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IEEE-RAS International Conference on Humanoid Robots

作者： Daniel Kappler Lillian Chang Markus Przybylski Nancy Pollard Tamim Asfour Rüdiger Dillmann Institute of Anthropomatics Karlsruhe Institute of Technology Karlsruhe Germany Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh PA USA

In this paper, we present a method for representing and re-targeting manipulations for object adjustment before final grasping. Such pre-grasp manipulation actions bring objects into better configurations for grasping through e.g. object rotation or object sliding. For this purpose, we propose a scaling-invariant and rotation-invariant representation of the hand poses, which is then automatically adapted to the target object to perform the selected pre-grasp manipulations. We show that pre-grasp strategies such as sliding manipulations not only enable more robust object grasping, but also significantly increase the success rate for grasping.

关键词： Grasping Robots Context Data structures Planning Joints Force

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Performance characteristics of digital peak current-injected control DC-DC converter using FPGA

Performance characteristics of digital peak current-injected...

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作者： Kurokawa, Fujio Sakemi, Junya Shibata, Yuichiro Soejima, Masato Yokoyama, Tomonori Sasaki, Masahiro Mimura, Yasuhiro Graduate School of Science and Technology Nagasaki University Japan Dept. of Electrical and Electronic Engineering Nagasaki University Japan Dept. of Computer and Information Sciences Nagasaki University Japan Dept. of Robotics and Mechatronics Tokyo Denki University Japan Shindengen Electric Mfg. Co. Ltd. Japan

ISBN: (纸本)9788986510119

The purpose of this paper is to estimate the performance characteristics of prototype of proposed digital peak current-injected control circuit using the FPGA IC. In the proposed novel digital control circuit, the peak current-injected control is realized using the combination of the simple dual A-D signal converter and the programmed delay circuit. The simple dual A-D signal converter consists of comparator and RC integrator. The programmed delay circuit and Pulse Width Modulation (PWM) is realized in a Field Programmable Gate Array (FPGA). From experimental and simulated results, it is confirmed that 1.2ns is not enough for the resolution of time delay because the output voltage eo and reactor current IL are unstable. So, it is necessary to improve the resolution of time delay until less than one-tenth in the general commercial FPGA.

关键词： Delay circuits

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Saliency ranking for benthic survey using underwater images

Saliency ranking for benthic survey using underwater images

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Matthew Johnson-Roberson Oscar Pizarro Stefan Williams Computational Vision and Active Perception Laboratory School of Computer Science and Communication Royal Institute of Technology Sweden ARC Centre of Excellence of Autonomous Systems Australian Centre of Field Robotics University of Sydney Australia

This paper presents a novel architecture for a classification system based on the visual saliency of images. The work is motivated by the difficulty of reviewing large numbers of images as a human operator in the context of Autonomous Underwater Vehicle (AUV) surveys. We formulate a feature space in which an algorithm operates over color and texture to determine saliency and illustrate how this can be used to find interesting or unusual images within a large data set. The saliency classification based on these general image features allows for overlays highlighting interesting benthos or geologic structures on large scale 3D seafloor reconstructions, quickly providing spatial context to human observers. These results are validated using a set of human trials in which images are classified into salient and non-salient categories by a number of test subjects. The trials show good agreement both between subjects and between the human labels and the automated classification system. The results of the automated technique are also compared directly to a more traditional SVM classification system showing favorable results for our system for generalizing to new environments.

关键词： Pixel Humans Visualization Entropy Image color analysis Indexes Context

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Multiple-Pursuer Cooperative Multiple-Evader Games based on auction mechanism

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Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of technology 2010年第SUPPL. 2期42卷 160-164页

作者： Cai, Ze-Su Hong, Bing-Rong Sun, Li-Ning State Key Laboratory Robotics and System Harbin Institute of Technology Harbin 150001 China School of Computer Science and Technology Harbin Institute of Technology Harbin 150001 China

This paper mainly discusses Multiple-Pursuer Cooperative Multiple-Evader Games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. The traditional Contract Net protocol is extended, including the motivational vector of robot, the trust degree and the acquaintance degree to improve the alliance decision. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced, and an improved task negotiation process based on auction was proposed in this paper. It allocated task dynamically through capability classification and independent competition. It can support the dynamically changing capability of each agent and reduce the cost of communication and the difficulty of acquiring knowledge. Based on these extensions, a kind of multi-robot cooperative pursuit algorithm that allows dynamic alliance is proposed. Simulation results show the feasibility and validity of the given algorithm.

关键词： Multipurpose robots

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Learning compliance control of robot manipulators in contact with the unknown environment

Learning compliance control of robot manipulators in contact...

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2010 IEEE International Conference on Automation science and Engineering, CASE 2010

作者： Li, Yanan Yang, Chenguang Ge, Shuzhi Sam Social Robotics Lab. NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Bioengineering Imperial College London London SW7 2AZ United Kingdom Department of Electrical and Computer Engineering Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781424454471

In this paper, a control mechanism is presented to improve the compliance performance of the robot manipulator when it is in contact with the unknown environment. This mechanism guarantees that the dynamics of the whole system follows a target impedance model so that the desired compliance performance is obtained. In particular, under the assumption that the dynamics is periodic, a learning law is developed to estimate the unknown dynamics parameters. Besides, the proposed systematic learning control does not require the accurate force measurement. Its performance and robustness are discussed in details by the rigorous analysis. At last, the validity of the proposed method is verified by simulation. © 2010 IEEE.

