Pub Date : 2011-08-15DOI: 10.1109/ICRA.2011.5980196
Paul Kulchenko, E. Todorov
We extend model-predictive control so as to make it applicable to robotic tasks such as legged locomotion, hand manipulation and ball bouncing. The online optimal control problem is defined in a first-exit rather than the usual finite-horizon setting. The exit manifold corresponds to changes in contact state. In this way the need for online optimization through dynamic discontinuities is avoided. Instead the effects of discontinuities are incorporated in a final cost which is tuned offline. The new method is demonstrated on the task of 3D ball bouncing. Even though our robot is mechanically limited, it bounces one ball robustly and recovers from a wide range of disturbances, and can also bounce two balls with the same paddle. This is possible due to intelligent responses computed online, without relying on pre-existing plans.
{"title":"First-exit model predictive control of fast discontinuous dynamics: Application to ball bouncing","authors":"Paul Kulchenko, E. Todorov","doi":"10.1109/ICRA.2011.5980196","DOIUrl":"https://doi.org/10.1109/ICRA.2011.5980196","url":null,"abstract":"We extend model-predictive control so as to make it applicable to robotic tasks such as legged locomotion, hand manipulation and ball bouncing. The online optimal control problem is defined in a first-exit rather than the usual finite-horizon setting. The exit manifold corresponds to changes in contact state. In this way the need for online optimization through dynamic discontinuities is avoided. Instead the effects of discontinuities are incorporated in a final cost which is tuned offline. The new method is demonstrated on the task of 3D ball bouncing. Even though our robot is mechanically limited, it bounces one ball robustly and recovers from a wide range of disturbances, and can also bounce two balls with the same paddle. This is possible due to intelligent responses computed online, without relying on pre-existing plans.","PeriodicalId":156712,"journal":{"name":"2011 IEEE International Conference on Robotics and Automation","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115430855","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-08-15DOI: 10.1109/ICRA.2011.5979771
Laurent Coutard, F. Chaumette
A challenging task of airborne operations remains the landing on the carrier deck, which limits the carrier operational efficiency during rough sea. In this paper, a method of carrier visual detection and tracking is described. With the help of the aircraft sensors, the carrier is first detected in the image using a warped patch of a reference image. This provides an initialization to a real time 3D model-based tracker estimating the camera pose during the sequence. This method is demonstrated and evaluated using a simulator with high-fidelity visualization and on real video.
{"title":"Visual detection and 3D model-based tracking for landing on an aircraft carrier","authors":"Laurent Coutard, F. Chaumette","doi":"10.1109/ICRA.2011.5979771","DOIUrl":"https://doi.org/10.1109/ICRA.2011.5979771","url":null,"abstract":"A challenging task of airborne operations remains the landing on the carrier deck, which limits the carrier operational efficiency during rough sea. In this paper, a method of carrier visual detection and tracking is described. With the help of the aircraft sensors, the carrier is first detected in the image using a warped patch of a reference image. This provides an initialization to a real time 3D model-based tracker estimating the camera pose during the sequence. This method is demonstrated and evaluated using a simulator with high-fidelity visualization and on real video.","PeriodicalId":156712,"journal":{"name":"2011 IEEE International Conference on Robotics and Automation","volume":"141 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124472575","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Electromigration-based deposition (EMBD) is an additive nanolithography technology for the fabrication of three-dimensional (3D) nanostructures. Key techniques for extending the capability of EMBD have been tackled experimentally including the deposition against a non-conductive surface, shape control of the as-deposited nanostructure, and continuous mass feeding. The process is based on nanofluidic mass delivery at the attogram scale from metal-filled carbon nanotubes (m@CNTs) using nanorobotic manipulation inside a transmission electron microscope. By attaching a conductive probe to the sidewall of the CNT, it has been shown that mass flow can be achieved regardless of the conductivity of the object surface. Experiments have shown the influence of heat sinks on the geometries of the deposits from EMBD. By modulating the relative position between the deposit and the heat sinks using dual probes, it has been possible to reshape the deposits. The limited mass encapsulated inside a CNT requires a frequent change of them for depositing large structures. To realize continuous feeding, a reservoir will be an excellent solution. We have observed that the copper inside the neighbor CNTs to the CNT injector can be sucked into the injector. Although the mechanism is not well understood yet, electromigration and atom-by-atom wall-passing-through may be responsible to this phenomenon. This observation enabled a new path for the design of an EMBD system. As a general-purposed nanofabrication process, EMBD will enable a variety of applications such as nanorobotic arc welding and assembly, nanoelectrodes direct writing, and nanoscale metallurgy.
