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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Carlos A. Silva Sedat Dogru Lino Marques Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra 3030-290 Coimbra Portugal

In order to guarantee a harmonious coexistence of robots and humans, it is vital for the former to be able to navigate the environment in a safe manner, taking into consideration the people that populate it. This requires the robot to be capable of identifying where the surrounding people are, through adequate processing of the sensory data acquired. In this paper we present a 3D person detection system for indoor settings which fuses RGB and LiDAR data, simultaneously using the semantic information available from the camera and the precise and long-range data acquired by the LiDAR. The proposed approach utilizes SVM with various feature vectors to classify the point clusters, and it also introduces planarity as another feature, improving the overall detection performance considerably.

关键词： Point cloud compression Support vector machines Laser radar Three-dimensional displays Navigation Robot vision systems Semantics

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A Single DOF arm for transition of climbing robots between perpendicular planes

A Single DOF arm for transition of climbing robots between p...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Carlos Viegas Mahmoud Tavakoli Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9781479969357

This paper introduces a novel single DOF plane transition mechanism, designed to enable wheel based climbing robots to transit between perpendicular planes. The developed mechanism is composed of an arm with two revolute joints derived by a single motor. An innovative transmission mechanism is designed based on the required trajectory and relative position for each arm link, enabling individual or simultaneous rotation of the two joints during the transition movement. An electromagnetic unit which adapts to both flat and curved structures is also designed and integrated in the arm. This solution was installed on the omnidirectional climbing robot, OmniClimber. The mechanism was successfully tested on a curved structure with a diameter of 220mm.

关键词： Joints Climbing robots Torque Adhesives Force

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Adaptive under-actuated anthropomorphic hand: isr-SoftHand

Adaptive under-actuated anthropomorphic hand: ISR-SoftHand

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Mahmoud Tavakoli Anibal T. de Almeida Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9781479969357

isr-Softhand is a novel under-actuated self contained anthropomorphic robotic hand which takes advantage of elastic joints and soft pads. The integrated compliance in the hand's joint allows for a very good adaptability to a wide range of objects. It can achieve the top ten grasps with highest frequency of usage by humans, with only three actuators.

关键词： Self tuning Hand robotic hand Grasp elastic joint wide-range actuators Human

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Exploring information theory for vision-based volumetric mapping

Exploring information theory for vision-based volumetric map...

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作者： Rocha, Rui Dias, Jorge Carvalho, Adriano Faculty of Sciences and Technology Institute of Systems and Robotics Univ. of Coimbra Pole II 3030-290 Coimbra Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Rua Dr. Roberto Frias 4200-465 Porto Portugal

ISBN: (纸本)0780389123

This article presents an innovative probabilistic approach for building volumetric maps of unknown environments with autonomous mobile robots, which is based on information theory. Each mobile robot uses an entropy gradient-based exploration strategy, with the aim of maximizing information gain when building and improving a 3-D map upon measurements yielded by an on-board stereo-vision sensor. The proposed framework was validated through experiments with a real mobile robot equipped with stereo-vision, in order to be further used on cooperative volumetric mapping with teams of mobile robots. © 2005 IEEE.

关键词： Mobile robots

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Perceived Stiffness Estimation for Robot Force Control

Perceived Stiffness Estimation for Robot Force Control

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IEEE International Conference on robotics and Automation

作者： Luis Santos Rui Cortesao Institute of Systems and Robotics University of Coimbra Portugal Electrical and Computer Engineering Department University of Coimbra Portugal

Typical robot force control architectures have a positive force feedback loop to decouple robot dynamics from contact dynamics. Due to the noisy profile of force measurements, it is common to filter force signals by low pass filters. This paper shows that, when force feedback is filtered, robot and environment dynamics are no longer decoupled, affecting force control performance. Additionally, the perceived stiffness from the force control perspective, is correlated with the robot effective mass. To cope with this issue, a force based stiffness estimation strategy that also includes the inertial properties (effective mass) in the estimation algorithm is proposed, allowing to adapt control gains based on the robot effective mass. In this way, the perceived stiffness can be seen as a control optimization parameter, rather than a well defined physical property. Simulation and experimental results with a 1-DoF robot and 7-DoF manipulator, respectively, validate the estimation strategy, showing better force control results with the perceived stiffness in the control loop, as compared to the real environment stiffness.

关键词： Robots Force Estimation Dynamics Force control Effective mass Adaptation models

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Design of a mission management system for the autonomous underwater vehicle MARIUS

Design of a mission management system for the autonomous und...

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Symposium on Autonomous Underwater Vehicle Technology (AUV)

作者： C. Bizingre P. Oliveira A. Pascoal F.L. Pereira J.-P. Pignon E. Silva C. Silvestre J.B. de Sousa Thomson Sintra Activités-Sous-Mariiies Arcueil France Department of Electrical Engineering and Institute for Systems and Robotics (ISR) Instituto Superior Técnico Lisboa Portugal Department of Electrical Engineering Institute for Systems and Robotic Porto Portugal

This paper describes the initial design phase of the software control architecture for the AUV MARIUS. This research effort is part of a long term project that aims to enable the prototype vehicle to carry out environmental surveying missions in coastal waters, in a completely autonomous mode. Throughout the project, MARIUS will be used as an advanced testbed to test developments in the areas of mission planning and real-time mission execution systems for AUVs.