关键词： Modular robots

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Grasping simulation of an underactuated finger mechanism for larm hand

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International Journal of Modelling and Simulation 2010年第1期30卷 87-97页

作者： Yao, S. Wu, L. Ceccarelli, M. Carbone, G. Lu, Z. School of Automation Science and Electrical Engineering Beihang University Beijing China College of Information Engineering Central University for Nationalities Beijing China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China Beijing University of Aeronautics and Astronautics China and University of Cassino Italy LARM: Laboratory of Robotics and Mechatronics Cassino United States

In this paper, the grasp operation of an underactuated finger mechanism is simulated with the aim to characterize and analyze its performance. The design of the proposed mechanism is based on spring systems that give suitable underactuation characteristics. A CAD model is proposed and then it is used in a procedure for numerical simulation. Simulation results show suitable capability for grasping a wide range of objects in size and shape by operating the mechanism inside the finger body. The achieved grasp has been simulated as a human-like functionality with a grasp contact in each phalanx.

关键词： computer aided design

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Mission-oriented design: A fully autonomous mobile urban robot

Mission-oriented design: A fully autonomous mobile urban rob...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Qun Zhang Pey Yuen Tao Aswin Thomas Abraham Brice Rebsamen Chenguang Yang Shuzhi Sam Ge NUS Graduate School of Integrative Sciences and Engineering NGS National University of Singapore Singapore A Star Agency of Science Technology & Research National University of Singapore Singapore Department of Electrical & Computer Engineering Temasek Laboratories National University of Singapore Singapore Department of Bioengineering Imperial College London National University of Singapore Singapore Social Robotics Laboratory Interactive & Digital Media Institute (IDMI) Department of Electrical & Computer Engineering National University of Singapore Singapore

This paper describes a fully autonomous mobile urban robot-X1, which can perform multiple tasks autonomously in an unknown urban environment without human guidance, including mobile reconnaissance, target searching, and object manipulation. The mission-oriented design, which allows reliability and extensibility of the robotic system, includes a high degree of modularity for both hardware and software architecture, and coordination between tasks. Our strategy specifically addresses fundamental issues such as autonomous navigation in unknown urban environments and vision-based object manipulation. All the functionalities have been proved effective in the real urban environments. The robot platform is being built to provide valuable experiences on autonomous robotics research.

关键词： Path planning Navigation Elevators Robot kinematics Robot sensing systems

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GPRS based guard robot alarm system design

GPRS based guard robot alarm system design

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作者： Li, Maohai Sun, Lining Huang, Qingcheng Cai, Zesu Piao, Songhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Computer Science and Technology Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9780769540276

This paper presents a practical approach to design guard robot alarm system using GPRS technology. GPRS offers an interesting communications infrastructure for remotely accessing, controlling and interacting with robots in an integrated and highly portable manner, particularly in recent years the GPRS network provides wireless access of internet for mobile phone which becomes the most important and common terminal equipment. Therefore, in this paper the alarm information is designed to send to the user's mobile phone, and add man-made intervention to the system, thus achieves a more convenient and reliable alarm system. The system mainly consists of two parts: detection of abnormal and dangerous situation in domestic environment and sending the alarm information as MMS form to the user's phone via GPRS networks. Finally experiments show that the alarm system can accurately send alarm information to the user's mobile phone. The system is low-cost, flexible, reliable, and can be widely used. © 2010 Crown Copyright.

关键词： Cellular telephones

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Motion estimation for a mobile robot based on real-time stereo vision system

Motion estimation for a mobile robot based on real-time ster...

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2009 2nd International Congress on Image and Signal Processing, CISP'09

作者： Zhongli, Wang Xueshan, Gao Baochang, Zhang Hao, Wu State Key Lab. of Robotics and System Harbin Institute of Technology Harbin China School of Computer Science Beijing Institute of Technology Beijing China Intelligent Robotics Institute Beijing Institute of Technology Beijing China School of Automation Science and Electric Engineering Beihang University Beijing China

ISBN: (纸本)9781424441310

Vision-based motion estimation is a key technique in autonomously mobile robot. This paper presents an integrated method for motion estimation of the mobile robot based on floor plane extraction. The whole processes include floor plane extraction, pose estimation of the onboard stereo vision system and motion estimation of the mobile robot. First, based on disparity map obtained from the onboard real-time stereo vision system, a two-stage method is used for fast floor plane extraction. Then all the points belong to the floor plane are transformed from disparity space to Euclidean space, and a simple least squares method is employed to fit the floor plane. The fitting parameters of the floor plane are used for the pose estimation of the onboard stereo vision system. Finally, the motion of the mobile robot is estimated with the tracking results of the points on floor plane. The proposed motion estimation method is intended to be used in the motion control of a wheeled mobile robot. Experimental results in real environments are presented. ©2009 IEEE.

关键词： Mobile robots

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Study on Price-Driven Load Balance in Wireless Sensor Network

Study on Price-Driven Load Balance in Wireless Sensor Networ...

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WASE International Conference on Information Engineering (ICIE 2009)

作者： Zhong Hui Qian Zhi-hong Sun Da-yang Zhang Ding-guo Jilin University Changchun Jilin CN School of Communication Engineering Jilin University China College of Computer Science and Technology Jilin University China Institute of Robotics School of Mechanical Engineering Shanghai Jiaotong University Shanghai China

ISBN: (纸本)9780769536798

In this paper, a kind of price-driven load balancing assignment mechanism in wireless sensor network is proposed. A logic price function is set for each node, which serves as a reference for the assignment of data traffic when the node is selecting a router. The price-driven situation is analyzed, and the selection criteria of logic price function are given. When the data is forwarded, the node can affect the selection of traffic assigning nodes via regulating the price function according to the data size. Theoretical analysis and simulation results show that the assignment mechanism proposed can effectively control the load balance between the nodes. Moreover, the price strategy of nodes can be changed dynamically, and the traffic assignment of entire network can be affected using this mechanism.

关键词： Price-Driven traffic assignment load balance

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