{"title":"Electromigration-based deposition enabled by nanorobotic manipulation inside a transmission electron microscope","authors":"Zheng Fan, X. Tao, X. Cui, Xudong Fan, Xiaobin Zhang, Lixin Dong","doi":"10.1109/ICRA.2011.5980394","DOIUrl":"https://doi.org/10.1109/ICRA.2011.5980394","url":null,"abstract":"Electromigration-based deposition (EMBD) is an additive nanolithography technology for the fabrication of three-dimensional (3D) nanostructures. Key techniques for extending the capability of EMBD have been tackled experimentally including the deposition against a non-conductive surface, shape control of the as-deposited nanostructure, and continuous mass feeding. The process is based on nanofluidic mass delivery at the attogram scale from metal-filled carbon nanotubes (m@CNTs) using nanorobotic manipulation inside a transmission electron microscope. By attaching a conductive probe to the sidewall of the CNT, it has been shown that mass flow can be achieved regardless of the conductivity of the object surface. Experiments have shown the influence of heat sinks on the geometries of the deposits from EMBD. By modulating the relative position between the deposit and the heat sinks using dual probes, it has been possible to reshape the deposits. The limited mass encapsulated inside a CNT requires a frequent change of them for depositing large structures. To realize continuous feeding, a reservoir will be an excellent solution. We have observed that the copper inside the neighbor CNTs to the CNT injector can be sucked into the injector. Although the mechanism is not well understood yet, electromigration and atom-by-atom wall-passing-through may be responsible to this phenomenon. This observation enabled a new path for the design of an EMBD system. As a general-purposed nanofabrication process, EMBD will enable a variety of applications such as nanorobotic arc welding and assembly, nanoelectrodes direct writing, and nanoscale metallurgy.","PeriodicalId":156712,"journal":{"name":"2011 IEEE International Conference on Robotics and Automation","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127828839","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-05-09DOI: 10.1109/ICRA.2011.5980227
K. Tadakuma, R. Tadakuma, A. Ming, M. Shimojo, M. Higashimori, M. Kaneko
This paper describes a combination mechanism of a wheeground a paddle to realize an effective movement on the border of ground and water. For the conventional mobile mechanisms on water or on ground the combination of the mechanism to the body of the robot separately, and each one can be the interruption to the other in each field. In this research, we propose a hybrid mechanism of a wheeground a paddle as drive mechanism itself to realize an effective movement on the border such as a coast with debris after a disaster like a seismic sea wave or a tanker grounding accident. A prototype robot has been built and basic experiments on its motion have been conducted.
{"title":"“Omni-Paddle”: Amphibious spherical rotary paddle mechanism","authors":"K. Tadakuma, R. Tadakuma, A. Ming, M. Shimojo, M. Higashimori, M. Kaneko","doi":"10.1109/ICRA.2011.5980227","DOIUrl":"https://doi.org/10.1109/ICRA.2011.5980227","url":null,"abstract":"This paper describes a combination mechanism of a wheeground a paddle to realize an effective movement on the border of ground and water. For the conventional mobile mechanisms on water or on ground the combination of the mechanism to the body of the robot separately, and each one can be the interruption to the other in each field. In this research, we propose a hybrid mechanism of a wheeground a paddle as drive mechanism itself to realize an effective movement on the border such as a coast with debris after a disaster like a seismic sea wave or a tanker grounding accident. A prototype robot has been built and basic experiments on its motion have been conducted.","PeriodicalId":156712,"journal":{"name":"2011 IEEE International Conference on Robotics and Automation","volume":"250 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115280961","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-05-09DOI: 10.1109/ICRA.2011.5980513
Oleg Naroditsky, Alexander Patterson, Kostas Daniilidis
We propose a new method for extrinsic calibration of a line-scan LIDAR with a perspective projection camera. Our method is a closed-form, minimal solution to the problem. The solution is a symbolic template found via variable elimination and the multi-polynomial Macaulay resultant. It does not require initialization, and can be used in an automatic calibration setting when paired with RANSAC and least-squares refinement. We show the efficacy of our approach through a set of simulations and a real calibration.
