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IeeE International Conference on systems, Man and Cybernetics

作者： Huaping Liu Fuchun Sun Kezhong He Zengqi Sun Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

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Analysis of task feasibility for a home robot using prismatic joints

Analysis of task feasibility for a home robot using prismati...

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2010 IeeE/RSJ International Conference on intelligent Robots and systems

作者： Tomoaki Mashimo Rosen Diankov Takateru Urakubo Takeo Kanade Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Computer Science and Systems Engineering Kobe University Kobe Japan

This paper evaluates the dynamic and kinematic properties of a prismatic mechanism and shows its capabilities in performing home manipulation tasks when integrated into a robotic arm. Our design is motivated from the observation that human hand motions often follow a linear trajectory when manipulating everyday objects. We present the mechanical design for a light-weight, energy-efficient robot named PRISM that emphasizes translational motion. By simulating the dynamics equations and comparing the structure of commonly used anthropomorphic arms and our proposed arm, we verify that translational motion is more energy efficient with PRISM, and the robot can maneuver itself in narrower places. Through simulation experiments using state of the art manipulation planning algorithms, we analyze the success rates of PRISM and an anthropomorphic robot arm in performing basic tasks. The simulation experiments center on pick-and-place tasks in cluttered kitchen scenes. We show a real-world prototype of PRISM and perform several manipulation experiments with it.

关键词： Robots Elbow Wrist Integrated circuit modeling Prototypes Torso

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Optimal placement of a two-link manipulator for door opening

Optimal placement of a two-link manipulator for door opening

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2009 IeeE/RSJ International Conference on intelligent Robots and systems

作者： Takateru Urakubo Tomoaki Mashimo Takeo Kanade Department of Computer Science and Systems Engineering Kobe University Kobe Japan Robotics Institute Carnegie Mellon University Pittsburgh PA USA

This paper presents a study on the optimal base location and arm motion of a mobile manipulator for door opening task. Numerical simulation results show that the base location where the manipulability of the two-link arm is almost degenerated at the start and end points of door opening is *** show by analysis that the location has an advantage in supplying kinetic energy to the door by using torques at the joints of arm. In order to represent properly the arm motion near a singular point of manipulability, the rotational motion of the door is parameterized by piecewise fifth order polynomials of time, and the parameters of polynomials are optimized to minimize the joint torques.

关键词： End effectors Numerical simulation Polynomials Mobile robots Manipulator dynamics Torque intelligent robots USA Councils Kinetic energy Refrigeration

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Singularity-based mechanism with high responsiveness

Singularity-based mechanism with high responsiveness

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2010 IeeE/RSJ International Conference on intelligent Robots and systems

作者： Tomoaki Mashimo Takateru Urakubo Takeo Kanade Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Computer Science and Systems Engineering Kobe University Kobe Japan

We propose a singularity-based mechanism (SBM) to exploit the singular configuration that improves the angular acceleration instead of constraining the movement. The tradeoff between the responsiveness and the range of motion is achieved by varying a length of linkage in the SBM. In this paper, we clarify the responsiveness of the SBM using the dynamics analysis. For the demonstration, we build an experimental SBM system with the high responsiveness, a practical range of motion, and a size comparable to a human arm. In the experiment, the effectiveness of the SBM is shown in a vertical lifting task. The characteristic of the SBM that generates a large acceleration at start is similar to the human arm moved by a muscle. The similarity between the SBM and the human arm is analyzed in terms of the static torque.

关键词： Actuators

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An experimentation on creating a mental state transition network

An experimentation on creating a mental state transition net...

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International Conference on Information and Automation (ICIA)

作者： Hua Xiang F. Ren S. Kuroiwa Peilin Jiang Department of Information Science and Intelligent Systems University of Tokushima Tokushima Japan Institute of Artificial Intelligence and Robotics Xi''an Jiaotong University Xi'an Shanxi China

Studies on the model of artificial psychology are the first step in the development of human-computer interaction. As affective computing remains unpredictable, creating a reasonable mental model becomes the primary task for building a hybrid system. A pragmatic mental model is also the fundament of some key topics such as recognition and synthesis of emotions. In this paper a mental state transition network is presented and a psychological experiment based on the model is carried out. In this work, we hypothesize that internal mental movements of a human depend on a mental state transition network that is made up of seven discrete emotional states. And we propose a new method to predict the emotional transitional probability distribution by using psychological questionnaires. The transition probability distribution of the model is calculated through a psychological experiment and the model provided a relatively high precision rate of 0.872 for the 50 random data examples used in an experimentation.

关键词： Humans Psychology Cognitive science Hidden Markov models Artificial intelligence intelligent robots Emotion recognition Probability distribution Computational modeling computer simulation

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Visual‐Inertial SLAM for Agricultural robotics: Benchmarking the Benefits and Computational Costs of Loop Closing

arXiv

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arXiv 2024年

作者： Schmidt, Fabian Blessing, Constantin Enzweiler, Markus Valada, Abhinav Institute for Intelligent Systems Esslingen University of Applied Sciences Esslingen Germany Department of Computer Science University of Freiburg Freiburg Germany

Simultaneous Localization and Mapping (SLAM) is essential for mobile robotics, enabling autonomous navigation in dynamic, unstructured outdoor environments without relying on external positioning systems. In agricultural applications, where environmental conditions can be particularly challenging due to variable lighting or weather conditions, Visual‐Inertial SLAM has emerged as a potential solution. This paper benchmarks several open‐source Visual‐Inertial SLAM systems, including ORB‐SLAM3, VINS‐Fusion, OpenVINS, Kimera, and SVO Pro, to evaluate their performance in agricultural settings. We focus on the impact of loop closing on localization accuracy and computational demands, providing a comprehensive analysis of these systems’ effectiveness in real-world environments and especially their application to embedded systems in agricultural robotics. Our contributions further include an assessment of varying frame rates on localization accuracy and computational load. The findings highlight the importance of loop closing in improving localization accuracy while managing computational resources efficiently, offering valuable insights for optimizing Visual‐Inertial SLAM systems for practical outdoor applications in mobile robotics. Copyright © 2024, The Authors. All rights reserved.

