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Probabilistic contextual situation analysis

作者： Ramel, Guy Siegwart, Roland Autonomous Systems Lab. Ecole Polytechnique Fédérale de Lausanne Autonomous Systems Lab. Institute of Robotics and Intelligent Systems ETH Zürich

ISBN: (纸本)9783540790068

Mobile robots are gradually appearing in our daily environment. To navigate autonomously in real-world environments and interact with objects and humans, robots face various major technological challenges. Among the required key competencies of such robots is their ability to perceive the environment and reason about it, to plan appropriate actions. However, sensory information perceived from real-world situations is error prone and incomplete and thus often results in ambiguous interpretations. We propose a new approach for object recognition that incorporates visual and range information with spatial arrangement between objects (context information). It is based on using Bayesian networks to fuse and infer information from different *** the proposed framework, we first extract potential objects from the scene image using simple features- characteristics like colour or the relation between height and width. This basic information is easy to extract but often results in ambiguous situations between similar objects. To resolve ambiguities among the detected objects, the relative spatial arrangement (context information) of the objects is used in a second step. Consider, for example, a cola can and a red trash can that are both cylindrical, have similar ratios between width and height and have very similar colours. Depending on their distances from the robot, they may be hard to distinguish. However, if we further consider their spatial arrangement with other objects, e.g. a table, they might be clearly differentiable, the cola can typically standing on the table and the trash can on the floor. This contextual information is therefore a very efficient way to increase drastically the reliability of object recognition and scene interpretation. Moreover, range information from a laser scanner and speech recognition offer complementary information to improve reliability further. Thus, an approach using laser range data to recognize places (such as corridors, crossings

关键词： Object recognition

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A force-distance model of humanoid arm withdrawal reflexes

A force-distance model of humanoid arm withdrawal reflexes

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Joint of the 13th Annual Conference on Towards autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress

作者： Dahl, Torbjørn S. Paraschos, Alexandros Cognitive Robotics Research Centre University of Wales Newport United Kingdom Intelligent Autonomous Systems Lab. Technische Universitaet Darmstadt Germany

ISBN: (纸本)9783642325267

This paper presents the force-distance model of humanoid robot arm withdrawal reflexes. The model was developed in order to provide humanoid robots with a generic withdrawal reflex that could complement other robot safety mechanisms based on collision avoidance, reduced momentum, and compliance. The model goes beyond existing work on withdrawal behaviours by studying reflexes for arbitrary poses on a humanoid robots. It is inspired by a human withdrawal reflex trigger mechanism, the reflex receptive field and the withdrawal motions in the model are based on human reflex motion data. The model is implemented on a Nao humanoid robot with its upper and lower arms covered in a custom made tactile skin sensor. The efficiency of the resulting reflexes is analysed in terms of the distance the stimulation point on the robot is moved away from the spacial point of impact and in terms of whether the robot collides with itself during the expression of the reflex. © 2012 Springer-Verlag.

关键词： Anthropomorphic robots

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Development of a microscopic traffic simulator for inter-vehicle communication application research

Development of a microscopic traffic simulator for inter-veh...

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ITSC 2006: 2006 IEEE intelligent Transportation Systems Conference

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

ISBN: (纸本)1424400945

This paper describes the development of a microscopic traffic simulator purposely designed for ITS researchers studying Inter-vehicle communication (IVC) concepts and applications in large traffic networks. The simulator can represent real life vehicles within the simulation by using data from vehicle global positioning system (GPS) receivers, enabling validation of theories with real vehicle data. The software is developed on top of the existing microscopic traffic simulator VISSIM with the added flexibility of modelling and efficiently handling communication between large numbers of vehicles. This along with the software architecture will be discussed in detail. © 2006 IEEE.

关键词： Street traffic control

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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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An overview of perception methods for horticultural robots: From pollination to harvest

arXiv

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arXiv 2018年

作者： Ahn, Ho Seok Dayoub, Feras Popović, Marija MacDonald, Bruce A. Siegwart, Roland Sa, Inkyu Department of Electrical and Computer Engineering CARES University of Auckland 368 Khyber Pass Rd Newmarket Auckland1023 New Zealand Department of Mechanical and Process Engineering Institute of Robotics and Intelligent Systems Autonomous Systems Lab. ETH Zurich Switzerland

Horticultural enterprises are becoming more sophisticated as the range of the crops they target expands. Requirements for enhanced efficiency and productivity have driven the demand for automating on-field operations. However, various problems remain yet to be solved for their reliable, safe deployment in real-world scenarios. This paper examines major research trends and current challenges in horticultural robotics. Specifically, our work focuses on sensing and perception in the three main horticultural procedures: Pollination, yield estimation, and harvesting. For each task, we expose major issues arising from the unstructured, cluttered, and rugged nature of field environments, including variable lighting conditions and difficulties in fruit-specific detection, and highlight promising contemporary studies. Based on our survey, we address new perspectives and discuss future development trends. Copyright © 2018, The Authors. All rights reserved.

