

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A new system architecture for applying symbolic learning techniques to robot manipulation tasks

A new system architecture for applying symbolic learning tec...

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： J. Kreuziger M. Hauser Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE

Presents a new system architecture that enables a robot control system to learn at a symbolic level during planning and executing tasks. A user can program the robot by simply demonstrating the tasks it should perform. By performing inductive generalization and specialization steps, the system is able to improve its knowledge base. The architecture consists of a set of distributed knowledge units which realize a focus of attention that is necessary for efficient execution and learning, and which also makes competition between different problem solutions possible.

关键词： Robot control robotics and automation Telerobotics Educational robots Robot programming Problem-solving Production systems Computer architecture control systems informatics

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Web-Based Support of Courses in Industrial and Automotive Mechatronics

Web-Based Support of Courses in Industrial and Automotive Me...

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international (EPE-PEMC) Power Electronics and Motion control conference

作者： Viliam Fedak Frantisek Durovsy Jan Fetyko Department of Electrical Mechatronic and Industrial Engineering Technical University of Kosice Slovakia SIEMENS s.r.o. branch Košice Industrial Applications and Solutions Slovakia Industrial Applications and Solutions SIEMENS Košice Slovakia

The paper starts with overview on needs and skills required by the engineers working in the mechatronic system environment, with special attention to the automotive and associated industries. After brief presentation of the background and courses in field of Mechatronics at the TU Kosice the paper show philosophy of the supporting web based interactive modules supporting the courses. They were developed not only in order to make education easier but also with the aim to attract the students to follow the accredited courses on Mechatronics.

关键词： Automotive engineering Mechatronics Continuous production informatics Road vehicles robotics and automation Manufacturing Electrical products industry Machinery production industries Metals industry

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Kornati bathymetry survey data-set for navigation and mapping

Kornati bathymetry survey data-set for navigation and mappin...

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Mediterranean conference on control and automation (MED)

作者： Simone Zandara Pere Ridao David Ribas Ricard Campos Angelos Mallios Institute of Informatics and Applications Universitat de Girona Spain

This paper reports a navigation and mapping data-set collected in the Croatian Kornati Archipelago during the "Breaking the Surface 2010" international Interdisciplinary Field Training of Marine robotics and Applications event. A sensor ridge including a navigation and mapping sensor suite, to be later installed in the GIRONA500 AUV being developed a the university of Girona, was attached to a motor boat to collect geo-referenced data. The sensor suite includes a Multibeam sonar profiler, an AHRS, a DGPS, a sound-speed profiler including a depth cell, a video camera and a mechanical scanning sonar profiler. The paper reports the experiment performed as well as the navigation and mapping results using: 1) GPS only (used as a ground truth), 2) Dead Reckoning only, and 3) a preliminary method fusing dead reckoning with surface registration based on a simple modification of the well known ICP algorithm. Preliminary, but promising, results show that a better performance may be achieved using the last method.

关键词： Robot sensing systems Global Positioning System Trajectory Iterative closest point algorithm Sonar

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Adaptive Whole-body Robotic Tool-use Learning on Low-rigidity Plastic-made Humanoids Using Vision and Tactile Sensors

Adaptive Whole-body Robotic Tool-use Learning on Low-rigidit...

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IEEE international conference on robotics and automation (ICRA)

作者： Kento Kawaharazuka Kei Okada Masayuki Inaba Department of Mechano-Informatics Graduate School of Information Science and Technology The University of Tokyo Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Various robots have been developed so far; however, we face challenges in modeling the low-rigidity bodies of some robots. In particular, the deflection of the body changes during tool-use due to object grasping, resulting in significant shifts in the tool-tip position and the body’s center of gravity. Moreover, this deflection varies depending on the weight and length of the tool, making these models exceptionally complex. However, there is currently no control or learning method that takes all of these effects into account. In this study, we propose a method for constructing a neural network that describes the mutual relationship among joint angle, visual information, and tactile information from the feet. We aim to train this network using the actual robot data and utilize it for tool-tip control. Additionally, we employ Parametric Bias to capture changes in this mutual relationship caused by variations in the weight and length of tools, enabling us to understand the characteristics of the grasped tool from the current sensor information. We apply this approach to the whole-body tool-use on KXR, a low-rigidity plastic-made humanoid robot, to validate its effectiveness.

关键词： Learning systems Visualization Robot kinematics Neural networks Humanoid robots Tactile sensors Position control

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Wearable Haptics for a Marionette-inspired Teleoperation of Highly Redundant Robotic Systems

Wearable Haptics for a Marionette-inspired Teleoperation of ...

