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检索条件"机构=Program for Robotics"

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The Third International Conference on human-robot interaction

The Third International Conference on human-robot interactio...

引用

作者： Fong, Terry Dautenhahn, Kerstin Scheutz, Matthias Demiris, Yiannis Intelligent Robotics Group NASA Ames Research Center Department of Artificial Intelligence School of Computer Science University of Herfordshire Herfordshire United Kingdom Adaptive Systems Research Group University of Herfordshire Herfordshire United Kingdom Department of Cognitive Science Computer Science and Informatics Cognitive Science Program Indiana University Bloomington IN United States Intelligent Robotics Team Department of Electrical Engineering Imperial College London London United Kingdom

The third international conference on Human-Robot Interaction (HRI-2008) was held in Amsterdam, The Netherlands, March 12-15, 2008. The theme of HRI-2008, "living with robots," highlights the importance of the technical and social issues underlying human-robot interaction with companion and assistive robots for long-term use in everyday life and work activities. More than 250 researchers, practitioners, and exhibitors attended the conference, and many more contributed to the conference as authors or reviewers. HRI-2009 will be held in San Diego, California, from March 11-13, 2009. Copyright © 2008, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Towards a medical virtual reality environment for minimally invasive cardiac surgery

Towards a medical virtual reality environment for minimally ...

引用

4th International Workshop on Medical Imaging and Augmented Reality, MIAR 2008

作者： Peters, Terry M. Linte, Cristian A. Moore, John Bainbridge, Daniel Jones, Douglas L. Guiraudon, Gérard M. Imaging Research Laboratories Robarts Research Institute London ON Canada Biomedical Engineering Graduate Program University of Western Ontario London ON Canada Division of Anaesthesia University of Western Ontario London ON Canada Department of Physiology and Pharmacology University of Western Ontario London ON Canada Canadian Surgical Technologies and Advanced Robotics London ON Canada

ISBN: (纸本)3540799818

We have developed a visualization environment to assist surgeons with therapy delivery inside the beating heart, in absence of direct vision. This system employs virtual reality techniques to integrate pre-operative anatomical models, real-time intra-operative imaging, and models of magnetically-tracked surgical tools. Visualization is enhanced via 3D dynamic cardiac models constructed from high-resolution pre-operative MR or CT data and registered within the intra-operative imaging environment. In this paper, we report our experience with a feature-based registration technique to fuse the pre- and intra-operative data during an in vivo intracardiac procedure on a porcine subject. Good alignment of the pre- and intra-operative anatomy within the virtual reality environment is ensured through the registration of easily identifiable landmarks. We present our initial experience in translating this work into the operating room and employing this system to guide typical intracardiac interventions. Given its extensive capabilities in providing surgical guidance in the absence of direct vision, our virtual environment is an ideal candidate for performing off-pump intracardiac interventions. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Augmented reality

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Cooperative Negotiation and Control Strategy of A Shape-shifting Robot

Cooperative Negotiation and Control Strategy of A Shape-shif...

引用

IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Bin Li Shugen Ma Tonglin Liu Jinguo Liu Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation Shenyang Liaoning China Center for Promotion of the COE Program Ritsumeikan University Kusatsu Shiga Japan

The complex environment requires mobile robots to possess high capability of obstacle negotiation. Cooperative negotiation is proposed to endow the AMOEBA-I robot with capability of obstacle negotiation and to reinforce the adaptability of the robot in unstructured environment. A mathematical model is established. The relationship between the height that the robot can overcome and angle with gravity offset's variation is analyzed theoretically. The maximum heights that conventional negotiation method can reach and cooperative negotiation method can reach are compared. Control strategy of autonomous negotiation is presented. The emotion model is established and the robot's control strategy is fine-tuned according to the change of emotion. Experimental results prove the validity of the cooperative negotiation method and autonomous control strategy.

关键词： Shape control Mobile robots robotics and automation Machine intelligence Gravity Robot control Intelligent robots Potentiometers Wheels Conferences

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Design of a mobile mechanism possessing driving ability and detecting function for in-pipe inspection

Design of a mobile mechanism possessing driving ability and ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Peng Li Shugen Ma Bin Li Yuechao Wang The State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China The Organization for Promotion of the COE Program Ritsumeikan University Shiga Japan

In this paper, a mobile mechanism with driving capability and detecting function is proposed for in-pipe inspection task. Based on this mechanism, a robot is designed and fabricated. The advantage of this robot is that it has mobile ability in the pipe and detecting function for inspection, while only one DC motor is installed. This results in low energy consumption and low cost to make. The robot propels itself in the pipe under a driving mode, and it is used for finding the defect of the pipe under a detecting mode. By switching these two working modes, the robot performs the inspection task without other extra DC motors. Moreover, a velocity change mechanism is introduced to adapt the change of the payload through adjusting the incline angle of the roller. The characteristics of this mechanism are analyzed by comparison with a classical screw drive robot and a direct drive robot. Finally, basic experiments are conducted to testify the mobility and efficiency of this robot.

关键词： Inspection Mobile robots Wheels DC motors Traction motors Orbital robotics Robot sensing systems Costs robotics and automation Legged locomotion

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Mean-shift tracker with face-adjusted model

Mean-shift tracker with face-adjusted model

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Jeehyun Goya Choe Joon-Hong Seok Ju-Jang Lee Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea

Mean-shift algorithm shows robust performances in various object-tracking technologies including face tracking. Due to its robustness and accuracy, mean-shift algorithm is regarded as one of the best ways to apply in object-tracking technology in computer vision fields. However, it has a drawback of getting into a bottleneck state when faced with a speedy object moving beyond its window size within one image frame interval time. The time required to calculate mean-shift vector could be much lessened with lesser memory when color model is adjusted to the previously known target information. This paper shows the building process of target-adjusted model with a non-uniform quantization. The target color model dealt in this paper is the one used for deriving mean-shift vector. It is a kernel model containing both the color and distance information. This paper gives scheme to efficiently deal with color information in the model. Through a proper selection of color bins, unimportant color values were reduced to a small amount. As a result, the computing time of the mean-shift vector in face-tracking was shortened while maintaining robustness and accuracy.