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A Comparison of Imitation Learning Algorithms for Bimanual Manipulation

arXiv

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arXiv 2024年

作者： Drolet, Michael Stepputtis, Simon Kailas, Siva Jain, Ajinkya Peters, Jan Schaal, Stefan Amor, Heni Ben The School of Computing and Augmented Intelligence Arizona State University Tempe United States The Robotics Institute Carnegie Mellon University Pittsburgh United States Intrinsic Mountain View United States The Intelligent Autonomous Systems Lab. TU Darmstadt Darmstadt Germany

Amidst the wide popularity of imitation learning algorithms in robotics, their properties regarding hyperparameter sensitivity, ease of training, data efficiency, and performance have not been well-studied in high-precision industry-inspired environments. In this work, we demonstrate the limitations and benefits of prominent imitation learning approaches and analyze their capabilities regarding these properties. We evaluate each algorithm on a complex bimanual manipulation task involving an over-constrained dynamics system in a setting involving multiple contacts between the manipulated object and the environment. While we find that imitation learning is well suited to solve such complex tasks, not all algorithms are equal in terms of handling environmental and hyperparameter perturbations, training requirements, performance, and ease of use. We investigate the empirical influence of these key characteristics by employing a carefully designed experimental procedure and learning environment. © 2024, CC BY.

关键词： Contrastive Learning

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A distributed sensing system for vehicles state estimation

A distributed sensing system for vehicles state estimation

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2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006

作者： Bolandhemmat, Hamidreza Clark, Christopher M. Golnaraghi, M.F. Department of Mechanical Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada Lab. for Autonomous and Intelligent Robotics Department of Mechanical Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada Mechatronics and Smart Materials Systems Department of Mechanical Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada

ISBN: (纸本)0791837904

This paper presents the design of a distributed sensing system that uses an Extended Kalman Filter (EKF) to fuse measurements, so that automotive vehicle states can be estimated for use by a Semi-active Suspension control system. To improve ride comfort and handling quality, relative displacements and velocities of suspension systems are estimated. To control the stability of vehicles, roll, yaw, and pitch must also be determined. The designed (EKF) uses easily accessible measurements such as accelerations and body's angular velocities. These measurements are provided by 8 accelerometers and an Inertial Measurement Unit (IMU). The accelerometers are strategically mounted on the two ends of each individual shock absorber (damper). The IMU was mounted near the vehicle's center of gravity. Computer simulations and experiments were conducted for full vehicle state estimation of a 1993 Toyota Tercel equipped with the above mentioned sensor suite. Results show that except relative displacements, all states of the automobile's semi-active suspension systems can be estimated using this set of sensors. The designed EKF works well despite not knowing accurate information about road inputs, external disturbances and car characteristics such as moments of inertia, mass, and equivalent spring and damping coefficients. Both simulation results and experimental results show the effectiveness of the designed EKF in estimating the required states. Copyright © 2006 by ASME.

关键词： Remote sensing

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External localization system for mobile robotics

External localization system for mobile robotics

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International Conference on Advanced robotics (ICAR)

作者： Tomáš Krajník Matías Nitsche Jan Faigl Tom Duckett Marta Mejail Libor Přeučil University of Lincoln Lincoln Lincolnshire GB Lab. of Robotics and Emb. Systems Univ. of Buenos Aires Argentina Dpt. of Computer Science and Engineering FEE Czech Technical Univ. in Prague Lincoln Centre for Autonomous Systems Univ. of Lincoln United Kingdom Intelligent and Mobile Robotics Group FEE Czech Technical Univ. in Prague

We present a fast and precise vision-based software intended for multiple robot localization. The core component of the proposed localization system is an efficient method for black and white circular pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision, and its computational complexity is independent of the processed image size. With off-the-shelf computational equipment and low-cost camera, its core algorithm is able to process hundreds of images per second while tracking hundreds of objects with millimeter precision. We propose a mathematical model of the method that allows to calculate its precision, area of coverage, and processing speed from the camera's intrinsic parameters and hardware's processing capacity. The correctness of the presented model and performance of the algorithm in real-world conditions are verified in several experiments. Apart from the method description, we also publish its source code; so, it can be used as an enabling technology for various mobile robotics problems.

关键词： Cameras Three-dimensional displays Robots Mathematical model Estimation Equations Detectors

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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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