检索结果-内蒙古大学图书馆

2005 IEEE International Symposium on Computational Intelligence in robotics and Automation CIRA 2005

作者： Aleotti, Jacopo Caselli, Stefano Maccherozzi, Giuliano RIMLab. - Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dell'Informazione University of Parma Italy

Service robots require simple programming techniques allowing users with little or no technical expertise to integrate new tasks in a robotic platform. A promising solution for automatic acquisition of robot behaviors is the Programming by Demonstration (PbD) paradigm. Its aim is to let robot systems learn new behaviors from a human operator demonstration. This paper describes a virtual reality based PbD system for pick-and-place and manipulation tasks. The system re-covers smooth robot trajectories from single or multiple user demonstrations, thereby overcoming sensor noise and human inconsistency problems. More specifically, we investigate the benefits of the human hand trajectory reconstruction with NURBS curves by means of a best-fit data smoothing algorithm. Some experiments involving object transportation while avoiding obstacles in the workspace show the viability and effectiveness of the approach. © 2005 IEEE.

关键词： Robot programming

来源：评论

学校读者我要写书评

暂无评论

Object categorization and grasping by parts from range scan data

Object categorization and grasping by parts from range scan ...

引用

2012 IEEE International Conference on robotics and Automation, ICRA 2012

作者： Aleotti, Jacopo Lodi Rizzini, Dario Caselli, Stefano RIMLab. - Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dell'Informazione University of Parma Italy

ISBN: (纸本)9781467314039

Object category recognition and localization in 3D range data is of great importance in robot manipulation. In this work we propose a novel approach for object categorization and grasping that is focused on topological shape segmentation. The method allows generation of watertight triangulated models of the objects and their shape segmentation into parts. This segmentation provides meaningful information about grasp affordances. An efficient technique for encoding proximity data from range scans is also presented as well as an advanced strategy for manipulation of object sub-parts. Experiments are reported in a real environment using a robot arm equipped with eye-in-hand laser scanner and a parallel gripper. © 2012 IEEE.

关键词： Object recognition

来源：评论

学校读者我要写书评

暂无评论

Evaluation of data distribution techniques in a CORBA-based telerobotic system

Evaluation of data distribution techniques in a CORBA-based ...

引用

IEEE International Workshop on intelligent Robots and Systems (IROS)

作者： M. Amoretti S. Bottazzi M. Reggiani S. Caselli RIMLab - Robotics and Intelligent Machines Laboratory University of Parma RIMLab - Robotics and Intelligent Machines Laboratory University of Parma Italy

Distributed telerobotic applications exploiting Internet-related technologies, such as virtual laboratories and on-line robots, require effective techniques for timely delivery of sensory data to remote clients. In these systems, there is a need to distribute increasing quantities of sensory data to a potentially large number of clients during system operation. In this paper, we describe and evaluate three implementations of a sensory data distribution subsystem in the context of a CORBA-based framework for telerobotic applications. Experimental results show that solutions exploiting CORBA services and based on the event channel paradigm represent a viable alternative to ad-hoc solutions. The overhead associated to CORBA services becomes less significant with larger message size. Moreover, these services ensure portability, extensibility, reduction in programming complexity, and improved scalability when the number of clients increases.

关键词： Telerobotics Robot sensing systems Application software Laboratories intelligent robots Internet Robot programming Hardware Operating systems Robot control

来源：评论

学校读者我要写书评

暂无评论

A VIRTUAL REALITY BASED SYSTEM FOR PROGRAMMING MOBILE MANIPULATION TASKS

引用

IFAC Proceedings Volumes 2006年第15期39卷 388-393页

作者： Jacopo Aleotti Alessandro Melzi Stefano Caselli RIMLab – Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dell'Informazione University of Parma Italy

This paper presents a virtual reality based system for programming mobile manipulation tasks. The system supports two modes of operation. The first mode implements a virtual reality interface for teleoperation, while the second mode is based on the programming by demonstration paradigm. The system exploits an advanced user interface allowing users with little or no technical expertise to integrate new tasks in a mobile robotic platform. The user can specify trajectories to be performed by the mobile base by means of a natural interface. Moreover the operator can supervise and validate the demonstrated task through a simulation module, thereby reducing errors in the generation process. Some experiments involving the whole set of system components demonstrate the viability and effectiveness of the approach.

关键词： Robot Programming by Demonstration Telemanipulation Virtual Reality

来源：评论

学校读者我要写书评

暂无评论

A parallel maximum likelihood algorithm for robot mapping

A parallel maximum likelihood algorithm for robot mapping

引用

2009 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Dario Lodi Rizzini Stefano Caselli RIMLab-Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria Informazione University of Parma Italy

Several recent algorithms address simultaneous localization and mapping as a maximum likelihood problem. While many proposed methods focus on efficiency or on online computation, less interest has been devoted to investigate a parallel or distributed organization of such algorithms in the perspective of multi-robot exploration. In this paper, we propose a parallel algorithm for map estimation based on Gauss-Seidel relaxation. The map is given in the form of a constraints network and is partioned into clusters of nodes by applying a node-tearing technique. The identified clusters of nodes can be processed independently as tasks assigned to different processors. The graph decomposition induces also a hierarchical organization of nodes that could be exploited for more sophisticated relaxation techniques. Results illustrate the potential and flexibility of the new approach.

