Pub Date : 2017-08-30DOI: 10.1109/ICAR.2017.8023646
H. Nakamoto, N. Matsuhira
In this paper, we propose a method for evaluating the safety of a robot arm mechanism. We summarize the trend of international standards with respect to the evaluation index of robot arms and their safety, and propose a method of evaluating mass characteristics based on human pain tolerance. This method is based on the mass characteristics of the arm: we calculate the virtual mass at the contact point, convert it to the reduced mass taking contact with a human body part into consideration, obtain the contact transfer energy and evaluate whether the permissible energy for each part is exceeded or not. We also evaluate the safety characteristics of two kinds of arm mechanism, and verify the distribution of transmitted energy and safe velocity during contact in the movable range. The proposed evaluation of mass characteristics related to safety is applicable to various arm mechanisms if only the mass distribution of the arm is known. It is a highly versatile method.
{"title":"Safety evaluation method of robot arm considering energy of contact","authors":"H. Nakamoto, N. Matsuhira","doi":"10.1109/ICAR.2017.8023646","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023646","url":null,"abstract":"In this paper, we propose a method for evaluating the safety of a robot arm mechanism. We summarize the trend of international standards with respect to the evaluation index of robot arms and their safety, and propose a method of evaluating mass characteristics based on human pain tolerance. This method is based on the mass characteristics of the arm: we calculate the virtual mass at the contact point, convert it to the reduced mass taking contact with a human body part into consideration, obtain the contact transfer energy and evaluate whether the permissible energy for each part is exceeded or not. We also evaluate the safety characteristics of two kinds of arm mechanism, and verify the distribution of transmitted energy and safe velocity during contact in the movable range. The proposed evaluation of mass characteristics related to safety is applicable to various arm mechanisms if only the mass distribution of the arm is known. It is a highly versatile method.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117239090","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 : 2017-08-30DOI: 10.1109/ICAR.2017.8023489
Alexander López, Renato Paredes, Diego Quiroz, G. Trovato, F. Cuéllar
In this paper we present the design, development and preliminary tests of Robotman, a robot that combines qualities for interaction with humans, and security patrolling services. The robot is inspired by the information obtained from a security company in which their personnel not only perform security patrolling services, but have to interact with people, providing additional information about the area they safeguard. The robot is able to perform security patrols during the night while functioning as a guide during the day. We designed and implemented a robust, easy to assemble, anthropomorphic security robot aiming to patrol large indoor areas, interact with humans, welcome, provide information and guide clients to their destination, as well as function as a telepresence platform for the human security guards. Our results suggest that Robotman is user friendly and pleasing to the people, it can perform security tasks and interact with them.
{"title":"Robotman: A security robot for human-robot interaction","authors":"Alexander López, Renato Paredes, Diego Quiroz, G. Trovato, F. Cuéllar","doi":"10.1109/ICAR.2017.8023489","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023489","url":null,"abstract":"In this paper we present the design, development and preliminary tests of Robotman, a robot that combines qualities for interaction with humans, and security patrolling services. The robot is inspired by the information obtained from a security company in which their personnel not only perform security patrolling services, but have to interact with people, providing additional information about the area they safeguard. The robot is able to perform security patrols during the night while functioning as a guide during the day. We designed and implemented a robust, easy to assemble, anthropomorphic security robot aiming to patrol large indoor areas, interact with humans, welcome, provide information and guide clients to their destination, as well as function as a telepresence platform for the human security guards. Our results suggest that Robotman is user friendly and pleasing to the people, it can perform security tasks and interact with them.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"33 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123620520","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 : 2017-08-30DOI: 10.1109/ICAR.2017.8023643
Takamasa Ikeda, Mirai Shimoyama, N. Matsuhira
We have developed a questionnaire system using networked service robots. Each robot has a touch display to show the questions and answers. The touch data are transferred to a server PC, and the selected answer is displayed in real time. Conventionally, it has been difficult to discern the reliability of the response data. The robot system is not only visually appealing but also capable of obtaining reliable data using additional information such as answering time, pressure, and facial expression. We conducted the experiment and analyzed the results of the answers based on the response time. In this paper, we explain the system and the results.
