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2011 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Baris Akgun Mike Stilman Center of Robotics and Intelligent Machines and The School of Interactive Computing Georgia Institute of Technology Atlanta GA USA

We present a sampling-based motion planner that improves the performance of the probabilistically optimal RRT* planning algorithm. Experiments demonstrate that our planner finds a fast initial path and decreases the cost of this path iteratively. We identify and address the limitations of RRT* in high-dimensional configuration spaces. We introduce a sampling bias to facilitate and accelerate cost decrease in these spaces and a simple node-rejection criteria to increase efficiency. Finally, we incorporate an existing bi-directional approach to search which decreases the time to find an initial path. We analyze our planner on a simple 2D navigation problem in detail to show its properties and test it on a difficult 7D manipulation problem to show its effectiveness. Our results consistently demonstrate improved performance over RRT*.

关键词： Planning Robots Bidirectional control Probabilistic logic Heuristic algorithms Space exploration Navigation

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Golem Krang: Dynamically stable humanoid robot for mobile manipulation

Golem Krang: Dynamically stable humanoid robot for mobile ma...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mike Stilman Jon Olson William Gloss Center for Robotics and Intelligent Machines & School of Interactive Computing Georgia Institute of Technology Atlanta GA USA

What would humans be like if nature had invented the wheel? Golem Krang is a novel humanoid torso designed at Georgia Tech. The robot dynamically transforms from a .5 m static to a 1.5 m dynamic configuration. Our robot development has led to two advances in the design of platforms for mobility and manipulation: (1) A 2-DOF robot base that autonomously stands from horizontal rest; (2) A 4-DOF humanoid torso that adds a waist roll joint to replicate human torso folding and a yaw joint for spine rotation. The mobile torso also achieves autonomous standing in a constrained space while lifting a 40 kg payload. Golem validates our assertions by consistently achieving static-dynamic transformations. This paper describes the design of our mobile torso. It considers a number of factors including its suitability for human environments, mechanical simplicity and the ability to store potential and kinetic energy for handling heavy human and even super-human tasks.

关键词： Humanoid robots Humans Torso Mobile robots Robot kinematics Manipulator dynamics Robust stability robotics and automation Wheels Orbital robotics

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Dynamic pushing strategies for dynamically stable mobile manipulators

Dynamic pushing strategies for dynamically stable mobile man...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Pushkar Kolhe Neil Dantam Mike Stilman Center for Robotics and Intelligent Machines & School of Interactive Computing Georgia Institute of Technology Atlanta GA USA

This paper presents three effective manipulation strategies for wheeled, dynamically balancing robots with articulated links. By comparing these strategies through analysis, simulation and robot experiments, we show that contact placement and body posture have a significant impact on the robot's ability to accelerate and displace environment objects. Given object geometry and friction parameters we determine the most effective methods for utilizing wheel torque to perform non-prehensile manipulation.

关键词： Manipulator dynamics Mobile robots Wheels Performance analysis robotics and automation Friction Torque Orbital robotics Humans Analytical models

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Robot Companions for Citizens

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Procedia Computer Science 2011年 7卷 47-51页

作者： Paolo Dario Paul F.M.J. Verschure Tony Prescott Gordon Cheng Giulio Sandini Roberto Cingolani Rüdiger Dillmann Dario Floreano Christophe Leroux Sheila MacNeil Pieter Roelfsema Xenophon Verykios Antonio Bicchi Chris Melhuish Alin Albu-Schäffer The BioRobotics Institute Scuola Superiore Sant’Anna viale Rinaldo Piaggio 34. 56025 Pontedera Italy Laboratory for Synthetic Perceptive Emotive and Cognitive Systems Catalan and Institute of Advanced Research (ICREA) Technology Department Universitat Pompeu Fabra Roc Boronat 138. 08018 Barcelona Spain Department of Psychology The University of Sheffield Western Bank Sheffield S10 2TN UK Institute for Cognitive Systems Technische Universität München Karlstrasse 45/II. 80333 München Germany Robotics Brain and Cognitive Sciences Istituto Italiano di Tecnologia Via Morego 30. 16163 Genova Italy Istituto Italiano di Tecnologia Via Morego 30. 16163 Genova Italy Institute for Anthropomatics Karlsruhe Institute of Technology Adenauerring 2 (Building 50.20). 76131 Karlsruhe Germany Laboratory of Intelligent Systems École polytechnique fédérale de Lausanne Station 11. CH-1015 Lausanne Switzerland CEA LIST Interactive Robotics Laboratory 18 route du panorama BP6. 92265 Fontenay Aux Roses cedex France The Kroto Research Institute North Campus University of Sheffield Broad Lane Sheffield S3 7HQ UK Netherlands Institute for Neuroscience Koninklijke Nederlandse Akademie Van Wetenschappen Meibergdreef 47. 1105 BA Amsterdam The Netherlands Department of Chemical Engineering University of Patras Karatheodoris 1 University Campus GR 265 00 Patras Interdepartmental Research Center “E. Piaggio” Faculty of Engineering University of Pisa via Diotisalvi 2.56100 Pisa Italy Department of Computing Engineering and Mathematical Sciences University of Bristol and the West of England Bristol Robotics Laboratory (BRL) DuPont Building Bristol Business Park Bristol BS16 1QD UK DLR Institute of Robotics and System Dynamics P.O.Box 1116. 82230 Wessling Germany

This paper describes the scientific vision and objectives of the FET Flagship candidate initiative Robot Companions for Citizens. Robot Companions will be a new generation of machines that will primarily help and assist elderly people in activities of daily living in their workplace, home and in society. They will be the ICT solution for a new sustainable welfare.

