检索结果-内蒙古大学图书馆

Springer Tracts in Advanced robotics 2005年 15卷 6-15页

作者： Bretl, Tim Latombe, Jean-Claude Rock, Stephen Aerospace Robotics Lab Department of Aeronautics and Astronautics Stanford University Stanford CA 94305 United States Robotics Laboratory Computer Science Department Stanford University Stanford CA 94305 United States

The goal of this research is to enable multi-limbed robots to climb vertical rock using techniques similar to those developed by human climbers. This paper first considers a planar three-limbed robot, then a 3-D four-limbed robot modeled after a real hardware system. It describes a fast planner based on an efficient test of the quasi-static equilibrium of these robots to compute one-step climbing moves. The planner is demonstrated in simulation for both robots. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Robot programming

来源：评论

学校读者我要写书评

暂无评论

Re-using schematic grasping policies

Re-using schematic grasping policies

引用

2005 5th IEEE-RAS International Conference on Humanoid Robots

作者： Platt, Robert Grupen, Roderic A. Fagg, Andrew H. Laboratory for Perceptual Robotics Department of Computer Science University of Massachusetts Amherst Symbiotic Computing Lab. School of Computer Science University of Oklahoma

ISBN: (纸本)0780393201

It can be difficult to generalize the solutions to grasping and manipulation problems because even small differences in problem context can require qualitatively different solutions. For example, small changes in the shape of an object to be grasped can necessitate different grasp strategies. In this paper, we introduce the action schema framework that represents generalized skills in a functional way such that all viable ways of accomplishing a task are represented as instantiations of the generalized skill. We also propose an on-line algorithm for learning how to instantiate the skill in a context-appropriate way. We test this approach with a robotic grocery bagging task where a dexterous humanoid robot learns to make correct qualitative decisions regarding how to grasp everyday grocery items and drop them in a paper bag. © 2005 IEEE.

关键词： Problem solving

来源：评论

学校读者我要写书评

暂无评论

Design concept of a human-like robot head

Design concept of a human-like robot head

引用

IEEE-RAS International Conference on Humanoid Robots

作者： K. Berns T. Braum Robotics Research Lab Department of Computer Science University of Kaiserslautern Germany

For humanoid robots able to assist humans in their daily life, the capability for adequate interaction with human operators is a key feature. If one considers that more than 60% of human communication is conducted non-verbally (by using facial expressions and gestures), an important research topic is how interfaces for this non-verbal communication can be developed. To achieve this goal, several robotic heads have been designed. However, it remains unclear how exactly such a head should look like and what skills it should have to be able to interact properly with humans. This paper describes an approach that aims at answering some of these design choices. Based on parameters obtained from a simulation system that was used to test facial expressions, the design of a human-like head developed at the University of Kaiserslautern is described. Additionally, the mechatronical design of the head and the accompanying neck joint are given. Finally, a real-time capable method for image based face detection is presented, which is a basic ability needed for interaction with humans

关键词： Humanoid robots Head Human robot interaction Robot sensing systems computer science System testing Face detection Skin Muscles Neck

来源：评论

学校读者我要写书评

暂无评论

Re-using schematic grasping policies

Re-using schematic grasping policies

引用

IEEE-RAS International Conference on Humanoid Robots

作者： R. Platt R.A. Grupen A.H. Fagg Laboratory for Perceptual Robotics Department of Computer Science University of Massachusetts Amherst USA Symbiotic Computing Lab School of Computer Science University of Oklahama USA

关键词： Humanoid robots Shape Humans computer science Testing robotics and automation laboratories Symbiosis Bagging Grasping

来源：评论

学校读者我要写书评

暂无评论

引用

18th Annual Conference on Neural Information Processing Systems, NIPS 2004

作者： Courville, Aaron C. Daw, Nathaniel D. Touretzky, David S. Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States Computer Science Department Carnegie Mellon University Pittsburgh PA 15213 United States Center for Neural Basis of Cognition Carnegie Mellon University Pittsburgh PA 15213 United States Gatsby Computational Neuroscience Unit University College London United Kingdom

ISBN: (纸本)0262195348

We propose a probabilistic, generative account of configural learning phenomena in classical conditioning. Configural learning experiments probe how animals discriminate and generalize between patterns of simultaneously presented stimuli (such as tones and lights) that are differentially predictive of reinforcement. Previous models of these issues have been successful more on a phenomenological than an explanatory level: They reproduce experimental findings but, lacking formal foundations, provide scant basis for understanding why animals behave as they do. We present a theory that clarifies seemingly arbitrary aspects of previous models while also capturing a broader set of data. Key patterns of data, e.g. concerning animals' readiness to distinguish patterns with varying degrees of overlap, are shown to follow fromstatistical inference.

