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检索条件"机构=Program of Robotics"

共 862 条记录，以下是481-490 订阅

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Cogent Confabulation-based Hierarchical Behavior Planner for Task Performance

Cogent Confabulation-based Hierarchical Behavior Planner for...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Se-Hyoung Cho Seung-Hwan Baek Deok-Hwa Kim Yong-Ho Yoo Sanghyun Cho Jong-Hwan Kim Robotics Program KAIST 291 Daehak-ro Yuseong-gu Daejeon 305-701 Republic of Korea School of Electrical Engineering

ISBN: (纸本)9781509018987

This paper proposes a novel hierarchical behavior planner with a multi-layered confabulation based behavior selection structure for robots to perform tasks. The proposed planner integrates a STRIPS based behavior selection approach and cogent confabulation approach. The STRIPS based behavior selection approach is a goal tree search that induces goaloriented sequences of behaviors, while the cogent confabulation approach is based on conditional probabilities between input symbols and target behaviors, aims to model human thinking mechanism. Our planner is applied with a set of behaviors defined in a multi-layered structure to show that it can plan a hierarchical sequences of behaviors to perform given tasks. The effectiveness and applicability of the proposed scheme is demonstrated through the experiments with the robot Mybot, developed in the Robot Intelligence Technology Lab. at KAIST.

关键词： behaviors perform demonstrated task performance Ribbon Device Component confabulation Behavior Demonstrate Robot multilayers Hierarchical

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BiRRTOpt: A combined sampling and optimizing motion planner for humanoid robots

BiRRTOpt: A combined sampling and optimizing motion planner ...

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IEEE-RAS International Conference on Humanoid Robots

作者： Lening Li Xianchao Long Michael A. Gennert WPI Humanoid Robotics Lab Worcester Polytechnic Institute Worcester MA US Electrical and Computer Engineering Northeastern University Boston MA USA Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

ISBN: (纸本)9781509047192

Currently, the optimization-based methods are widely adopted on humanoid robots and other bipedal robots. However, using these methods to plan robot motions suffers from getting stuck in infeasible solution given bad initial guesses. Conversely, sampling-based methods which are probabilistically complete perform well in practice. But trajectories generated by these methods require smoothing techniques, normally in low-quality in terms of a given cost function. This paper proposes a software framework called BiRRTOpt which combines the advantages of both approaches, aiming to compute a feasible, collision-free and optimized trajectory for humanoid robots. This work is mainly divided into 2 phases: Initial Guess and Optimization. Two experiments in the simulator and on an actual Atlas robot demonstrate the success of our approach. The idea described in this paper can easily be extended to other humanoid robots or bipedal robots to plan motions.

关键词： Trajectory Optimization Humanoid robots Planning Collision avoidance Robot motion

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The development of flying touch hot rolling control method based on SMCSPO

The development of flying touch hot rolling control method b...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Hyun-Hee Kim Sung-Jin Kim Min Cheol Lee Interdisciplinary Program in Robotics Pusan National University Busan Republic of Korea Department of Mechanical Engineering Pusan National University Busan Republic of Korea

ISBN: (纸本)9781509020669

To produce good quality of steel plates, scratches on steel plate should be minimized in hot rolling process. The new method, flying touch algorithm is introduced to control the gap between upper and lower roller for reducing scratches. In the flying touch method, the uniformity of coil can be debased due to variation of reaction force between rollers and steel plate. Therefore, the robust control algorithm and force estimation method is needed to apply flying touch method to hot rolling process. This paper introduces sliding mode control with sliding perturbation observer (SMCSPO) in flying touch hot rolling process. This paper also survey the effect of improved smoothen curve trajectory for realizing the flying touch and velocity synchronization on rolling mills' roller to reduce a scratch due to a friction force caused by the velocity desynchronization.

关键词： Steel Force Friction Mathematical model Rubber Torque Belts

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Towards real-time underwater 3D reconstruction with plenoptic cameras

Towards real-time underwater 3D reconstruction with plenopti...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Katherine A. Skinner Matthew Johnson-Roberson Robotics Program University of Michigan Ann Arbor 48109 USA Department of Naval Architecture and Marine Engineering University of Michigan Ann Arbor 48109 USA