{"title":"Questionnaire experiment using networked service robots","authors":"Takamasa Ikeda, Mirai Shimoyama, N. Matsuhira","doi":"10.1109/ICAR.2017.8023643","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023643","url":null,"abstract":"We have developed a questionnaire system using networked service robots. Each robot has a touch display to show the questions and answers. The touch data are transferred to a server PC, and the selected answer is displayed in real time. Conventionally, it has been difficult to discern the reliability of the response data. The robot system is not only visually appealing but also capable of obtaining reliable data using additional information such as answering time, pressure, and facial expression. We conducted the experiment and analyzed the results of the answers based on the response time. In this paper, we explain the system and the results.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115310122","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 : 2017-08-30DOI: 10.1109/ICAR.2017.8023633
Murtaza Hazara, V. Kyrki
Although motor primitives (MPs) have been studied extensively, much less attention has been devoted to studying their generalization to new situations. To cope with varying conditions, a MP's policy encoding must support generalization over task parameters to avoid learning separate primitives for each condition. Local and linear parameterized models have been proposed to interpolate over task parameters to provide limited generalization. In this paper, we present a global parametric motion primitive which allows generalization beyond local or linear models. Primitives are modelled using a linear basis function model with global non-linear basis functions. Using the global parametric model, we developed an online incremental learning framework for constructing a database of MPs from a single human demonstration. Above all, we propose a model selection method that can choose an optimal model complexity even with few training samples, which makes it suitable for online incremental learning. Experiments with a ball-in-a-cup task with varying string lengths demonstrate that the global parametric approach can successfully extract underlying regularities in a database of MPs leading to enhanced generalization capability of the parametric MPs and increased speed (convergence rate) of learning. Furthermore, it significantly excels over locally weighted regression both in terms of inter- and extrapolation.
{"title":"Model selection for incremental learning of generalizable movement primitives","authors":"Murtaza Hazara, V. Kyrki","doi":"10.1109/ICAR.2017.8023633","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023633","url":null,"abstract":"Although motor primitives (MPs) have been studied extensively, much less attention has been devoted to studying their generalization to new situations. To cope with varying conditions, a MP's policy encoding must support generalization over task parameters to avoid learning separate primitives for each condition. Local and linear parameterized models have been proposed to interpolate over task parameters to provide limited generalization. In this paper, we present a global parametric motion primitive which allows generalization beyond local or linear models. Primitives are modelled using a linear basis function model with global non-linear basis functions. Using the global parametric model, we developed an online incremental learning framework for constructing a database of MPs from a single human demonstration. Above all, we propose a model selection method that can choose an optimal model complexity even with few training samples, which makes it suitable for online incremental learning. Experiments with a ball-in-a-cup task with varying string lengths demonstrate that the global parametric approach can successfully extract underlying regularities in a database of MPs leading to enhanced generalization capability of the parametric MPs and increased speed (convergence rate) of learning. Furthermore, it significantly excels over locally weighted regression both in terms of inter- and extrapolation.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116251896","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 : 2017-08-30DOI: 10.1109/ICAR.2017.8023660
Antonio Gabas, Y. Kita
The physical edges of an object contain valuable information to recognize its shape and also to manipulate it. In the case of handling clothing items automatically, the physical edges give important clues to determine its type and shape as well as to find good grasping points for many manipulation tasks. In this paper, we propose a method to extract the garment's physical edges from the three-dimensional observation of the garment. First, we calculate depth edges as candidate pixels, and then use a Deep Convolutional Neural Network for pixel-wise classification of the edges. Experimental results obtained by using various towels of different sizes and softness show the robustness of this method. To demonstrate the usefulness of this detected physical edge information, we also conducted experiments of opening towels with a dual-arm robot.
{"title":"Physical edge detection in clothing items for robotic manipulation","authors":"Antonio Gabas, Y. Kita","doi":"10.1109/ICAR.2017.8023660","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023660","url":null,"abstract":"The physical edges of an object contain valuable information to recognize its shape and also to manipulate it. In the case of handling clothing items automatically, the physical edges give important clues to determine its type and shape as well as to find good grasping points for many manipulation tasks. In this paper, we propose a method to extract the garment's physical edges from the three-dimensional observation of the garment. First, we calculate depth edges as candidate pixels, and then use a Deep Convolutional Neural Network for pixel-wise classification of the edges. Experimental results obtained by using various towels of different sizes and softness show the robustness of this method. To demonstrate the usefulness of this detected physical edge information, we also conducted experiments of opening towels with a dual-arm robot.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131588210","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 : 2017-07-10DOI: 10.1109/ICAR.2017.8023626
W. M. Martins, A. B. Ramos, R. G. Braga, Luciano do V. Ribeiro, F. Mora-Camino
This paper presents the implementation of an algorithm based on elementary computer vision techniques that allow an UAV (Unmanned Aerial Vehicle), or robot, to identify obstacles in front of it and quickly decide a better way to move in order to avoid them, without demanding complex software or high computational performance, using only a trivial camera and applying no more than two mathematical treatments on images. We implement and test this solution in a simulation environment, although it can be readily applied to UAVs in real life.
