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IEEE International Conference on robotics and Automation (ICRA)

作者： E. Yoshida P. Blazevic V. Hugel AIST/IS-CNRS/STIC Joint French-Japanese Robotics Laboratory (JRL) Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan AIST/IS-CNRS/STIC Joint French-Japanese Robotics Laboratory (JRL) LRV-Versailles Robotics Laboratory Velizy-Villacoublay France

Pivoting manipulation can be an alternative to pushing operation when the floor is not flat enough, or when the object to manipulate is too heavy. The technique of pivoting is used by humans to move large and bulky furniture from one place to another. The decomposition of the task of pivoting has already been studied, in particular with the use of two fingers of a robotic arm. This work intends to apply the technique of pivoting using an humanoid platform. The robot should be able to pivot the object and to walk with it to displace it to a specific remote location. The research achievements proposed here take place in a more long term objective aimed at improving the dexterity and the autonomy of humanoid robots. As a matter of fact, such robots should be able to handle objects and move around in the environment in an autonomous way. This paper describes the algorithm designed to perform the displacement of a large object using the pivoting technique. It also presents the results of the dynamic simulation and the results of the real hardware experiment of the HRP-2 platform performing the task.

关键词： Humanoid robots Legged locomotion intelligent robots Humans Hardware intelligent systems Fingers Algorithm design and analysis Prototypes Manipulators

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Remote sensing and teleoperation of a mobile robot via the Internet

Remote sensing and teleoperation of a mobile robot via the I...

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International Conference on Information and Automation (ICIA)

作者： X. Xue S.X. Yang M.Q.-H. Meng Advanced Robotics and Intelligent Systems Laboratory University of Guelph Guelph ONT Canada Department of Electronic Engineering Chinese University of Hong Kong New Territories Hong Kong China

Teleoperations are desirable when robots are not able to deal with a certain task autonomously. On the other hand, using mobile robots equipped with sensors provide a way to acquire the information in a hazardous environment. With the mature and universal Internet technology, Internet-based teleoperation of robotic system has created new opportunities in resources sharing, long-distance learning, and remote experimentation. This paper introduces a network-enabled teleoperation system with a wireless mobile robot, which involves TCP/IP, socket and le cache technology. The operator can receive the dynamic sensor information and teleoperate the mobile robot via the Internet through a control panel. Experiments on wall-following in an indoor environment demonstrated the effectiveness of this teleoperation system.

关键词： Remote sensing Mobile robots Internet Robot sensing systems control systems intelligent robots Humans Hardware Telerobotics Vehicle dynamics

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A MEMS micro force sensor for drosophila flight characterization

A MEMS micro force sensor for drosophila flight characteriza...

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IEEE International Conference on robotics and Biomimetics

作者： Yun Sun C.F. Graetzel S.N. Fry B.J. Nelson Advanced Micro and Nanosystems Laboratory University of Toronto Canada Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Switzerland Institute of Neuroinformatics University of Zürich Switzerland

This paper reports a MEMS micro force sensor with a novel configuration of differential tri-plate comb drives suitable for bulk micromachining. A high-yield fabrication process using DRIE on SOI wafers is utilized to construct the high aspect ratio devices. The sensor has a high sensitivity, good linearity, and a large bandwidth, which are required for characterizing flight behavior of fruit flies (Drosophila). The technique allows for the instantaneous measurements of flight forces, which result from a combination of aerodynamic and inertial forces generated by the wings. The potential impact of this research extends beyond gathering flight data on Drosophila melanogaster by demonstrating how MEMS technology can be used to provide valuable tools for biomechanical investigations

关键词： Micromechanical devices Force sensors Force measurement Insects Biological system modeling intelligent robots intelligent systems Turning Organisms Biomechanics

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Real-time Map Building and Area Coverage in Unknown Environments

Real-time Map Building and Area Coverage in Unknown Environm...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C. Luo S.X. Yang M.Q.-H. Meng Advanced Robotics and Intelligent Systems Laboratory University of Guelph Guelph ONT Canada Department of Electronic Engineering Chinese University of Hong Kong New Territories Hong Kong China

Area-covering operation is a special kind of path planning, which requires the robot path to cover every part of the workspace. In this paper, a neural dynamics based algorithm is proposed for real-time map building and area-covering operations. A local map composed of squared cells is built through the proposed neural dynamics during area-covering operations with limited sensory information in unknown environments. The robot is able to dynamically build an accurate map of its immediate limited surroundings for its navigation. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation derived from Hodgkin and Huxley’s membrane equation. The robot can only sense a limited measurable range and the obtained sensory information are used for its navigation. The feasibility of the proposed algorithm is validated by simulation studies on cases under unknown environments.

关键词： Robot sensing systems Vehicle dynamics robotics and automation Path planning Navigation Neural networks Cleaning Fuzzy logic intelligent robots Equations

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A novel approach to proactive human-robot cooperation

A novel approach to proactive human-robot cooperation

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： O.C. Schrempf U.D. Hanebeck A.J. Schmid H. Worn Intelligent Sensor-Actuator-Systems Laboratory Institute of Computer Science and Engineering Universität Karlsruhe Karlsruhe Germany Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

This paper introduces the concept of proactive execution of robot tasks in the context of human-robot cooperation with uncertain knowledge of the human's intentions. We present a system architecture that defines the necessary modules of the robot and their interactions with each other. The two key modules are the intention recognition that determines the human user's intentions and the planner that executes the appropriate tasks based on those intentions. We show how planning conflicts due to the uncertainty of the intention information are resolved by proactive execution of the corresponding task that optimally reduces the system's uncertainly. Finally, we present an algorithm for selecting this task and suggest a benchmark scenario.