ISBN: (纸本)9781509037636

Achieving real-time perception is critical to developing a fully autonomous system that can sense, navigate, and interact with its environment. Perception tasks such as online 3D reconstruction and mapping have been intensely studied for terrestrial robotics applications. However, characteristics of the underwater domain such as light attenuation and light scattering violate the brightness constancy constraint, which is an underlying assumption in methods developed for land-based applications. Furthermore, the complex nature of light propagation underwater limits or even prevents subsea use of real-time depth sensors used in state-of-the-art terrestrial mapping techniques. There have been recent advances in the development of plenoptic (also known as light field) cameras, which use an array of micro lenses capturing both intensity and ray direction to enable color and depth measurement from a single passive sensor. This paper presents an end-to-end system to harness these cameras to produce real-time 3D reconstructions underwater. Our system builds upon the state-of-the-art in online terrestrial 3D reconstruction, transferring these approaches to the underwater domain by gathering real-time color and depth (RGB-D) data underwater using a plenoptic camera, and performing dense 3D reconstruction while compensating for attenuation effects of the underwater environment simultaneously, using a graphics processing unit (GPU) to achieve real-time performance. Results are presented for data gathered in a water tank and the proposed technique is validated quantitatively through comparison with a ground truth 3D model gathered in air to demonstrate that the proposed approach can generate accurate 3D models of objects underwater in real-time.

关键词： computer vision plenoptic cameras light field cameras underwater 3D reconstruction real-time 3D reconstruction

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Low-obstacle detection using stereo vision

Low-obstacle detection using stereo vision

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Robert Bichsel Paulo V K Borges Robotics Systems and Control Program at ETH Zurich Switzerland Autonomous System Laboratory - CSIRO Digital Productivity Flagship - 1 Technology Court Pullenvale QLD 4066 Australia

ISBN: (纸本)9781509037636

Real-time obstacle detection is a key component of autonomous vehicles. In this context, low obstacles are particularly challenging, as they are often discarded by traditional algorithms. Curb detection methods that can potentially be suitable for the problem usually target roads with clearly defined curbs and sidewalks. We propose a real-time algorithm for the detection of low obstacles (including, but not restricted to curbs), merging 2-D and 3-D information from stereo imaging. A set of candidate object lines is extracted based on their combined 2-D and 3-D features, tracked over time and clustered according to a novel similarity metric. Finally, a 3rd order polynomial spline is fitted to each cluster to represent the obstacle. The proposed system can deal with noisy and incomplete point clouds and keeps the model assumptions to a minimum. To evaluate the algorithm, a new stereo dataset is provided and made available online. We present experiments in different scenarios and lighting conditions, illustrating the applicability of the method.

关键词： Kerbstones Stereoviews Obstacle detection Autonomous Vehicles Three Dimensions Noise Road Crucial components stereo imaging

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Anytime RRBT for handling uncertainty and dynamic objects

Anytime RRBT for handling uncertainty and dynamic objects

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hyunchul Yang Jongwoo Lim Sung-eui Yoon Robotics Program KAIST Daejeon South Korea Division of Computer Science and Engineering Hanyang University Seoul South Korea School of Computing KAIST Daejeon South Korea

ISBN: (纸本)9781509037636

We present an efficient anytime motion planner for mobile robots that considers both other dynamic obstacles and uncertainty caused by various sensors and low-level controllers. Our planning algorithm, which is an anytime extension of the Rapidly-exploring Random Belief Tree (RRBT), maintains the best possible path throughout the robot execution, and the generated path gets closer to the optimal one as more computation resources are allocated. We propose a branch-and-bound method to cull out unpromising areas by considering path lengths and uncertainty. We also propose an uncertainty-aware velocity obstacle as a simple local analysis to avoid dynamic obstacles efficiently by finding a collision-free velocity. We have tested our method with three benchmarks that have non-linear measurement regions or potential collisions with dynamic obstacles. By using the proposed methods, we achieve up to five times faster performance given a fixed path cost.

关键词： Uncertainty Mobile robots LOW LEVEL Byways Branch and bound methods barriers

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Design and validation of a high-order weighted-frequency fourier linear combiner-based Kalman filter for parkinsonian tremor estimation

Design and validation of a high-order weighted-frequency fou...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Y. Zhou M. E. Jenkins M. D. Naish A. L. Trejos Biomedical Engineering Program and the Department of Electrical and Computer Engineering (ECE) Western University Movement Disorders Program Clinical Neurological Sciences Western University Canadian Surgical Technologies and Advanced Robotics (CSTAR) Western University CSTAR and ECE Western University