关键词： Animals

来源：评论

学校读者我要写书评

暂无评论

A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives

A new endoscopic microcapsule robot using beetle inspired mi...

引用

Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005

作者： Cheung, Eugene Karagozler, Mustafa Emre Park, Sukho Kim, Byungkyu Sitti, Metin NanoRobotics Lab. Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA 15213 United States NanoRobotics Lab. Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Intelligent Microsystem Center Korea Institute of Science and Technology Seoul 136-791 Korea Republic of NanoRobotics Lab. Department of Mechanical Engineering Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States

The diagnosis of gastrointestinal diseases within the small intestine has been greatly advanced with the introduction of the endoscopic microcapsule in recent years. In an effort to increase its reliability and expand its functionality, a mechanism for stopping and locomoting the capsule within the digestive tract is proposed in this paper. This mechanism, actuated by shape memory alloy wires, utilizes a synthetic microfibrillar adhesive similar to the attachment mechanisms employed by beetles. This fibrillar attachment mechanism is a combination of molecular adhesion caused by van der Waals forces and liquid adhesion caused by capillary forces. The molecular adhesion is enhanced by the presence of microfibers, and the liquid adhesion arises from a secretion from the beetle's footpad. A synthetic version of the beetle's footpad was fabricated from PDMS using a silicon mold. Another version was created from SU-8 using photolithography. Testing revealed decent adhesion with glass and prepared pig intestine in vitro both with a silicone oil to simulate the secretion and without it A prototype robot with simple polymer adhesive pads for stopping successfully attached and detached inside a flexible vinyl tube. An inchworm locomotion mechanism is proposed and is in the preliminary stages of fabrication and testing. ©2005 IEEE.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

Hands-off assistive robotics for post-stroke arm rehabilitation

Hands-off assistive robotics for post-stroke arm rehabilitat...

引用

2005 IEEE 9th International Conference on Rehabilitation robotics, ICORR 2005

作者： Eriksson, Jon Matarić, Maja J. Winstein, Carolee J. Robotics Research Laboratories Department of Computer Science University of Southern California 941 West 37th Place Los Angeles CA 90089-0781 Motor Behavior and Neurorehabilitation Lab. Dept. of Biokinesiology and Physical Therapy University of Southern California 1540 E. Alcazar St. CHP-155 Los Angeles CA 90089-9006

ISBN: (纸本)0780390032

This paper describes an autonomous assistive mobile robot that aids stroke patient rehabilitation by providing monitoring, encouragement, and reminders. The robot navigates autonomously, monitors the patient's arm activity, and helps the patient remember to follow a rehabilitation program. Our experiments show that patients post-stroke are positive about this approach and that increasingly active and animated robot behavior is positively received by stroke survivors. © 2005 IEEE.

关键词： robotics

来源：评论

学校读者我要写书评

暂无评论

Image-based 3D face modeling system

Image-based 3D face modeling system

引用

作者： Park, In Kyu Zhang, Hui Vezhnevets, Vladimir School of Information and Communication Engineering Inha University 253 Younghyun-dong Nam-gu Incheon 402-751 Korea Republic of Computing Lab Samsung Advanced Institute of Technology San 14-1 Nongseo-ri Giheung-eup Yongin 449-712 Korea Republic of Graphics and Media Lab Department of Computational Mathematics and Cybernetics Moscow State University Moscow 119899 Russia School of Information and Communication Engineering Inha University Korea Republic of IEEE IEEE Computer Society ACM Samsung Advanced Institute of Technology Yongin Korea Republic of Graphics and Media Lab Computer Science Department Moscow State University

