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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

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Simulation and HRI recent perspectives with the MORSE simulator

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8810卷 13-24页

作者： Lemaignan, Séverin Hanheide, Marc Karg, Michael Khambhaita, Harmish Kunze, Lars Lier, Florian Lütkebohle, Ingo Milliez, Grégoire CHILI Lab. EPFL Lausanne Switzerland Centre for Autonomous Systems University of Lincoln United Kingdom IAS Technische Universität München Germany LAAS/CNRS Université de Toulouse France Intelligent Robotics Lab. University of Birmingham United Kingdom CITEC Bielefeld University Germany Machine Learning and Robotics Lab. Universität Stuttgart Germany

Simulation in robotics is often a love-hate relationship: while simulators do save us a lot of time and effort compared to regular deployment of complex software architectures on complex hardware, simulators are also known to evade many of the real issues that robots need to manage when they enter the real world. Because humans are the paragon of dynamic, unpredictable, complex, real world entities, simulation of human-robot interactions may look condemn to fail, or, in the best case, to be mostly useless. This collective article reports on five independent applications of the MORSE simulator in the field of human-robot interaction: It appears that simulation is already useful, if not essential, to successfully carry out research in the field of HRI, and sometimes in scenarios we do not anticipate. © 2014 Springer International Publishing Switzerland.

关键词： Simulators

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Improving the generation of rapidly exploring randomised trees (RRTs) in large scale virtual environments using trails

Improving the generation of rapidly exploring randomised tre...

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15th Annual Conference on Advances in Autonomous robotics systems, TAROS 2014

作者： Samperi, Katrina Hawes, Nick Aston Institute for Systems Analytics Aston University Birmingham United Kingdom Intelligent Robotics Lab. School of Computer Science University of Birmingham Birmingham United Kingdom

ISBN: (纸本)9783319104003

Rapidly exploring randomised trees (RRTs) are a useful tool generating maps for use by agents to navigate. A disadvantage to using RRTs is the length of time required to generate the map. In large scale environments, or those with narrow corridors, the time needed to create the map can be prohibitive. This paper explores a new method for improving the generation of RRTs in large scale environments. We look at using trails as a new source of information for the agent's map building process. Trails are a set of observations of how other agents, human or AI, have navigated an environment. We evaluate RRT performance in two types of virtual environment, the first generated to cover a variety of scenarios an agent may face when building maps, the second is a set of 'real' virtual environments based in Second Life. By including trails we can improve the RRT generation step in most environments, allowing the RRT to be used to successfully plan routes using fewer points and reducing the length of the overall route. © 2014 Springer International Publishing.

关键词： Virtual reality

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Learning of Closed-Loop Motion Control

Learning of Closed-Loop Motion Control

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Farbod Farshidian Michael Neunert Jonas Buchli Agile & Dexterous Robotics Lab at the Institute of Robotics and Intelligent Systems ETH Zurich Switzerland

ISBN: (纸本)9781479969357

Learning motion control as a unified process of designing the reference trajectory and the controller is one of the most challenging problems in robotics. The complexity of the problem prevents most of the existing optimization algorithms from giving satisfactory results. While model-based algorithms like iterative linear-quadratic-Gaussian (iLQG) can be used to design a suitable controller for the motion control, their performance is strongly limited by the model accuracy. An inaccurate model may lead to degraded performance of the controller on the physical system. Although using machine learning approaches to learn the motion control on real systems have been proven to be effective, their performance depends on good initialization. To address these issues, this paper introduces a two-step algorithm which combines the proven performance of a model-based controller with a model-free method for compensating for model inaccuracy. The first step optimizes the problem using iLQG. Then, in the second step this controller is used to initialize the policy for our PI~2-01 reinforcement learning algorithm. This algorithm is a derivation of the PI~2 algorithm enabling more stable and faster convergence. The performance of this method is demonstrated both in simulation and experimental results.

关键词： Motor Control Controllers Optimization algorithms degraded performance Learning initialization

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Inertial parameters identification and joint torques estimation with proximal force/torque sensing

Inertial parameters identification and joint torques estimat...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Silvio Traversaro Andrea Del Prete Serena Ivaldi Francesco Nori Robotics Brain and Cognitive Sciences Department Istituto Italiano di Tecnologia Genoa Italy LAAS/CNRS Toulouse France Inria Villers-lès-Nancy France Intelligent Autonomous Systems Lab. TU Darmstadt Germany CNRS Loria UMR n.7503 and Université de Lorraine Loria France

ISBN: (纸本)9781479969241

Classically robot force control passes through joint torques measurement or estimation. Within this context, classical torque sensing technologies rely on current sensing on motor windings and on torsion sensing on motor shaft. An alternative approach was recently proposed in [1] and combines whole-body distributed 6-axis force/torque (F/T) sensors, gyroscopes, accelerometers and tactile sensors (i.e. artificial skin). A further advantage of this method is that it simultaneously estimates (internal) joint torques and (external) contact forces with no need of joint redesign. As a drawback, the method relies on a model of the robot dynamics, as it consists on reordering the classical recursive Newton-Euler algorithm (RNEA). In this paper we consider the problem of the parametric identification of the robot dynamic model from embedded F/T sensors. We extend recent results on parametric identification [2] by considering an arbitrary reordering of the classical RNEA. The theoretical framework is validated on the iCub humanoid, which is equipped with both 6-axis F/T sensors and joint torque sensors. We estimated the system inertial parameters using only one F/T sensor. We used the obtained parameters to estimate the joint torques (as proposed in [1]) and compared the results with direct joint torque measurements, used in this context only as a ground truth.

关键词： Joints Force Torque Estimation Robot sensing systems

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On genetic algorithms optimization for heart motion compensation 1

On genetic algorithms optimization for heart motion compensa...