The design of a tremor estimator is an important part of designing mechanical tremor suppression orthoses. A number of tremor estimators have been developed and applied with the assumption that tremor is a mono-frequency signal. However, recent experimental studies have shown that Parkinsonian tremor consists of multiple frequencies, and that the second and third harmonics make a large contribution to the tremor. Thus, the current estimators may have limited performance on estimation of the tremor harmonics. In this paper, a high-order tremor estimation algorithm is proposed and compared with its lower-order counterpart and a widely used estimator, the Weighted-frequency Fourier Linear Combiner (WFLC), using 18 Parkinsonian tremor data sets. The results show that the proposed estimator has better performance than its lower-order counterpart and the WFLC. The percentage estimation accuracy of the proposed estimator is 85±2.9%, an average improvement of 13% over the lower-order counterpart. The proposed algorithm holds promise for use in wearable tremor suppression devices.

关键词： Harmonic analysis Estimation Power harmonic filters Band-pass filters Pathology Frequency estimation Physiology

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Automated Incline Detection for Assistive Powered Wheelchairs

Automated Incline Detection for Assistive Powered Wheelchair...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Mahdieh Nejati Brenna D. Argall McCormick School of Engineering Master of Science in Robotics Program Northwestern University Evanston IL USA Department of Electrical Engineering and Computer Science Northwestern University Evanston IL USA

ISBN: (纸本)9781509039302

This work presents an algorithm for automated real-time ramp detection using 3D point cloud data in the context of shared-control powered wheelchairs. Limitations in the interfaces available to those with severe motor impairments can make basic maneuvering tasks with powered wheelchairs difficult. Although a significant amount of work has been done on obstacle detection and avoidance, much less attention has been given to algorithms for the safe and reliable detection of ramps and inclines;even though navigating these structures is an important part of urban life. We provide an algorithmic solution for accurately detecting traversable inclines for applications with powered wheelchairs using the Point Cloud Library (PCL) within the robotics Operating System (ROS) framework. All algorithms are implemented first in simulation and later evaluated on data obtained from indoor and outdoor urban environments. We measure the performance of our algorithm with systematic testing on several different ramp structures, observed from varied viewpoints. Results show that our algorithm is successful in detecting the orientation, slope, and width of traversable ramps with up to 100% accuracy and an average detection accuracy of 88%.

关键词： Wheelchairs Mobile robots Three-dimensional displays Robot sensing systems Navigation Image edge detection three-dimensional displays Manipulator sensing systems Edge detection Wheelchair Mobile robots navigation RAMP Inclined Ramps physical impairment algorithms Town life Obstacle detection Traversable urban environment

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Towards supervisory control of humanoid robots for driving vehicles during disaster response missions

Towards supervisory control of humanoid robots for driving v...

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IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015

作者： Knoedler, Kevin Dimitrov, Velin Conn, Doug Gennert, Michael A. Padir, Taskin Robotics Engineering Program United States Worcester Polytechnic Institute WorcesterMA01609 United States

ISBN: (纸本)9781479987573

We describe the approach of Worcester Polytechnic Institute's (WPI) robotics Engineering C Squad (WRECS)to the utility vehicle driving task at the Defense Advanced Research Projects Agency (DARPA) robotics Challenge (DRC) Trials held in December 2013. WRECS was one of only seven teams to attempt the driving task, and the only team with an ATLAS robot to successfully drive the course. We implement a supervisory control system that allows the robot to control the speed of the vehicle, while the operator helps the robot steer the vehicle. Two different methods of estimating speed, using the LIDAR and stereo cameras, are presented, and the performance of the robot at the Trials is discussed. © 2015 IEEE.

关键词： Stereo image processing

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Optimized design of a rigid kinematic module for antagonistic soft actuation

Optimized design of a rigid kinematic module for antagonisti...

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IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015

作者： Luo, Ming Skorina, Erik H. Tao, Weijia Chen, Fuchen Onal, Cagdas D. Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute MA01609 United States

ISBN: (纸本)9781479987573

Soft actuators can be useful in human-occupied environments because of their adaptable compliance and light weight. We previously introduced a variation of fluidic soft actuators we call the reverse pneumatic artificial muscle (rPAM), and developed an analytical model to predict its performance both individually and while driving a 1 degree of freedom revolute joint antagonistically. Here, we expand upon this previous work, adding a correction term to improve model performance and using it to perform optimization on the kinematic module dimensions to maximize achievable joint angles. We also offer advances on the joint design to improve its ability to operate at these larger angles. The new joint had a workspace of around ±60°, which was predicted accurately by the improved model. © 2015 IEEE.

关键词： Kinematics

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