关键词： SLAM robotics

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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From multi-modal property dataset to robot-centric conceptual knowledge about household objects

arXiv

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arXiv 2019年

作者： Thosar, Madhura Mueller, Christian A. Jaeger, Georg Schleiss, Johannes Pulugu, Narender Chennaboina, Ravi Mallikarjun Jeevangekar, Sai Vivek Birk, Andreas Pfingsthorn, Max Zug, Sebastian Institute for Intelligent Cooperating Systems Faculty of Computer Science Otto-von-Guericke University Magdeburg Germany Robotics Computer Science & Electrical Engineering Department Jacobs University Bremen Germany Institute for Computer Science Technische Universität Bergakademie Freiberg Germany OFFIS Institute for Information Technology Oldenburg Germany

Tool-use applications in robotics require conceptual knowledge about objects for informed decision making and object interactions. State-of-the-art methods employ hand-crafted symbolic knowledge which is defined from a human perspective and grounded into sensory data afterwards. However, due to different sensing and acting capabilities of robots, their conceptual understanding of objects must be generated from a robot's perspective entirely, which asks for robot-centric conceptual knowledge about objects. With this goal in mind, this article motivates that such knowledge should be based on physical and functional properties of objects. Consequently, a selection of ten properties is defined and corresponding extraction methods are proposed. This multi-modal property extraction forms the basis on which our second contribution, a robot-centric knowledge generation is build on. It employs unsupervised clustering methods to transform numerical property data into symbols, and Bivariate Joint Frequency Distributions and Sample Proportion to generate conceptual knowledge about objects using the robot-centric symbols. A preliminary implementation of the proposed framework is employed to acquire a dataset comprising physical and functional property data of 110 houshold objects. This Robot-Centric dataSet (RoCS) is used to evaluate the framework regarding the property extraction methods, the semantics of the considered properties within the dataset and its usefulness in real-world applications such as tool substitution. Copyright © 2019, The Authors. All rights reserved.

关键词： Decision making

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Human-collective visualization transparency

arXiv

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arXiv 2020年

作者： Roundtree, Karina A. Cody, Jason R. Leaf, Jennifer Onan Demirel, H. Adams, Julie A. School of Mechanical Industrial and Manufacturing Engineering Oregon State University Department of Electrical Engineering and Computer Science United States Military Academy Collaborative Robotics and Intelligent Systems Institute Oregon State University

Interest in collective robotic systems has increased rapidly due to the potential benefits that can be offered to operators, such as increased safety and support, who perform challenging tasks in high-risk environments. Human-collective transparency research has focused on how the design of the algorithms, visualizations, and control mechanisms influence human-collective behavior. Traditional collective visualizations have shown all of the individual entities composing a collective, which may become problematic as collectives scale in size and heterogeneity, and tasks become more demanding. Human operators can become overloaded with information, which will negatively affect their understanding of the collectives current state and overall behaviors, which can cause poor teaming performance. An analysis of visualization transparency and the derived visualization design guidance, based on remote supervision of collectives, are the primary contributions of this manuscript. The individual agent and abstract visualizations were analyzed for sequential best-of-n decision-making tasks involving four collectives, composed of 200 entities each. The abstract visualization provided better transparency by enabling operators with different individual differences and capabilities to perform relatively the same and promoted higher human-collective performance. Copyright © 2020, The Authors. All rights reserved.

关键词： Transparency

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Evaluating the robustness of HJB optimal feedback control 52

Evaluating the robustness of HJB optimal feedback control

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52nd International Symposium on robotics, ISR 2020

作者： Lutter, Michael Clever, Debora Belousov, Boris Listmann, Kim Peters, Jan Computer Science Department Technical University of Darmstadt Darmstadt Germany ABB Corporate Research Center Ladenburg Ladenburg Germany ABB Future Labs Switzerland Baden-Dättwil Switzerland Robot Learning Group Max Planck Institute for Intelligent Systems Tübingen Germany

ISBN: (纸本)9783800754298

Developing and tuning a feedback controller including dynamics compensation is a challenging but essential part of many control applications. In contrast, describing a control task using a cost function and learning the corresponding optimal controller can simplify this controller development. However, current popularized deep reinforcement learning methods to obtain these controllers automatically, do not achieve good control policies w.r.t. the required smoothness, generalization and robustness w.r.t. parameter uncertainty of the approximate dynamics model. In this paper we describe HJB optimal control (HJBopt) a different approach to obtain optimal feedback policies by optimization rather than repeated sampling actions. This approach optimizes the residual of the Hamilton-Jacobi-Bellman differential equation on the complete state domain to obtain an optimal value function that directly implies a continuous time optimal policy on the complete state domain. The experiments show that the proposed HJBopt learns a good approximation of the optimal policy and this approximation exhibits much better smoothness and generalization compared to the deep reinforcement learning baselines. In addition, we show empirically that these characteristics enable HJBopt to obtain much more robust policies compared to these baselines. © 2020 VDE Verlag GMBH.

关键词： Cost functions

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