检索结果-内蒙古大学图书馆

IEEE International Conference on Robotics and Automation (ICRA)

作者： Farshad Khadivar Sthithparagya Gupta Walid Amanhoud Aude Billard Learning Algorithms and Systems Laboratory (LASA) Ecole Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland

The inverse dynamics of a robotic manipulator is instrumental in precise robot control and manipulation. However, acquiring such a model is challenging, not only due to unmodelled non-linearities such as joint friction, but also from a machine learning perspective (e.g., input space dimension, amount of data needed). The accuracy of such models, regardless of the learning techniques, relies on proper excitation and exploration of the robot’s configuration space, in order to collect a rich dataset. This study aims to provide rich data in learning the inverse dynamics of a serial robotic manipulator using supervised machine learning techniques. We propose a method, called Max-Information Configuration Exploration (MICE), to incrementally explore and generate information-rich data via computing parameters of a trajectory set. We also introduce a new set of excitation trajectories that explores robot’s configuration through imposed stable limit cycles in robot joints’ phase space while satisfying feasibility constraints and physical bounds. We benchmark MICE against state-of-the-art in terms of data quality and learning accuracy. The proposed methodology for data collection, model learning, and evaluation, is validated with a KUKA IIWA14 robotic arm where the results prove significant improvement over traditional approaches.

关键词： Trajectory tracking Robot control Limit-cycles Machine learning Mice Data models Robustness

来源：评论

学校读者我要写书评

暂无评论

Policy adaptation with tactile feedback

Policy adaptation with tactile feedback

引用

ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Brenna D. Argall Eric L. Sauser Aude G. Billard Learning Algorithms and Systems Laboratory (LASA) Ecole Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland

Behavior adaptation with execution experience is a practical feature for any policy learning system. Our work provides performance feedback to a robot learner in the form of tactile corrections from a human teacher, for the purpose of policy refinement as well as policy reuse. Multiple variants of our general approach have been validated on the iCub robot, as building blocks towards a high-DoF humanoid system that integrates tactile sensing on the hands and arms into complex behaviors and sophisticated learning routines.

关键词： Humans Adaptation models Tactile sensors Laboratories

来源：评论

学校读者我要写书评

暂无评论

Probabilistic depth image registration incorporating nonvisual information

Probabilistic depth image registration incorporating nonvisu...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Manuel Wüthrich Peter Pastor Ludovic Righetti Aude Billard Stefan Schaal Faculty of Micro Engineering EPF Lausanne Switzerland Computational Learning and Motor Control Laboratory (CLMC) USC USA Learning Algorithms and Systems Laboratory (LASA) EPF Lausanne Switzerland

In this paper, we derive a probabilistic registration algorithm for object modeling and tracking. In many robotics applications, such as manipulation tasks, nonvisual information about the movement of the object is available, which we will combine with the visual information. Furthermore we do not only consider observations of the object, but we also take space into account which has been observed to not be part of the object. Furthermore we are computing a posterior distribution over the relative alignment and not a point estimate as typically done in for example Iterative Closest Point (ICP). To our knowledge no existing algorithm meets these three conditions and we thus derive a novel registration algorithm in a Bayesian framework. Experimental results suggest that the proposed methods perform favorably in comparison to PCL [1] implementations of feature mapping and ICP, especially if nonvisual information is available.

关键词： Iterative closest point algorithm Cameras Robots Shape Covariance matrix Visualization Approximation algorithms

来源：评论

学校读者我要写书评

暂无评论

learning Dynamical System Modulation for Constrained Reaching Tasks

Learning Dynamical System Modulation for Constrained Reachin...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Micha Hersch Florent Guenter Sylvain Calinon Aude G. Billard Learning Algorithms and Systems Laboratory-LASA School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland

ISBN: (纸本)1424401992

In this paper we combine kinesthetic demonstrations and dynamical systems to enable a humanoid robot to imitate constrained reaching gestures directed toward a target. Using a learning algorithm based on Gaussian mixture regression, the task constraints are extracted from several demonstrations. Those constraints take the form of desired velocity profiles for the end-effector and joint angle variables, with associated covariance matrices describing the variations allowed around the desired profiles. Those constraints are then used to modulate a dynamical system which has the reaching target as attractor. This way, the reaching trajectory can be reshaped in order to satisfy the constraints of the task, while preserving the adaptability and robustness provided by the dynamical system. In particular, the system can adapt to changes in the initial conditions and to target displacements occurring during the movement execution. We first evaluate the potential of this method on experiments involving the Hoap3 humanoid robot putting an object into a box. We then show how a manipulation tasks can be executed as sequences of such constrained reaching movement. This is illustrated on a packaging task performed by the robot

关键词： Humanoid robots Service robots Humans Robot control Laboratories Covariance matrix Robustness Packaging Electrical equipment industry Robot programming

来源：评论

学校读者我要写书评

暂无评论

Design of a Biomimetic Spine for the Humanoid Robot Robota

Design of a Biomimetic Spine for the Humanoid Robot Robota

引用

IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： L. Roos F. Guenter A. Guignard A.G. Billard Learning Algorithms and Systems Laboratory-LASA School of Engineering Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland

This paper presents a prototype of 3 degrees-of-freedom articulated spine for the doll-shaped humanoid robot Robota. This work follows an approach that emphasizes the need for a high human-likeliness in both the external features of the robot and in the kinematics of its motions to enhance human-robot interactions. The design of a spinal cord for our humanoid robot satisfies both criteria in providing offering a smooth human-like parallel means of bending forward and sideways

关键词： Humanoid robots Biomimetics Prototypes Educational robots Torso Education Laboratories Human robot interaction Autism Service robots

来源：评论

学校读者我要写书评

暂无评论

learning Barrier-Certified Polynomial Dynamical systems for Obstacle Avoidance with Robots

arXiv

引用

arXiv 2024年

作者： Schonger, Martin Kussaba, Hugo T.M. Chen, Lingyun Figueredo, Luis Swikir, Abdalla Billard, Aude Haddadin, Sami Germany Albaida Libya School of Computer Science University of Nottingham United Kingdom Learning Algorithms and Systems Laboratory EPFL Switzerland

Established techniques that enable robots to learn from demonstrations are based on learning a stable dynamical system (DS). To increase the robots’ resilience to perturbations during tasks that involve static obstacle avoidance, we propose incorporating barrier certificates into an optimization problem to learn a stable and barrier-certified DS. Such optimization problem can be very complex or extremely conservative when the traditional linear parameter-varying formulation is used. Thus, different from previous approaches in the literature, we propose to use polynomial representations for DSs, which yields an optimization problem that can be tackled by sum-of-squares techniques. Finally, our approach can handle obstacle shapes that fall outside the scope of assumptions typically found in the literature concerning obstacle avoidance within the DS learning framework. Supplementary material can be found at the project webpage: https://***. io/abc-dsMSC Codes 68T40 Copyright © 2024, The Authors. All rights reserved.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

Safety issues in human-robot interactions

Safety issues in human-robot interactions

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Milos Vasic Aude Billard Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Federale de Lausanne Lausanne Switzerland Learning Algorithms and Systems Laboratory School of Engineering Ecole Polytechnique Federale de Lausanne Lausanne Switzerland

Safety is an important consideration in human-robot interactions (HRI). Robots can perform powerful movements that can cause hazards to humans surrounding them. To prevent accidents, it is important to identify sources of potential harm, to determine which of the persons in the robot's vicinity may be in greatest peril and to assess the type of injuries the robot may cause to this person. This survey starts with a review of the safety issues in industrial settings, where robots manipulate dangerous tools and move with extreme rapidity and force. We then move to covering issues related to the growing numbers of autonomous mobile robots that operate in crowded (human-inhabited) environments. We discuss the potential benefits of fully autonomous cars on safety on roads and for pedestrians. Lastly, we cover safety issues related to assistive robots.