{"title":"Automatic alignment of a camera with a line scan LIDAR system","authors":"Oleg Naroditsky, Alexander Patterson, Kostas Daniilidis","doi":"10.1109/ICRA.2011.5980513","DOIUrl":"https://doi.org/10.1109/ICRA.2011.5980513","url":null,"abstract":"We propose a new method for extrinsic calibration of a line-scan LIDAR with a perspective projection camera. Our method is a closed-form, minimal solution to the problem. The solution is a symbolic template found via variable elimination and the multi-polynomial Macaulay resultant. It does not require initialization, and can be used in an automatic calibration setting when paired with RANSAC and least-squares refinement. We show the efficacy of our approach through a set of simulations and a real calibration.","PeriodicalId":156712,"journal":{"name":"2011 IEEE International Conference on Robotics and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115314551","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-05-09DOI: 10.1109/ICRA.2011.5979561
Edwin Olson
While the use of naturally-occurring features is a central focus of machine perception, artificial features (fiducials) play an important role in creating controllable experiments, ground truthing, and in simplifying the development of systems where perception is not the central objective. We describe a new visual fiducial system that uses a 2D bar code style “tag”, allowing full 6 DOF localization of features from a single image. Our system improves upon previous systems, incorporating a fast and robust line detection system, a stronger digital coding system, and greater robustness to occlusion, warping, and lens distortion. While similar in concept to the ARTag system, our method is fully open and the algorithms are documented in detail.
{"title":"AprilTag: A robust and flexible visual fiducial system","authors":"Edwin Olson","doi":"10.1109/ICRA.2011.5979561","DOIUrl":"https://doi.org/10.1109/ICRA.2011.5979561","url":null,"abstract":"While the use of naturally-occurring features is a central focus of machine perception, artificial features (fiducials) play an important role in creating controllable experiments, ground truthing, and in simplifying the development of systems where perception is not the central objective. We describe a new visual fiducial system that uses a 2D bar code style “tag”, allowing full 6 DOF localization of features from a single image. Our system improves upon previous systems, incorporating a fast and robust line detection system, a stronger digital coding system, and greater robustness to occlusion, warping, and lens distortion. While similar in concept to the ARTag system, our method is fully open and the algorithms are documented in detail.","PeriodicalId":156712,"journal":{"name":"2011 IEEE International Conference on Robotics and Automation","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123107663","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-05-09DOI: 10.1109/ICRA.2011.5979692
Zhe Xu, S. Sukkarieh
The ability to coordinate can offer significant performance advantages. This paper proposes an algorithm for decentralised control that is a function of both discrete and continuous variables. The algorithm is applied to a multi-robot, multi-target mapping scenario, where decisions that couple the continuous motion controls and discrete robot-to-target assignments are made. The algorithm out-performed benchmarks including implicit coordination, best-response, and the decoupling of continuous and discrete decision variables.
{"title":"Decentralised control of robot teams with discrete and continuous decision variables","authors":"Zhe Xu, S. Sukkarieh","doi":"10.1109/ICRA.2011.5979692","DOIUrl":"https://doi.org/10.1109/ICRA.2011.5979692","url":null,"abstract":"The ability to coordinate can offer significant performance advantages. This paper proposes an algorithm for decentralised control that is a function of both discrete and continuous variables. The algorithm is applied to a multi-robot, multi-target mapping scenario, where decisions that couple the continuous motion controls and discrete robot-to-target assignments are made. The algorithm out-performed benchmarks including implicit coordination, best-response, and the decoupling of continuous and discrete decision variables.","PeriodicalId":156712,"journal":{"name":"2011 IEEE International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123164517","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-05-09DOI: 10.1109/ICRA.2011.5979805
Tommi Tykkala, Andrew I. Comport
In this paper a dense structure model is developed for stereo image based Simultaneous Localization And Mapping (SLAM). It is proposed to model dense environment structure incrementally by robustly integrating disparity maps from current and previous time instants. In this way disparities can be refined over time to favor consistent 3D structure over noise. The analytical search bounds for disparities are transferred into the current map to allow efficient re-localization. The cost function is image-based and it is minimized by combining Iteratively Reweighted Least-Squares (IRLS) with exhaustive search for finding motion and disparity parameters respectively
{"title":"A dense structure model for image based stereo SLAM","authors":"Tommi Tykkala, Andrew I. Comport","doi":"10.1109/ICRA.2011.5979805","DOIUrl":"https://doi.org/10.1109/ICRA.2011.5979805","url":null,"abstract":"In this paper a dense structure model is developed for stereo image based Simultaneous Localization And Mapping (SLAM). It is proposed to model dense environment structure incrementally by robustly integrating disparity maps from current and previous time instants. In this way disparities can be refined over time to favor consistent 3D structure over noise. The analytical search bounds for disparities are transferred into the current map to allow efficient re-localization. The cost function is image-based and it is minimized by combining Iteratively Reweighted Least-Squares (IRLS) with exhaustive search for finding motion and disparity parameters respectively","PeriodicalId":156712,"journal":{"name":"2011 IEEE International Conference on Robotics and Automation","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114674808","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-05-09DOI: 10.1109/ICRA.2011.5979671
Dimitar Dimitrov, Antonio Paolillo, Pierre-Brice Wieber
The article presents an improved formulation of an existing model predictive control scheme used to generate online “stable” walking motions for a humanoid robot. We introduce: (i) a change of variable that simplifies the optimization problem to be solved; (ii) a simply bounded formulation in the case when the positions of the feet are predetermined; (iii) a formulation allowing foot repositioning (when the system is perturbed) based on ℓ1- and ℓ℞-norm minimization; (iv) a formulation that accounts for (approximate) double support constraints when foot repositioning occurs.
