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A Deformable Object Tracking Algorithm Robust to Occlusions and Spurious Edges

A Deformable Object Tracking Algorithm Robust to Occlusions ...

引用

IEEE international conference on robotics and automation (ICRA)

作者： M.A. Greminger B.J. Nelson Department of Mechanical Engineering University of Minnesota Minneapolis MN USA Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland

Deformable object tracking is used in many robotics applications including biomanipulation, vision-based force sensing, and the control of deformable structures. A tracking algorithm that is robust to occlusions and to spurious edges is essential since these situations can arise unexpectedly in the unstructured environments in which robots must operate. This paper presents a deformable object tracking algorithm that is robust to occlusion and to spurious edges. Robust statistical methods are used to handle occlusion and a modification of the Canny edge detector is presented to handle spurious edges. The modification of the Canny edge operator makes use of information about the object being tracked in order to eliminate spurious edges. The deformable object tracking algorithm's performance is evaluated visually and quantitively by tracking a four degree-of-freedom compliant gripper.

关键词： Robustness Grippers Robot vision systems Robot sensing systems Intelligent robots Force measurement Image edge detection Micromechanical devices Deformable models Mechanical engineering

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An architecture for cognitive human-robot integration. Application to rehabilitation robotics

An architecture for cognitive human-robot integration. Appli...

引用

IEEE international conference on Mechatronics and automation

作者： C. Galindo J. Gonzalez J.A. Fernandez-Madrigal System Engineering and Automation Department University of Malaga Spain

Robot skills that are needed to operate completely autonomously in a real complex scenario populated by humans are still beyond the capabilities that the current robotic technology offers. In spite of that, in a variety of assistant applications where human and robot are closely tied, mobile robots can perform an effective and valuable work if humans in the surroundings (or the assisted person) would be enabled to extend the robot abilities through skills either not supported by the machine or supported in a different and (maybe) less dependable manner. To achieve that, robot and human must closely interact and collaborate at all levels of the robotic architecture, including deliberation, control and execution. This paper proposes a new robotic architecture, called ACHRIN, which supports a strong integration of the human into the robotic system in order to improve the overall performance of the robot as well as its dependability. Our human-robot integration relies to a great extend on sharing symbolic concepts of the world (cognitive integration). ACHRIN has been implemented and tested in a real rehabilitation robot: a robotic wheelchair that provides mobility to impaired or elderly people.

关键词： Rehabilitation robotics Robot sensing systems Mobile robots Navigation robotics and automation Human robot interaction Carbon capture and storage Wheelchairs Systems engineering and theory Cognitive robotics

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international conference on Computational Intelligence for Modelling, Control and automation and international conference on Intelligent Agents, Web Technologies and Internet Commerce - Cover

International Conference on Computational Intelligence for M...

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international conference on Computational Intelligence for Modelling, Control and automation, and international conference on Intelligent Agents, Web Technologies and Internet Commerce

The following topics are dealt with: image processing techniques; knowledge discovery and decision making; Web technologies and Web services; intelligent agents and ontologies; encryption and security e-commerce applications; knowledge management and information management; robotics control; hybrid systems; personal assistant agents; fuzzy systems; industrial automation; data mining; information retrieval; risk analysis; multiagents systems; intelligent control systems; collision avoidance; fault diagnosis; signal processing; ant colony computation; genetic computation; evolutionary computation

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Artificial life goes 'in silico'

Artificial life goes 'in silico'

引用

IEEE international conference on Computational Intelligence for Measurement Systems and applications (CIMSA)

作者： L. Spaanenburg S. Malki Department of Information Technology Lund University Lund Sweden

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Biologically Inspired Adhesion based Surface Climbing Robots

Biologically Inspired Adhesion based Surface Climbing Robots

引用

IEEE international conference on robotics and automation (ICRA)

作者： C. Menon M. Sitti CISAS G. Colombo University of Padova Padova Italy Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA

Climbing robots can perform many tasks inaccessible to other robots or humans such as inspection, repair, cleaning, surveillance, and exploration. This paper presents and discusses the design, fabrication, and evaluation of two novel bio-inspired climbing robots. Both are inspired by the locomotion of Geckos, a highly skilled natural climber. They are developed for terrestrial and extra-terrestrial environments, and their kinematics is inspired by the Geckos’ gait. The first relatively large robot actuated by conventional motors is designed to operate at both in Earth and space scenarios. The second robot, whose motion is controlled using shape memory alloy actuators and size can be miniaturized to few centimeters scale, is designed for terrestrial applications. Preliminary prototypes of these robots are developed, demonstrated, and evaluated by steep and flat acrylic surface climbing tests. Current robots can successfully climb up to 65 ° slopes at 2 cm/sec speeds.

关键词： Adhesives Climbing robots Orbital robotics Humans Inspection Cleaning Surveillance Fabrication Kinematics Earth

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Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain

Dynamic-Domain RRTs: Efficient Exploration by Controlling th...

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IEEE international conference on robotics and automation (ICRA)

作者： A. Yershova L. Jaillet T. Simeon S.M. LaValle Department of Computer Science University of Illinois Urbana-Champaign IL USA LAAS CNRS Toulouse France

Sampling-based planners have solved difficult problems in many applications of motion planning in recent years. In particular, techniques based on the Rapidly-exploring Random Trees (RRTs) have generated highly successful single-query planners. Even though RRTs work well on many problems, they have weaknesses which cause them to explore slowly when the sampling domain is not well adapted to the problem. In this paper we characterize these issues and propose a general framework for minimizing their effect. We develop and implement a simple new planner which shows significant improvement over existing RRT-based planners. In the worst cases, the performance appears to be only slightly worse in comparison to the original RRT, and for many problems it performs orders of magnitude better.