关键词： Robot sensing systems intelligent robots Uncertainty Application software Humanoid robots Human robot interaction Bayesian methods intelligent sensors Laboratories Computer science

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Humanoid motion planning for dynamic tasks

Humanoid motion planning for dynamic tasks

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IEEE-RAS International Conference on Humanoid Robots

作者： E. Yoshida I. Belousov C. Esteves J.-P. Laumond Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) AIST/ISRI-CNRS/STIC Joint French-Japanese Robotics Laboratory Tsukuba Ibaraki Japan AIST/ISRI-CNRS/STIC Joint French-Japanese Robotics Laboratory (JRL) LAAS CNRS Toulouse France

This paper addresses an integrated humanoid motion planning scheme including both advanced algorithmic motion planning technique and dynamic pattern generator so that the humanoid robot achieve tasks including dynamic motions. A two-stage approach is proposed for this goal. First, geometric and kinematic motion planner first computes collision-free paths for the humanoid robot. Then the dynamic pattern generator provides dynamically feasible humanoid motion including both locomotion and task execution such as object transportation or manipulation. If the generated dynamic motion causes collision due to dynamic movements, the planner go back to the planning stage to remove the collision by path reshaping. This iterative planning scheme enables robust planning against variation of task dynamics. Simulation results are provided to validate the proposed planning method

关键词： Motion planning Humanoid robots Kinematics Legged locomotion Transportation Robustness intelligent robots Manipulator dynamics Motion control Humans

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Three Characterizations of 3D Reconstruction Uncertainty with Bounded Error

Three Characterizations of 3D Reconstruction Uncertainty wit...

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IEEE International Conference on robotics and Automation (ICRA)

作者： B. Telle O. Stasse K. Yokoi T. Ueshiba F. Tomita AIST/ISRI 3D Vision Group Intelligent Systems Research Institute (ISRI) National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan AIST/IS-CNRS/STIC Joint Japanese-French Robotics Laboratory (JRL) Intelligent Systems Research Institute (ISRI) National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

Considering a stereoscopic visual system, this paper deals with the error involved by a 3D reconstruction process. If image pixels are seen as surfaces instead of points, interval analysis provides bounding boxes in which the reconstructed 3D point lies with certainty. This paper presents a method which refine this bounding box and gives a tighter approximation of the error. Using bisection, and a reprojection test in the image planes, the space in which the 3D reconstructed point may be located is given as an octree. This is achieved through the resolution of a set inversion problem using the SIVIA algorithm. For a lighter manipulation of the result, an englobing ellipsoid is deduced from this approximation. Finally the three models are tested on a recognition process for a humanoid robot.

关键词： Uncertainty Image reconstruction Cameras Ellipsoids Robot vision systems intelligent robots Testing Gaussian distribution Shape Service robots

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GA BASED SENSOR PLACEMENT AND control DESIGN FOR REACTIVE NAVIGATION OF MOBILE ROBOTS

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International Journal of Information Acquisition 2005年第2期2卷 77-91页

作者： XIAOCHUAN WANG SIMON X. YANG MAX Q.-H. MENG Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ON Canada N1G 2W1 Canada Department of Electronic Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong China

In this paper, a novel genetic algorithm based approach is proposed for optimal sensor placement and controller design of a mobile robot to facilitate its reactive navigation and obstacle avoidance in unknown environments. The mobile robots considered in this paper have flexible sensor and control structure. A genetic algorithm is developed to evolve the parameters of optimal sensor placement and controller design simultaneously. The effectiveness of the proposed GA based co-evolution approach to robot sensor placement and control design is demonstrated by simulation studies.

关键词： Sensor placement control design mobile robots obstacle avoidance genetic algorithm co-evolution

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A knowledge based genetic algorithm for path planning of a mobile robot

A knowledge based genetic algorithm for path planning of a m...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yanrong Hu S.X. Yang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a knowledge based genetic algorithm (GA) for path planning of a mobile robot is proposed, which uses problem-specific genetic algorithms for robot path planning instead of the standard GAs. The proposed knowledge based genetic algorithm incorporates the domain knowledge into its specialized operators, where some also combine a local search technique. The proposed genetic algorithm also features a unique and simple path representation and a simple but effective evaluation method. The knowledge based genetic algorithm is capable of finding an optimal or near-optimal robot path in both complex static and dynamic environments. The effectiveness and efficiency of the proposed genetic algorithm is demonstrated by simulation studies. The irreplaceable role of the specialized genetic operators in the proposed GA for solving robot path planning problem is demonstrated by a comparison study.

关键词： Genetic algorithms Path planning Mobile robots Biological cells intelligent robots Encoding intelligent systems Genetic engineering Knowledge engineering Neural networks

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Using a non-prior training active feature model

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) 2004年 3333卷 69-78页

作者： Kim, Sangjin Kang, Jinyoung Shin, Jeongho Lee, Seongwon Paik, Joonki Kang, Sangkyu Abidi, Besma Abidi, Mongi Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Huksuk-Dong Tongjak-Ku Seoul 156-756 Korea Republic of Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN 27996-2100 United States

This paper presents a feature point tracking algorithm using optical flow under the non-prior training active feature model (NPT-AFM) framework. The proposed algorithm mainly focuses on analysis of deformable objects, and provides real-time, robust tracking. The proposed object tracking procedure can be divided into two steps: (i) optical flow-based tracking of feature points and (ii) NPT-AFM for robust tracking. In order to handle occlusion problems in object tracking, feature points inside an object are estimated instead of its shape boundary of the conventional active contour model (ACM) or active shape model (ASM), and are updated as an element of the training set for the AFM. The proposed NPT-AFM framework enables the tracking of occluded objects in complicated background. Experimental results show that the proposed NPT-AFM-based algorithm can track deformable objects in real-time. © Springer-Verlag 2004.

关键词： Optical flows

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