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ITSC 2006: 2006 IEEE intelligent Transportation Systems Conference

作者： Dao, Thanh-Son Leung, Keith Yu Kit Clark, Christopher M. Huissoon, Jan P. Lab for Autonomous and Intelligent Robotics Dept. of Mechanical Engineering University of Waterloo ON N2L 3G1 Canada Dept. of Mechanical Engineering University of Waterloo ON N2L 3G1 Canada

ISBN: (纸本)1424400945

The majority of today's navigation techniques for intelligent transportation systems use Global Positioning Systems (GPS) that can provide position information with bounded errors. However, because of the low accuracy and multi-path problem, it is challenging to determine a vehicle's position at lane level. With Markov-based approach based on sharing information among a group of vehicles that are traveling close to each other, the lane positions of vehicles can be found. The algorithm shows its effectiveness in both simulations and experiments with real data. © 2006 IEEE.

关键词： Motor transportation

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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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The VILMA intelligent vehicle:an architectural design for cooperative control between driver and automated system

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Journal of Modern Transportation 2018年第3期26卷 220-229页

作者： Olmer Garcia Giovani Bernardes Vitor Janito Vaqueiro Ferreira Pablo Siqueira Meirelles Arthurde Miranda Neto Universidad de Bogota Jorge Tadeo Lozano BogotaColombia Robotics Intelligent and Complex Systems(RobSIC)LabUniversidade Federal de Itajuba′(UNIFEI)ItabiraMGBrazil Autonomous Mobility Lab at the Universidade Estadual de Campinas(UNICAMP)CampinasSP 13083-860Brazil Terrestrial Mobility Lab at the Universidade Federal de Lavras (UFLA)LavrasMG 37200-000Brazil

intelligent autonomous vehicles have received a great degree of attention in recent years. Although the technology required for these vehicles is relatively advanced, the challenge is firstly to ensure that drivers can understand the capabilities and limitations of such systems and secondly to design a system that can handle the interaction between the driver and the automated intelligent system. In this study, we describe an approach using different strategies for an autonomous system and a driver to drive a vehicle cooperatively. The proposed strategies are referred to as cooperative planning and control and determine when and how the path projected by the autonomous system can be changed safely by the driver to a path that he wishes to follow. The first phase of the project is described, covering the design and implementation of an autonomous test vehicle. Experiments are carried out with a driver to test the cooperative planning and control concepts proposed here.

关键词： autonomous vehicles Embedded systems Cooperative systems Visual servoing

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Haptic terrain classification for legged robots

Haptic terrain classification for legged robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mark A. Hoepflinger C. David Remy Marco Hutter Luciano Spinello Roland Siegwart Autonomous Systems Lab Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology ETH Zurich Zurich Switzerland Social Robotics Lab Department of Computer Science University of Freiburg Freiberg Germany

In this paper, we are presenting a method to estimate terrain properties (such as small-scale geometry or surface friction) to improve the assessment of stability and the guiding of foot placement of legged robots in rough terrain. Haptic feedback, expressed through joint motor currents and ground contact force measurements that arises when prescribing a predefined motion was collected for a variety of ground samples (four different shapes and four different surface properties). Features were extracted from this data and used for training and classification by a multiclass AdaBoost machine learning algorithm. In a single leg testbed, the algorithm could correctly classify about 94% of the terrain shapes, and about 73% of the surface samples.

关键词： Haptic interfaces Legged locomotion Rough surfaces Surface roughness Machine learning algorithms Computational geometry Friction Stability Foot Force feedback

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A Unified Representation for Reasoning about Robot Actions, Processes, and their Effects on Objects

A Unified Representation for Reasoning about Robot Actions, ...

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IEEE/RSJ International Conference on intelligent robotics and Systems

作者： Moritz Tenorth Michael Beetz Intelligent Robotics and Communications Lab ATR Kyoto Japan Intelligent Autonomous Systems/Artificial Intelligence Department of Computer Science and Centre for Computing Technologies (TZI) University of Bremen Germany

ISBN: (纸本)9781467317375

Mobile manipulation robots are becoming more and more common and begin to extend their task spectrum towards more general housework activities. The sequence of actions needed to accomplish such tasks can be obtained from instructions on the Internet originally written for humans. While giving valuable information about the types of actions and some of their parameters, these instructions usually lack information that humans consider to be obvious. In this paper, we investigate how we can equip robots with sufficient knowledge and inference mechanisms to competently detect and fill such knowledge gaps in descriptions of everyday activities. We present methods for projecting the effects of actions and processes, for inferring action parameters like the objects and locations to be used, and introduce representations for reasoning about object transformations resulting from the effects of actions.