关键词： robotics nanotechnologies material science tissue engineering biomaerials neuroscience social neuroscience human and social sciences ethical and legal issues

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Stylized motion generalization through adaptation of velocity profiles

Stylized motion generalization through adaptation of velocit...

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19th IEEE International Conference on Robot and Human interactive Communication, RO-MAN 2010

作者： Gielniak, Michael J. Liu, C. Karen Thomaz, Andrea L. Department of Electrical and Computer Engineering Georgia Institute of Technology 777 Atlantic Dr. NW Atlanta GA 30332 United States School of Interactive Computing Georgia Institute of Technology 85 5th St. NE Atlanta GA 30308 United States Robotics and Intelligent Machines Center Georgia Institute of Technology 801 Atlantic Dr. NW Atlanta GA 30332 United States

ISBN: (纸本)9781424479917

Stylized motion is prevalent in the field of Human- Robot Interaction (HRI). Robot designers typically hand craft or work with professional animators to design behaviors for a robot that will be communicative or life-like when interacting with a human partner. A challenge is to apply this stylized trajectory in varied contexts (e.g. performing a stylized gesture with different end-effector constraints). The goal of this research is to create useful, task-based motion with variance that spans the reachable space of the robot and satisfies constraints, while preserving the "style" of the original motion. We claim the appropriate representation for adapting and generalizing a trajectory is not in Cartesian or joint angle space, but rather in joint velocity space, which allows for unspecified initial conditions to be supplied by interaction with the dynamic environment. The benefit of this representation is that a single trajectory can be extended to accomplish similar tasks in the world given constraints in the environment. We present quantitative data using a continuity metric to prove that, given a stylized initial trajectory, we can create smoother generalized motion than with traditional techniques such as cyclic-coordinate descent. © 2010 IEEE.

关键词： Trajectories

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Visual Place Categorization: Problem, dataset, and algorithm

Visual Place Categorization: Problem, dataset, and algorithm

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2009 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Jianxin Wu Henrik I. Christensen James M. Rehg Center for Robotics & Intelligent Machines and the School of Interactive Computing College of Computing Georgia Institute of Technology Atlanta GA USA

In this paper we describe the problem of visual place categorization (VPC) for mobile robotics, which involves predicting the semantic category of a place from image measurements acquired from an autonomous platform. For example, a robot in an unfamiliar home environment should be able to recognize the functionality of the rooms it visits, such as kitchen, living room, etc. We describe an approach to VPC based on sequential processing of images acquired with a conventional video camera. We identify two key challenges: Dealing with non-characteristic views and integrating restricted-FOV imagery into a holistic prediction. We present a solution to VPC based upon a recently-developed visual feature known as CENTRIST (census transform histogram). We describe a new dataset for VPC which we have recently collected and are making publicly available. We believe this is the first significant, realistic dataset for the VPC problem. It contains the interiors of six different homes with ground truth labels. We use this dataset to validate our solution approach, achieving promising results.

关键词： Layout Image recognition Robot vision systems intelligent robots Cameras Robot sensing systems Mobile robots Computer vision Face recognition robotics and automation

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Control of mobile manipulator using the dynamical systems approach

Control of mobile manipulator using the dynamical systems ap...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Lars-Peter Ellekilde Henrik I. Christensen The Maersk Mc-Kinney Moller Institute Faculty of Engineering University of Southern Denmark Odense Denmark Center of Robotics and Intelligent Machines Interactive Computing / College of Computing Georgia Institute of Technology Atlanta GA USA

The combination of a mobile platform and a manipulator, known as a mobile manipulator, provides a highly flexible system, which can be used in a wide range of applications, especially within the field of service robotics. One of the challenges with mobile manipulators is the construction of control systems, enabling the robot to operate safely in potentially dynamic environments. In this paper we will present work in which a mobile manipulator is controlled using the dynamical systems approach. The method presented is a two level approach in which competitive dynamics are used both for the overall coordination of the mobile platform and the manipulator as well as the lower level fusion of obstacle avoidance and target acquisition behaviors.

关键词： Control systems Manipulator dynamics Robot kinematics Mobile robots robotics and automation Vehicle dynamics intelligent robots Velocity control Infrared sensors Oscillators

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Humanoid teleoperation for whole body manipulation

Humanoid teleoperation for whole body manipulation

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mike Stilman Koichi Nishiwaki Satoshi Kagami School of Interactive Computing Center for Robotics and Intelligent Machines Atlanta GA USA Digital Human Research Center National Institute for Advanced Industrial Science and Technology Tokyo Japan

We present results of successful telemanipulation of large, heavy objects by a humanoid robot. Using a single joystick the operator controls walking and whole body manipulation along arbitrary paths for up to ten minutes of continuous execution. The robot grasps, walks, pushes, pulls, turns and re-grasps a 55 kg range of loads on casters. Our telemanipulation framework changes reference frames online to let the operator steer the robot in free walking, its hands in grasping and the object during mobile manipulation. In the case of manipulation, our system computes a robot motion that satisfies the commanded object path as well as the kinematic and dynamic constraints of the robot. Furthermore, we achieve increased robot stability by learning dynamic friction models of manipulated objects.

关键词： Legged locomotion Humanoid robots Humans robotics and automation Automatic control Orbital robotics Kinematics Manipulator dynamics Service robots intelligent robots

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