关键词： Sampling methods Motion planning Application software Orbital robotics Motion control Computer science Urban planning Robots Computer aided manufacturing Pharmaceuticals

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Design and characterization of a novel hybrid actuator using shape memory alloy and DC motor for minimally invasive surgery applications

Design and characterization of a novel hybrid actuator using...

引用

IEEE international conference on Mechatronics and automation

作者： V.R.C. Kode M.C. Cavusoglu M.T. Azar Department of Electrical Engineering and Computer Science Case Western Reserve University Cleveland OH USA

Recent developments in the field of robotics, smart materials, micro actuators and mechatronics have opened a new frontier for innovation and development in millimeter scale actuators for use in medical robotics. In this paper a novel design idea for developing a millimeter scale actuator is presented for actuating the end effector of a robot performing minimally invasive surgery (MIS). This actuator is designed by combining DC motor and shape memory alloy (SMA) actuator in series. The designed actuator is 5 mm in diameter and 40 mm in length and is used to actuate 10 mm long needle driver jaws, while generating a force of 15 N and a gripping force of 5.5 N.

关键词： Minimally invasive surgery Shape memory alloys DC motors Medical robotics Intelligent robots Microactuators Mechatronics Technological innovation Intelligent actuators End effectors

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Modeling human intelligence and application to space object capturing

Modeling human intelligence and application to space object ...

引用

ICIA 2005: 2005 international conference on Information Acquisition

作者： Huang, Panfeng Xu, Yangsheng Liang, Bin Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Shenzhen Space Technology Center Harbin Institute of Technology

ISBN: (纸本)0780393031

It is a great challenge for a robot In space to track and capture a free-flying object in the future space operations. In previous research, most of them employed model-based method which requires robot model in advance. However, it is difficult and time-consuming to obtain the precise mathematical model of robots. Moreover, the computer installed on the space robot is usually not so powerful due to the restriction of weight and volume, thus it is infeasible to computer dynamics parameters for real-time control. To facilitate the computation complexity, we present an approach based on human learning skill for tracking and catching objects. With human-teaching demonstration, the space robot is able to learn and abstract human tracking and capturing skill using an efficient neural-network learning architecture that combines flexible Cascade Neural Networks with Node-Decoupled Extended Kalman Filtering (CNN-NDEKF)[1]. The goal of skill learning is to obtain the most likely human performance from all the training examples and to transfer this skill to the space robot system by trained cascade neural network. We investigate the learning position trajectory in Cartesian space and position trajectory in Joint space respectively. Especially, learning position trajectory in Joint space is useful to avoid the complex inverse kinematics of space robot and to lower the computation cost. The simulation results attest that this approach is useful and feasible in tracking trajectory planning and capturing of space robot. The proposed approach provides a feasible way to plan the tracking trajectory of space robot by learning human demonstration skill. The learning is significant in eliminating sluggish motion planning and correcting a motion command that the operator may mistakenly generate. It will be found useful in various other applications, such as human action recognition in man-machine interfaces, real-time training, and agile manufacturing. © 2005 IEEE.

关键词： Mathematical models

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Dynamic Modeling of Linear Object Deformation based on Differential Geometry Coordinates

Dynamic Modeling of Linear Object Deformation based on Diffe...

引用

IEEE international conference on robotics and automation (ICRA)

作者： H. Wakamatsu K. Takahashi S. Hirai Department Manufacturing Science Osaka University Suita Osaka Japan Department Robotics Ritsumeikan University Kusatsu Shiga Japan

This paper describes the dynamic modeling of linear object deformation based on differential geometry coordinates. Deformable linear objects such as cables and strings are widely used in our daily life, electric industries, medical operations. Modeling, control, and manipulation of deformable linear objects are keys to many applications. We have proposed the differential geometry coordinates to describe the 2D/3D deformation of a linear object with the minimum number of parameters. Based on this description, we have formulated the static deformation of a linear object using the differential geometry coordinates but the dynamic deformation has not been investigated yet. In this paper, we apply differential geometry coordinates to the dynamic modeling of linear objects. First, we formulate the dynamic 2D deformation of an inextensible linear object based on a differential geometry coordinate system. Second, we show simulation results using the proposed modeling technique. Next, we apply the proposed dynamic modeling to the control of a flexible link.

关键词： Solid modeling Deformable models Medical simulation Computational geometry Cables Medical control systems Hair Service robots Robot kinematics Medical robotics

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Fast Reinforcement Learning for Vision-guided Mobile Robots

Fast Reinforcement Learning for Vision-guided Mobile Robots

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IEEE international conference on robotics and automation (ICRA)

作者： T. Martinez-Marin T. Duckett Department of Physics Systems Engineering and Signal Theory University of Alicante Alicante Spain AASS Department of Technology Orebro University Orebro Sweden

This paper presents a new reinforcement learning algorithm for accelerating acquisition of new skills by real mobile robots, without requiring simulation. It speeds up Q-learning by applying memory-based sweeping and enforcing the “adjoining property”, a technique that exploits the natural ordering of sensory state spaces in many robotic applications by only allowing transitions between neighbouring states. The algorithm is tested within an image-based visual servoing framework on a docking task, in which the robot has to position its gripper at a desired configuration relative to an object on a table. In experiments, we compare the performance of the new algorithm with a hand-designed linear controller and a scheme using the linear controller as a bias to further accelerate the learning. By analysis of the controllability and docking time, we show that the biased learner could improve on the performance of the linear controller, while requiring substantially lower training time than unbiased learning (less than 1 hour on the real robot).

关键词： Learning Mobile robots Acceleration Robot sensing systems Orbital robotics State-space methods Testing Visual servoing Grippers Performance analysis

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