关键词： their Effects some introduce representations Reasoning Robot Action EFFECTS OF THE ACTION Inference mechanisms instruction Human information-type

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SLIP running with an articulated robotic leg

SLIP running with an articulated robotic leg

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2010 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Marco Hutter C. David Remy Mark A. Höpflinger Roland Siegwart Autonomous Systems Laboratory Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland Autonomous Systems Lab Swiss Federal Institute of Technology (ETHZ) Zurich Switzerland

SLIP models are generally known as one of the best and simplest abstractions describing the spring-like leg behavior found in human and animal running, and have thus been subject to exhaustive investigation. To exploit these findings in real robots, we utilize an operational space controller that projects the behavior of the SLIP model onto the dynamics of an actual segmented robotic leg. Additionally, we introduce a method to compensate for the energetic losses at the impact collisions, which are not accounted for in the simplified SLIP assumptions. This allows the direct application of existing dead-beat control strategies to arbitrary robotic legs, for which we can show that the collision and compensation effects in the actual leg enlarge the regions of stable running and reduce the minimally required locomotion speed. The necessary joint torque profiles can be generated in large part passively, for example by using high compliance series elastic actuators.

关键词： Leg Legged locomotion Springs Joints Aerospace electronics Dynamics

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A skill-based system for object perception and manipulation for automating kitting tasks

A skill-based system for object perception and manipulation ...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Dirk Holz Angeliki Topalidou-Kyniazopoulou Francesco Rovida Mikkel Rath Pedersen Volker Krüger Sven Behnke Autonomous Intelligent Systems Group University of Bonn Bonn Germany Robotics Vision and Machine Intelligence (RVMI) Lab Aalborg University Copenhagen Denmark

The automation of kitting tasks-collecting a set of parts for one particular car into a kit-has a huge impact in the automotive industry. It considerably increases the automation levels of tasks typically conducted by human workers. Collecting the parts involves picking up objects from pallets and bins as well as placing them in the respective compartments of the kitting box. In this paper, we present a complete system for automated kitting with a mobile manipulator thereby focusing on depalletizing tasks and placing. In order to allow for low cycle times, we present particularly efficient solutions to object perception as well as motion planning and execution. For easy portability to different platforms, all components are integrated into a skill-based framework that is tightly coupled with a task planning component. We present results of experiments at both a research laboratory environment and at the industrial site of PSA Peugeot Citroën serving as a proof of concept for the overall system design and implementation.

关键词： Robot kinematics Planning Software Service robots Mobile communication Three-dimensional displays

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A Poisson-spectral model for modelling temporal patterns in human data observed by a robot

A Poisson-spectral model for modelling temporal patterns in ...

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IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Ferdian Jovan Jeremy Wyatt Nick Hawes Tomas Krajnik Intelligent Robotics Lab School of Computer Science University of Birmingham United Kingdom Lincoln Centre for Autonomous Systems University of Lincoln United Kingdom

The efficiency of autonomous robots depends on how well they understand their operating environment. While most of the traditional environment models focus on the spatial representation, long-term mobile robot operati... 详细信息

ISBN: (纸本)9781509037636

关键词： Robot human data autonomous robots Operating Environment Human behavior basic model Environmental models Modeling Mobile robots

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Optimal Quantization of Circular Distributions

Optimal Quantization of Circular Distributions

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International Conference on Information Fusion

作者： Igor Gilitschenski Gerhard Kurz Uwe D. Hanebeck Roland Siegwart Autonomous Systems Lab (ASL) Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology (ETH) Zurich Switzerland Intelligent Sensor-Actuator-Systems Laboratory (ISAS) Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology (KIT) Germany

ISBN: (纸本)9781509020126

In this work, a new method for approximating circular probability distributions by a mixture of weighted discrete samples is proposed. Particularly, the wrapped normal distribution, the von Mises distribution, and the Bingham distribution are considered. The approximation approach is based on formulating a quantizer and a global optimality measure, which can be optimized directly. Furthermore, a relationship between the Bingham distribution and the von Mises distribution are formulated showing that it is sufficient to approximate a von Mises distribution with suitably chosen parameters in order to obtain an optimal approximation of the Bingham distribution. The resulting approximation is of particular interest for filtering applications, because the involved optimality measure gives rise to a general error estimate in propagation of uncertainties through nontrivial functions in the circular domain.

关键词： Quantization (signal) Probability distribution Gaussian distribution Random variables Measurement uncertainty Distortion Robot sensing systems

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Co-operative lane-level positioning using Markov localization

Co-operative lane-level positioning using Markov localizatio...

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International Conference on intelligent Transportation

作者： Thanh-Son Dao K.Y. Kit Leung C.M. Clark J.P. Huissoon Lab for Autonomous and Intelligent Robotics Department of Mechanical Engineering University of Waterloo ONT Canada Department of Mechanical Engineering University of Waterloo ONT Canada

关键词： Global Positioning System intelligent robots Navigation Road vehicles Road safety Mechanical engineering intelligent transportation systems Vehicle safety Traffic control intelligent sensors

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