{"title":"Computer vision in remotely piloted aircraft (RPA) to avoid obstacles during flight","authors":"W. M. Martins, A. B. Ramos, R. G. Braga, Luciano do V. Ribeiro, F. Mora-Camino","doi":"10.1109/ICAR.2017.8023626","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023626","url":null,"abstract":"This paper presents the implementation of an algorithm based on elementary computer vision techniques that allow an UAV (Unmanned Aerial Vehicle), or robot, to identify obstacles in front of it and quickly decide a better way to move in order to avoid them, without demanding complex software or high computational performance, using only a trivial camera and applying no more than two mathematical treatments on images. We implement and test this solution in a simulation environment, although it can be readily applied to UAVs in real life.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125305024","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 : 2017-07-10DOI: 10.1109/ICAR.2017.8023492
Ferenc Bálint-Benczédi, Zoltán-Csaba Márton, M. Durner, M. Beetz
With recent technological advances, robotic agents are increasingly capable of performing ever more sophisticated manipulation tasks. Perceptual capabilities of these robots need to be able to adapt to the wide variety of tasks they are to perform. Remembering what a robot has seen, what the rationale was behind the decisions it took or how it ended up understanding the world as it did, are important questions if we want perception capabilities that can scale towards real-world manipulation. We present a robotic perception system that generates perceptual episodic memories during the execution of a task. To allow easy retrieval of these memories we introduce an object and scene description language that serves as a layer of abstraction between the structure of the perception logs and the semantic interpretation of these. The description language can be used through a query interface to retrieve specific parts of the generated episodic memory. The purpose of the proposed system is two-fold: to enable on-line retrospection and specialized training of perception routines and to enable researchers to interactively explore perception results.
{"title":"Storing and retrieving perceptual episodic memories for long-term manipulation tasks","authors":"Ferenc Bálint-Benczédi, Zoltán-Csaba Márton, M. Durner, M. Beetz","doi":"10.1109/ICAR.2017.8023492","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023492","url":null,"abstract":"With recent technological advances, robotic agents are increasingly capable of performing ever more sophisticated manipulation tasks. Perceptual capabilities of these robots need to be able to adapt to the wide variety of tasks they are to perform. Remembering what a robot has seen, what the rationale was behind the decisions it took or how it ended up understanding the world as it did, are important questions if we want perception capabilities that can scale towards real-world manipulation. We present a robotic perception system that generates perceptual episodic memories during the execution of a task. To allow easy retrieval of these memories we introduce an object and scene description language that serves as a layer of abstraction between the structure of the perception logs and the semantic interpretation of these. The description language can be used through a query interface to retrieve specific parts of the generated episodic memory. The purpose of the proposed system is two-fold: to enable on-line retrospection and specialized training of perception routines and to enable researchers to interactively explore perception results.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"243 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123026411","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 : 2017-07-10DOI: 10.1109/ICAR.2017.8023657
G. Rigatos, P. Siano, P. Wira, K. Busawon, R. Binns
A solution to the problem of autonomous navigation of a truck and trailer system is developed using a nonlinear optimal control method. The kinematic model of the autonomous vehicle undergoes linearization through Taylor series expansion. The linearization is performed at a temporary operating point (equilibrium) that is re-computed at each time instant using the present value of the state vector and the last value of the control inputs vector. The linearization is based on the Jacobian matrices of the model. For the linearized equivalent model of the truck and trailer system an H-infinity feedback controller is designed. The feedback control gain is obtained from the solution of an algebraic Riccati equation at each iteration of the control algorithm. The stability of the control loop is proven with Lyapunov analysis. It is demonstrated that the control loop exhibits the H-infinity tracking performance which signifies elevated robustness against modelling errors and external disturbances. Moreover, under moderate conditions the global asymptotic stability of the control loop is assured. Finally, to implement state estimation-based control for the autonomous vehicle, through the processing of a small number of sensor measurements, the H-infinity Kalman Filter is proposed.