{"title":"Walking motion generation with online foot position adaptation based on ℓ1- and ℓ℞-norm penalty formulations","authors":"Dimitar Dimitrov, Antonio Paolillo, Pierre-Brice Wieber","doi":"10.1109/ICRA.2011.5979671","DOIUrl":"https://doi.org/10.1109/ICRA.2011.5979671","url":null,"abstract":"The article presents an improved formulation of an existing model predictive control scheme used to generate online “stable” walking motions for a humanoid robot. We introduce: (i) a change of variable that simplifies the optimization problem to be solved; (ii) a simply bounded formulation in the case when the positions of the feet are predetermined; (iii) a formulation allowing foot repositioning (when the system is perturbed) based on ℓ1- and ℓ℞-norm minimization; (iv) a formulation that accounts for (approximate) double support constraints when foot repositioning occurs.","PeriodicalId":156712,"journal":{"name":"2011 IEEE International Conference on Robotics and Automation","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115747878","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-05-09DOI: 10.1109/ICRA.2011.5979944
Klaus H. Strobl, Elmar Mair, G. Hirzinger
This work aims at accurate estimation of the pose of a close-range 3-D modeling device in real-time, at high-rate, and solely from its own images. In doing so, we replace external positioning systems that constrain the system in size, mobility, accuracy, and cost. At close range, accurate pose tracking from image features is hard because feature projections do not only drift in the face of rotation but also in the face of translation. Large, unknown feature drifts may impede real-time feature tracking and subsequent pose estimation—especially with concurrent operation of other 3-D sensors on the same computer. The problem is solved in Ref. [1] by the partial integration of readings from a backing inertial measurement unit (IMU). In this work we avoid using an IMU by improved feature matching: full utilization of the current state estimation (including structure) during feature matching enables decisive modifications of the matching parameters for more efficient tracking—we hereby follow the Active Matching paradigm.
{"title":"Image-based pose estimation for 3-D modeling in rapid, hand-held motion","authors":"Klaus H. Strobl, Elmar Mair, G. Hirzinger","doi":"10.1109/ICRA.2011.5979944","DOIUrl":"https://doi.org/10.1109/ICRA.2011.5979944","url":null,"abstract":"This work aims at accurate estimation of the pose of a close-range 3-D modeling device in real-time, at high-rate, and solely from its own images. In doing so, we replace external positioning systems that constrain the system in size, mobility, accuracy, and cost. At close range, accurate pose tracking from image features is hard because feature projections do not only drift in the face of rotation but also in the face of translation. Large, unknown feature drifts may impede real-time feature tracking and subsequent pose estimation—especially with concurrent operation of other 3-D sensors on the same computer. The problem is solved in Ref. [1] by the partial integration of readings from a backing inertial measurement unit (IMU). In this work we avoid using an IMU by improved feature matching: full utilization of the current state estimation (including structure) during feature matching enables decisive modifications of the matching parameters for more efficient tracking—we hereby follow the Active Matching paradigm.","PeriodicalId":156712,"journal":{"name":"2011 IEEE International Conference on Robotics and Automation","volume":"232 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124287792","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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