关键词： Underwater vehicles computer architecture Remotely operated vehicles Mobile robots Control systems Marine vehicles Sea measurements System testing Artificial intelligence Contracts

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Pedestrian Detection Combining RGB and Dense LIDAR Data

Pedestrian Detection Combining RGB and Dense LIDAR Data

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Cristiano Premebida Joao Carreira Jorge Batista Urbano Nunes Institute of Systems and Robotics Electrical and Computer Engineering Department University of Coimbra Portugal EECS Department at UC Berkeley

ISBN: (纸本)9781479969357

Why is pedestrian detection still very challenging in realistic scenes? How much would a successful solution to monocular depth inference aid pedestrian detection? In order to answer these questions we trained a state-of-the-art deformable parts detector using different configurations of optical images and their associated 3D point clouds, in conjunction and independently, leveraging upon the recently released KITTI dataset. We propose novel strategies for depth upsampling and contextual fusion that together lead to detection performance which exceeds that of the RGB-only systems. Our results suggest depth cues as a very promising mid-level target for future pedestrian detection approaches.

关键词： Pedestrians Optical Imaging Lidar

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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On Robustness Properties in Empirical Centroid Fictitious Play

On Robustness Properties in Empirical Centroid Fictitious Pl...

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IEEE Annual Conference on Decision and Control

作者： BRIAN SWENSON SOUMMYA KAR JOAO XAVIER Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 USA Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) Technical University of Lisbon Portugal

ISBN: (纸本)9781479978878

Empirical Centroid Fictitious Play (ECFP) is a generalization of the well-known Fictitious Play (FP) algorithm designed for implementation in large-scale games. In ECFP, the set of players is subdivided into equivalence classes with players in the same class possessing similar properties. Players choose a next-stage action by tracking and responding to aggregate statistics related to each equivalence class. This setup alleviates the difficult task of tracking and responding to the statistical behavior of every individual player, as is the case in traditional FP. Aside from ECFP, many useful modifications have been proposed to classical FP, e.g., rules allowing for network-based implementation, increased computational efficiency, and stronger forms of learning. Such modifications tend to be of great practical value;however, their effectiveness relies heavily on two fundamental properties of FP: robustness to alterations in the empirical distribution step size process, and robustness to best-response perturbations. The main contribution of the paper is to show that similar robustness properties also hold for the ECFP algorithm. This result serves as a first step in enabling practical modifications to ECFP, similar to those already developed for FP.

关键词： Equivalence classes Players Centroid practical value tracking Robustness Computational efficiency First Step

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A multimodal-corpus data collection system for cognitive acoustic scene analysis

A multimodal-corpus data collection system for cognitive aco...

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2011 45th Annual Conference on Information Sciences and systems, CISS 2011

作者： Georgiou, Julius Pouliquen, Philippe Cassidy, Andrew Garreau, Guillaume Andreou, Charalambos Stuarts, Guillermo D'Urbal, Cyrille Andreou, Andreas G. Denham, Susan Wennekers, Thomas Mill, Robert Winkler, István Bohm, Tamás Szalárdy, Orsolya Klump, Georg M. Jones, Simon Bendixen, Alexandra Department of Electrical and Computer Engineering University of Cyprus Nicosia 1678 Cyprus Department of Electrical and Computer Engineering Johns Hopkins University Baltimore MD 21218 United States Department of Psychology Centre for Robotics and Neural Systems University of Plymouth United Kingdom Institute for Psychology Hungarian Academy of Sciences Budapest Hungary Department of Biology and Environmental Sciences University of Oldenburg Oldenburg Germany Institute of Psychology University of Leipzig Leipzig Germany

ISBN: (纸本)9781424498475

We report on the design and the collection of a multi-modal data corpus for cognitive acoustic scene analysis. Sounds are generated by stationary and moving sources (people), that is by omni-directional speakers mounted on people's heads. One or two subjects walk along predetermined systematic and random paths, in synchrony and out of sync. Sound is captured in multiple microphone systems, including a four MEMS microphone directional array, two electret microphones situated in the ears of a stuffed gerbil head, and a Head Acoustics, head-shoulder unit with ICP microphones. Three micro-Doppler units operating at different frequencies were employed to capture gait and the articulatory signatures as well as location of the people in the scene. Three ground vibration sensors were recording the footsteps of the walking people. A 3D MESA camera as well as a web-cam provided 2D and 3D visual data for system calibration and ground truth. Data were collected in three environments ranging from a well controlled environment (anechoic chamber), an indoor environment (large classroom) and the natural environment of an outside courtyard. A software tool has been developed for the browsing and visualization of the data. © 2011 IEEE.

关键词： Data visualization

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