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IEEE international conference on robotics and automation (ICRA)

作者： Davide Torielli Leonardo Franco Maria Pozzi Luca Muratore Monica Malvezzi Nikos Tsagarakis Domenico Prattichizzo Humanoids & Human Centered Mechatronics Research Line Istituto Italiano di Tecnologia Genova Italy Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genova Genova Italy Department of Information Engineering and Mathematics University of Siena Siena Italy

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired task. In this context, developing an easy-to-learn and easy-to-use human-robot interface is paramount. Recent works introduced a novel teleoperation concept, which relies on a virtual physical interaction interface between the human operator and the remote robot equivalent to a "Marionette" control, but whose feedback was limited to only visual feedback on the human side. In this paper, we propose extending the "Marionette" interface by adding a wearable haptic interface to cope with the limitations given by the previous works. Leveraging the additional haptic feedback modality, the human operator gains full sensorimotor control over the robot, and the awareness about the robot’s response and interactions with the environment is greatly improved. We evaluated the proposed interface and the related teleoperation framework with naive users, assessing the teleoperation performance and the user experience with and without haptic feedback. The conducted experiments consisted in a loco-manipulation mission with the CENTAURO robot, a hybrid leg-wheel quadruped with a humanoid dual-arm upper body.

关键词： Visualization Humanoid robots Robot sensing systems User experience Haptic interfaces Sensors Safety

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Mobile Robot Fault Tolerant control. Introducing ARTEMIC

Mobile Robot Fault Tolerant Control. Introducing ARTEMIC

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2010 2nd international conference on Education Technology and Computer(第二届IEEE教育技术与计算机国际会议 ICETC 2010)

作者： Cristian Axenie Daniela Cernega Automation and Industrial Informatics Department Computer Science Faculty from "Dunarea de Jos" Univ Control Systems and Applied Informatics Computer Science Faculty from "Dunarea de Jos" Stiintei Stre

Real-time applications should timely deliver synchronized data-sets, minimize latency in their response and meet their performance specifications in the presence of disturbances and faults. The fault tolerant behavior in mobile robots refers to the possibility to autonomously detect and identify faults as well as the capability to continue operating after a fault occurred. This paper introduces a real-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots, named ARTEMIC. Specific design, development and implementation details will be provided in this paper.

关键词： Mobile robotics Fault Tolerant control Sliding Mode EKF Real-Time Linux Distributed control

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Efficient communication method in the cellular robotic system

Efficient communication method in the cellular robotic syste...

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： T. Fukuda K. Sekiyama T. Ueyama F. Arai Department of Mechano Informatics Systems University of Nagoya Nagoya Japan Nippondenso Company Limited Anjo Aichi Japan

Presents a new approach to communication in an autonomous distributed system, focusing on the cellular robotic system (CEBOT). The CEBOT is a self-organizing robotic system composed of a large number of robotic units (cells) with a simple function. In order for cellular robots to implement a task efficiently, cooperation and coordination among cells are of great importance and require efficient communication. Since communication takes place in the process of task execution, it is likely to be intensive and biased by the small number of cells related to the task. This could decrease communication efficiency. To deal with these problems of robot communication, the authors propose demand-based intensive communication (DBIC), and show its effectiveness with simulation and experimental results for the prototype CEBOT Mark IV.

关键词： Robot kinematics Orbital robotics robotics and automation Intelligent robots Robot sensing systems Communication system control Local area networks Prototypes Stress control Inspection

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Robust shared autonomy for mobile manipulation with continuous scene monitoring

Robust shared autonomy for mobile manipulation with continuo...

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IEEE international conference on automation Science and Engineering (CASE)

作者： Wolfgang Merkt Yiming Yang Theodoros Stouraitis Christopher E. Mower Maurice Fallon Sethu Vijayakumar School of Informatics Informatics Forum Edinburgh United Kingdom Oxford Robotics Institute University of Oxford Oxford United Kingdom

This work presents a fully integrated system for reliable grasping and manipulation using dense visual mapping, collision-free motion planning, and shared autonomy. The particular motion sequences are composed automatically based on high-level objectives provided by a human operator, with continuous scene monitoring during execution automatically detecting and adapting to dynamic changes of the environment. The system is able to automatically recover from a variety of disturbances and fall back to the operator if stuck or if it cannot otherwise guarantee safety. Furthermore, the operator can take control at any time and then resume autonomous operation. Our system is flexible to be adapted to new robotic systems, and we demonstrate our work on two real-world platforms - fixed and floating base - in shared workspace scenarios. To the best of our knowledge, this work is also the first to employ the inverse Dynamic Reachability Map for real-time, optimized mobile base positioning to maximize workspace manipulability reducing cycle time and increasing planning and autonomy robustness.

关键词： Robot sensing systems Planning Monitoring Robustness Dynamics

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