关键词： Parallel robots Simultaneous localization and mapping intelligent robots Maximum likelihood estimation Clustering algorithms Robot sensing systems Gaussian processes Maximum likelihood detection Matrix decomposition USA Councils

来源：评论

学校读者我要写书评

暂无评论

Towards a closed-form solution of constraint networks for maximum likelihood mapping

Towards a closed-form solution of constraint networks for ma...

引用

International Conference on Advanced robotics (ICAR)

作者： Dario Lodi Rizzini RIMLab-Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dellInformazione University of Parma Italy

Several recent algorithms address simultaneous localization and mapping as a maximum likelihood problem. According to such formulation map estimation is achieved by finding the configuration that minimizes the error function associated to the constraint network representing the map. Almost all the proposed algorithms exploit iterative fixed-point techniques. Less attention has been paid to the evaluation of the structure of the problem. In this paper, we derive the closed form solution for a constraint network of planar poses when the error function is given in a particular form. The derivation of the exact solution allows a better knowledge of the problem and a more detailed investigation of the performance of existing numerical techniques. The system of equations, that are satisfied by the solution, are computed and a general algorithm to solve such equations is provided.

关键词： Closed-form solution Simultaneous localization and mapping Maximum likelihood estimation Robot sensing systems Nonlinear equations intelligent robots Iterative algorithms Maximum likelihood detection Gaussian processes intelligent networks

来源：评论

学校读者我要写书评

暂无评论

Grasp Programming by Demonstration: a Task-Based Quality Measure

Grasp Programming by Demonstration: a Task-Based Quality Mea...

引用

17th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2008), vol.2

作者： Jacopo Aleotti Stefano Caselli RIMLab Robotics and Intelligent Machines Laboratory Dipartimento diIngegneria dell Informazione University of Parma Italy

This paper addresses the issue of how Programming by Demonstration can assist the development of task-related grasping capabilities in a robotic system. Finding a proper quality measure for the evaluation of grasping tasks is a crucial topic for service robots. While classical grasp quality measures do not include task information, we propose a measure which takes into account user experience. Experiments have been performed in a virtual environment that enables real-time human interaction by means of a dataglove and a motion tracker. Also, a local grasp optimization technique is described to amend uncertainties arising from user demonstration. Finally, the grasp quality measure has been applied for synthesizing manipulation tasks with a simulated robot arm.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

A distributed maximum likelihood algorithm for multi-robot mapping

A distributed maximum likelihood algorithm for multi-robot m...

引用

2010 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Dario Lodi Rizzini Stefano Caselli RIMLab-Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dellInformazione University of Parma Italy

In the last decade, several algorithms, usually based on information filtering techniques, have been proposed to address multi-robot mapping problem. Less interest has been devoted to investigate a parallel or distributed organization of such algorithms in the perspective of multi-robot exploration. In this paper, we propose a distributed algorithm for map estimation based on Gauss-Seidel relaxation. The complete map is shared among independent tasks running on each robot, which integrate the independent robot measurements in local submaps, and a server, which stores contour nodes separating the submaps. Each task updates its local submap and periodically checks for inter-robot data associations. Gauss-Seidel relaxation is performed independently on each robot and afterwards on the contour nodes set on the server. Results illustrate the potential and flexibility of the new approach.

关键词： Robot kinematics Servers Simultaneous localization and mapping Clustering algorithms Joints

来源：评论

学校读者我要写书评

暂无评论

A Low-Cost Stereo System for 3D Object Recognition

A Low-Cost Stereo System for 3D Object Recognition

引用

IEEE International Conference on intelligent Computer Communication and Processing

作者： Fabio Oleari Dario Lodi Rizzini Stefano Caselli RIMLab - Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dell'Informazione University of Parma

ISBN: (纸本)9781479914920

In this paper, we present a low-cost stereo vision system designed for object recognition with FPFH point feature descriptors. Image acquisition is performed using a pair of consumer market UVC cameras costing less than 80 Euros, lacking synchronization signal and without customizable optics. Nonetheless, the acquired point clouds are sufficiently accurate to perform object recognition using FPFH features. The recognition algorithm compares the point cluster extracted from the current image pair with the models contained in a dataset. Experiments show that the recognition rate is above 80% even when the object is partially occluded.

关键词： object recognition Acoustic equipment synchronization signal Pairing Current Pick

来源：评论

学校读者我要写书评

暂无评论

Object categorization and grasping by parts from range scan data

Object categorization and grasping by parts from range scan ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Jacopo Aleotti Dario Lodi Rizzini Stefano Caselli RIMLab-Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dellInformazione University of Parma Italy

关键词： Grasping Shape Surface reconstruction Robot sensing systems Planning Semantics

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：