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ROBOT 2013: 1st Iberian robotics Conference

作者： Aviles, Angelica I. Casals, Alicia The Polytechnic University of Catalonia-BarcelonaTech Intelligent Robotics and Systems Group Jordi Girona 1-3 K2M Building Barcelona08034 Spain Institute for Bioengineering of Catalonia Robotics Lab Baldiri Reixac 4-6 Barcelona08028 Spain

ISBN: (纸本)9783319034126

Heart motion compensation is a challenging problem within medical robotics and it is still considered an open research area due to the lack of robustness. As it can be formulated as an energy minimization problem, an optimization technique is needed. The selection of an adequate method has a significant impact over the global solution. For this reason, a new methodology is presented here for solving heart motion compensation in which the central topic is oriented to increase robustness with the goal of achieving a balance between efficiency and efficacy. Particularly, genetic algorithms are used as optimization technique since they can be adapted to any real application, complex and oriented to work in real-time problems. © Springer International Publishing Switzerland 2014.

关键词： Genetic algorithms

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3D Modeling from Wide Baseline Range Scans using Contour Coherence

3D Modeling from Wide Baseline Range Scans using Contour Coh...

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IEEE Conference on Computer Vision and Pattern Recognition

作者： Ruizhe Wang Jongmoo Choi Gerard Medioni Computer Vision Lab Institute for Robotics and Intelligent Systems University of Southern California

Registering 2 or more range scans is a fundamental problem, with application to 3D modeling. While this problem is well addressed by existing techniques such as ICP when the views overlap significantly at a good initialization, no satisfactory solution exists for wide baseline registration. We propose here a novel approach which leverages contour coherence and allows us to align two wide baseline range scans with limited overlap from a poor initialization. Inspired by ICP, we maximize the contour coherence by building robust corresponding pairs on apparent contours and minimizing their distances in an iterative fashion. We use the contour coherence under a multi-view rigid registration framework, and this enables the reconstruction of accurate and complete 3D models from as few as 4 frames. We further extend it to handle articulations, and this allows us to model articulated objects such as human body. Experimental results on both synthetic and real data demonstrate the effectiveness and robustness of our contour coherence based registration approach to wide baseline range scans, and to 3D modeling.

关键词： Three-dimensional displays Coherence Robustness Cameras Iterative closest point algorithm Shape Vectors

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Tools for simulating humanoid robot dynamics: A survey based on user feedback

Tools for simulating humanoid robot dynamics: A survey based...

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IEEE-RAS International Conference on Humanoid Robots

作者： Serena Ivaldi Jan Peters Vincent Padois Francesco Nori TU Darmstadt The Intelligent Autonomous Systems Lab Germany The Max Planck Institute for Intelligent Systems CNRS Sorbonne Universités France The Robotics Italian Institute of Technology

ISBN: (纸本)9781479971756

The number of tools for dynamics simulation has grown substantially in the last few years. Humanoid robots, in particular, make extensive use of such tools for a variety of applications, from simulating contacts to planning complex motions. It is necessary for the humanoid robotics community to have a systematic evaluation to assist in choosing which of the available tools is best for their research. This paper surveys the state of the art in dynamics simulation and reports on the analysis of an online survey about the use of dynamics simulation in the robotics research community. The major requirements for robotics researchers are better physics engines and open-source software. Despite the numerous tools, there is not a general-purpose simulator which dominates the others in terms of performance or application. However, for humanoid robotics, Gazebo emerges as the best choice among the open-source projects, while V-Rep is the preferred commercial simulator. The survey report has been instrumental for choosing Gazebo as the base for the new simulator for the iCub humanoid robot.

关键词： Robots Physics Engines Open source software Communities Collision avoidance

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On human performance in tactile language learning and tactile memory

On human performance in tactile language learning and tactil...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Ramiro Velázquez Edwige Pissaloux Mechatronics and Control Systems Lab. (MCS) Universidad Panamericana Aguascalientes Mexico Institute for Intelligent Systems and Robotics (ISIR) Paris France

This paper reports on the findings from an experiment on human performance in tactile language learning and tactile memory. A set of vibrotactile patterns representing verbal words was presented to a group of 20 voluntary subjects. Upon learning, subjects were capable of recognizing the patterns with high accuracy. Patterns were then combined with the aim of constructing sentences that gradually represent more complex ideas. Recognition rates remained satisfactory. A novel approach of tactile stimuli was explored: podotactile stimulation. For this study, a prototype of wearable electronic tactile display that stimulates the mechanoreceptors in the foot sole with vibrations was used. Results obtained suggest that it is possible to construct tactile languages that could be useful in human-computer interaction and wearable/mobile computing.

关键词： Foot Prototypes Vibrations Robot sensing systems Human computer interaction Vocabulary

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A vision-based automatic hotline tracking approach using unscented Kalman filter

A vision-based automatic hotline tracking approach using uns...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Sepehr Valipour Hadi Moradi Advanced Robotics and Intelligent Systems lab University of Tehran Tehran Iran CIPC University of Tehran Tehran Iran

Hotline inspection is a necessary, dangerous, and in many cases a very hard task. In this paper we present a vision-based approach, suitable for aerial inspection system, that automatically tracks a desired hotline to ease up the operation and would let the operator to focus on inspection of the lines. The operator flies the aerial inspection system and places it in the vicinity of a hotline. The aerial flying vehicle is equipped with a camera that is used to capture images of the desired hotline and finds the hotline in the image. Then the tracking system uses an Unscented Kalman Filter (UKF) to handle the disturbances that happens while the aerial system flies across the lines. The system has been simulated and actually tested which shows its capability to successfully and reliably follow hotlines.

关键词： Cameras Feature extraction Inspection Vehicles Reliability Image edge detection Helicopters

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