关键词： Robot sensing systems Service robots Hazards Accidents Injuries

来源：评论

学校读者我要写书评

暂无评论

WearCam: A head mounted wireless camera for monitoring gaze attention and for the diagnosis of developmental disorders in young children

WearCam: A head mounted wireless camera for monitoring gaze ...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Lorenzo Piccardi Basilio Noris Olivier Barbey Aude Billard Giuseppina Schiavone Flavio Keller Claes von Hofsten Learning Algorithms & Systems Laboratory LASA EPF Lausanne Lausanne Switzerland DNNP Laboratory Roma Italy Department of Psychology University of Uppsala Uppsala Sweden

Autism covers a large spectrum of disorders that affect the individual's way of interacting socially and is often revealed by the individual's lack of interest in gazing at human faces. Currently Autism is diagnosed in children no younger than 2 years old. This paper presents a new monitoring device, the WearCam, to help forming a diagnosis of this neurodevelopmental disorder at an earlier age than currently possible. The WearCam consists of a wireless camera located on the forefront of the child. The WearCam collects videos from the viewpoint of the child's head. Color detection, face detection and gaze detection are run on the data in order to locate the approximate gaze direction of the child and determine where her attention is drawn to (persons, objects, etc.). We report on early tests of the camera within normally developing children. Firstly the technical characteristics of the current prototype of the WearCam will be described. Afterwards the type of data collected with this device with young children will be shown.

关键词： Cameras Autism Face detection Prototypes Biomedical monitoring Batteries Humans Videos Object detection Charge-coupled image sensors

来源：评论

学校读者我要写书评

暂无评论

EMG-Based Analysis of the Upper Limb Motion 10

EMG-Based Analysis of the Upper Limb Motion

引用

10th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2015

作者： Batzianoulis, Iason El-Khoury, Sahar Micera, Silvestro Billard, Aude Learning Algorithms and Systems Laboratory Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland Translational Neural Engineering Lab Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland BioRobotics Institute Scuola Superiore sant'Anna Pisa Italy

ISBN: (纸本)9781450333184

In a human robot interaction scenario, predicting the human motion intention is essential for avoiding inconvenient delays and for a smooth reactivity of the robotic system. In particular, when dealing with hand prosthetic devices, an early estimation of the final hand gesture is crucial for a smooth control of the robotic hand. In this work we develop an electromyographic (EMG) based learning approach that decodes the grasping intention at an early stage of the reaching to grasping motion, i.e before the final grasp/hand preshape takes place. EMG electrodes are used for recording the arm muscles activities and a cyberglove is used to measure the finger joints during the textit{reach and} textit{grasp} motion. Results show that we can correctly classify with $90%$ accuracy for three typical grasps textit{before the onset of the hand pre-shape}. Such an early detection of the grasp intention allows to control a robotic hand simultaneously to the motion of subject's arm, hence generating no delay between the natural arm motion and the artificial hand motion. © 2015 Authors.

关键词： Electromyography

来源：评论

学校读者我要写书评

暂无评论

Evaluating the ICRA 2008 HRI challenge

Evaluating the ICRA 2008 HRI challenge

引用

ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Astrid Weiss Thomas Scherndl Manfred Tscheligi Aude Billard ICT&S Center University of Salzburg Salzburg Austria Learning Algorithms and Systems Laboratory LASA School of Engineering Lausanne Switzerland

This paper reports on the evaluation of the ICRA 2008 Human-Robot Interaction (HRI) Challenge. Five research groups demonstrated state-of-the-art work on HRI with a special focus on social and learning abilities. The demonstrations were rated by expert evaluators, in charge of awarding the prize, and 269 participants, i.e. 20 percent of the conference attendees through a standardized questionnaire (semantic differential). The data was analyzed with respect to six independent variables: expert evaluators vs. attendees, nationality of participants, origin region of the demo, age, gender and knowledge level of the attendees. Conference attendees tended to give higher scores for Social Skills, General Impression, and Overall Score than the expert evaluators. Irrespectively of the level of knowledge, age, and gender, conference attendees rated all demos relatively homogeneously. However, a comparative analysis of the conference attendees's ratings nationality-wise showed that demonstrations were rated differently depending on the region of origin. Conference attendees for the USA and Asian countries tended to rate demos from the same country of origin more frequently and more positively.

关键词： Robots Europe Educational institutions Conferences Automation Humans Asia

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：