This paper describes an automatic system for 3D face modeling using frontal and profile images taken by an ordinary digital camera. The system consists of four subsystems including frontal feature detection, profile feature detection, shape deformation, and texture generation modules. The frontal and profile feature detection modules automatically extract the facial parts such as the eye, nose, mouth, and ear. The shape deformation module utilizes the detected features to deform the generic head mesh model such that the deformed model coincides with the detected features. A texture is created by combining the facial textures augmented from the input images and the synthesized texture and mapped onto the deformed generic head model. This paper provides a practical system for 3D face modeling, which is highly automated by aggregating, customizing, and optimizing a bunch of individual computer vision algorithms. The experimental results show a highly automated process of modeling, which is sufficiently robust to various imaging conditions. The whole model creation including all the optional manual corrections takes only 2-3 minutes. © 2005 Hindawi Publishing Corporation.

关键词： computer simulation

来源：评论

学校读者我要写书评

暂无评论

A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives

A new endoscopic microcapsule robot using beetle inspired mi...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： E. Cheung M.E. Karagozler Sukho Park Byungkyu Kim M. Sitti The NanoRobotics Lab and the Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA The NanoRobotics Lab and the Department of Electrical & Computer Engineering Carnegie Mellon University Pittsburgh PA USA Senior Research Scientists at the Intelligent Microsystem Center Korea Institute of Science and Technology Information Seoul South Korea The director of the NanoRobotics Lab and an AssistantProfessor with the Department of Mechanical Engineering and Robotics Institute Carnegie Mellon University Pittsburgh PA USA

The diagnosis of gastrointestinal diseases within the small intestine has been greatly advanced with the introduction of the endoscopic microcapsule in recent years. In an effort to increase its reliability and expand its functionality, a mechanism for stopping and locomoting the capsule within the digestive tract is proposed in this paper. This mechanism, actuated by shape memory alloy wires, utilizes a synthetic microfibrillar adhesive similar to the attachment mechanisms employed by beetles. This fibrillar attachment mechanism is a combination of molecular adhesion caused by van der Waals forces and liquid adhesion caused by capillary forces. The molecular adhesion is enhanced by the presence of microfibers, and the liquid adhesion arises from a secretion from the beetle's footpad. A synthetic version of the beetle's footpad was fabricated from PDMS using a silicon mold. Another version was created from SU-8 using photolithography. Testing revealed decent adhesion with glass and prepared pig intestine in vitro both with a silicone oil to simulate the secretion and without it. A prototype robot with simple polymer adhesive pads for stopping successfully attached and detached inside a flexible vinyl tube. An inch worm locomotion mechanism is proposed and is in the preliminary stages of fabrication and testing

关键词： Robots Adhesives Intestines Fluids and secretions Testing Gastrointestinal tract Diseases Digestive system Shape memory alloys Wires

来源：评论

学校读者我要写书评

暂无评论

A particle filter without dynamics for robust 3D face tracking

A particle filter without dynamics for robust 3D face tracki...

引用

2004 IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops, CVPRW 2004

作者： Lu, Le Dai, Xiang-Tian Hager, Gregory Computational Interaction and Robotics Lab Computer Science Department Johns Hopkins University BaltimoreMD21218 United States

Particle filtering is a very popular technique for sequential state estimation problem. However its convergence greatly depends on the balance between the number of particles/hypotheses and the fitness of the dynamic model. In particular, in cases where the dynamics are complex or poorly modeled, thousands of particles are usually required for real applications. This paper presents a hybrid sampling solution that combines the sampling in the image feature space and in the state space via RANSAC and particle filtering, respectively. We show that the number of particles can be reduced to dozens for a full 3D tracking problem which contains considerable noise of different types. For unexpected motions, a specific set of dynamics may not exist, but it is avoided in our algorithm. The theoretical convergence proof [1, 3] for particle filtering when integrating RANSAC is difficult, but we address this problem by analyzing the likelihood distribution of particles from a real tracking example. The sampling efficiency (on the more likely areas) is much higher by the use of RANSAC. We also discuss the tracking quality measurement in the sense of entropy or statistical testing. The algorithm has been applied to the problem of 3D face pose tracking with changing moderate or intense expressions. We demonstrate the validity of our approach with several video sequences acquired in an unstructured environment. © 2004 IEEE.

关键词： Dynamics

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：