关键词： Target tracking Face detection robotics and automation Electronic mail Robustness Quantization Kernel Pixel Focusing Face recognition

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Efficient color feature extraction and matching for motion estimation and mapping

Efficient color feature extraction and matching for motion e...

引用

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hyoseok Hwang In-So Kweon Korea Advanced Institute of Science and Technology Robotics Program Daejeon South Korea Faculty of Electrical and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea

ISBN: (纸本)9781424420575

Feature extraction and matching is one of the most significant research areas in robot vision. In this paper, we present a new method for motion estimation and mapping using color feature extraction and matching. The proposed method reduces computational cost and has good performance. The experimental result shows that the proposed method not only runs faster but provides accurate result.

关键词： Feature extraction Image color analysis Motion estimation Robots Robot kinematics Data mining Computational efficiency

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Evolving artificial neural network using simple augmenting weight matrix method

Evolving artificial neural network using simple augmenting w...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Dong-Hyun Lee Ju-Jang Lee Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea

In this paper, a simple method is proposed to evolve artificial neural networks(ANNs) using augmenting weight matrix method(AWMM). ANNs' architecture and connection weights can be evolved simultaneously by AWMM, and their structures incrementally are growing up from minimal structure. It is a non-mating method. It employs 5 mutation operators: add connection, add node, delete connection, delete node, and new initial weight. And the connection weight is trained by the simplified alopex method, which is a correlation based method for solving optimization problem. In AWMM, structural information is encoded to weighting matrix, and the matrix is augmenting as the hidden nodes are added.

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Design and Locomotion Analysis of an Unit for Reconfigurable Robots

Design and Locomotion Analysis of an Unit for Reconfigurable...

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7th World Congress on Intelligent Control and Automation (WCICA 2008), vol.10

作者： Changlong Ye Shugen Ma Bin Li Hongjun Liu Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Shenyang Institute of Aeronautical Engineering China Center for Promotion of COE Program Ritsumeikan University Japan

Mechanism Design of a modular universal unit (MUU) is presented in this paper. This unit is a basic cell of reconfigurable robot. We can develop the 3D snake-like robot, car-like vehicle and manipulator with MUUs. The MUU behaves Pitching, Yawing and Rolling D.O.F, among of which Pitching and Yawing are actuated by means of differential driving system for getting large propulsion. A series of passive rollers around the cylindrical aluminum shell of MUU form an actuating wheel for the omnidirectional mobile robot. The communication and replacement is feasible due to high integration of MUU. Two or more MUUs can be connected to move or to be a manipulator, which exhibits high mobility and agility of MUU. Some typical configurations of robot composed of these MUUs are analyzed for locomotion control. The kinematics and controllability of proposed robots are analyzed for self-reconfigurable commission. Some locomotion experiments are given to show characteristic of MUU.

关键词： Reconfigurable robot Modular unit Omnidirectional motion Kinematics

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Estimation of isometric joint torque from muscle activation and length in intrinsic hand muscle

Estimation of isometric joint torque from muscle activation ...

引用

International Conference on Control, Automation and Systems ( ICCAS)

作者： Won-Il Park Hae-Dong Lee Jung Kim Robotics program KAIST Daejeon South Korea BK21 Mechatronics Group Chungnam National University Daejeon South Korea Department of Mechanical Engineering KAIST Daejeon South Korea

Due to the complicated relationship between a muscle activation level and isometric joint torques, predicting torques under isometric conditions have been an obstacle to neuromuscular control of robots in the field of human robot interaction (HRI). This study describes the isometric torque estimation of the metacarpophalangeal (MCP) joint of a human hand based on the Hill muscle model. Surface electromyography (sEMG) for muscle activation and ultrasound imaging technique for muscle length changes of the first dorsal interosseous (FDI) muscle were employed under isometric condition. The result showed that the prediction is more dependent on sEMG than length change and has a high correlation value (r = 0.9604) with the measured torque. This result indicates the possibility of a torque prediction method based on the Hill muscle model for natural human robot interaction.

关键词： Muscles Human robot interaction Ultrasonic imaging Neuromuscular Torque control Robot control Electromyography Fault detection Length measurement Torque measurement

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Passivity-based Dynamic Visual Force Feedback Control for Fixed Camera Systems

Passivity-based Dynamic Visual Force Feedback Control for Fi...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Hiroyuki Kawai Toshiyuki Murao Masayuki Fujita Department of Robotics Kanazawa Institute of Technology Ishikawa Japan Master Program of Information Systems Architecture Advanced Institute of Industrial Technology Tokyo Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (纸本)9781424422241

This paper investigates passivity based 3D dynamic visual force feedback control for fixed camera systems. In our approach, we can control not only the position but also the orientation of the robot hand with a contact force by using visual information. The proposed method can be regarded as an extension of the hybrid position/force control to the hybrid vision/force control. The main contribution of this paper is to show that the 3D dynamic visual force feedback system has the passivity which allows us to prove stability in the sense of Lyapunov. Both the passivity of the manipulator dynamics and the passivity of the visual feedback system are preserved. Finally simulation results on 3 DOF planar manipulator are presented to verify the stability of the 3D dynamic visual force feedback system and understand our proposed method simply.

关键词： Intelligent control Control systems USA Councils

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