{"title":"Nonlinear optimal control for autonomous navigation of a truck and trailer system","authors":"G. Rigatos, P. Siano, P. Wira, K. Busawon, R. Binns","doi":"10.1109/ICAR.2017.8023657","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023657","url":null,"abstract":"A solution to the problem of autonomous navigation of a truck and trailer system is developed using a nonlinear optimal control method. The kinematic model of the autonomous vehicle undergoes linearization through Taylor series expansion. The linearization is performed at a temporary operating point (equilibrium) that is re-computed at each time instant using the present value of the state vector and the last value of the control inputs vector. The linearization is based on the Jacobian matrices of the model. For the linearized equivalent model of the truck and trailer system an H-infinity feedback controller is designed. The feedback control gain is obtained from the solution of an algebraic Riccati equation at each iteration of the control algorithm. The stability of the control loop is proven with Lyapunov analysis. It is demonstrated that the control loop exhibits the H-infinity tracking performance which signifies elevated robustness against modelling errors and external disturbances. Moreover, under moderate conditions the global asymptotic stability of the control loop is assured. Finally, to implement state estimation-based control for the autonomous vehicle, through the processing of a small number of sensor measurements, the H-infinity Kalman Filter is proposed.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114410466","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 : 2017-07-10DOI: 10.1109/ICAR.2017.8023515
Zhiqiang Miao, Yunhui Liu, Yaonan Wang, R. Fierro
The problem of formation control of a group of quadrotors without linear velocity measurements is addressed in this paper. A distributed controller is developed directly on the orthogonal group SE(3) to avoid the singularities associated with Euler-angles and the ambiguity of quaternions. The control design procedure can be divided into two main steps. First, an intermediary control input is designed to achieve the formation objective, where some auxiliary systems are introduced to obviate the need for linear-velocity measurements. After decoding the intermediary control input into the trust force and reference angular velocity, then the torque input for each quadrotor is designed to drive the actual angular velocity to the desired ones. The asymptotic stability analysis is presented with Lyapunov-like tools. Simulation results on three quadrotors show the effectiveness of the proposed strategy.
{"title":"Formation control of quadrotor UAVs without linear velocity measurements","authors":"Zhiqiang Miao, Yunhui Liu, Yaonan Wang, R. Fierro","doi":"10.1109/ICAR.2017.8023515","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023515","url":null,"abstract":"The problem of formation control of a group of quadrotors without linear velocity measurements is addressed in this paper. A distributed controller is developed directly on the orthogonal group SE(3) to avoid the singularities associated with Euler-angles and the ambiguity of quaternions. The control design procedure can be divided into two main steps. First, an intermediary control input is designed to achieve the formation objective, where some auxiliary systems are introduced to obviate the need for linear-velocity measurements. After decoding the intermediary control input into the trust force and reference angular velocity, then the torque input for each quadrotor is designed to drive the actual angular velocity to the desired ones. The asymptotic stability analysis is presented with Lyapunov-like tools. Simulation results on three quadrotors show the effectiveness of the proposed strategy.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134136433","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 : 2017-07-10DOI: 10.1109/ICAR.2017.8023663
Jie Chen, Hongliang Ren, H. Lau
Over the last decades, robots have been moved from industries to domestic environments. Robot Learning from Demonstration (LfD) is one of the most significant methods to facilitate this trend. In this work, we first discuss details about a efficient motion planning strategy, e.g., Stable Estimator of Dynamical Systems (SEDS). A human first demonstrates reaching tasks several times, and Gaussian Mixture Regression is used to roughly encode the demonstrations into a set of differential equations. Then based on Lyapunov Stability Theorem, a constrained nonlinear optimization problem is formulated to iteratively refine the previously learned differential equations and SEDS is thus obtained. Experiments have been conducted on a KUKA LBR iiwa robot to verify two properties of the proposed method, e.g., asymptotical stability and adaptation to spatial perturbations.
{"title":"Automate robot reaching task with learning from demonstration","authors":"Jie Chen, Hongliang Ren, H. Lau","doi":"10.1109/ICAR.2017.8023663","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023663","url":null,"abstract":"Over the last decades, robots have been moved from industries to domestic environments. Robot Learning from Demonstration (LfD) is one of the most significant methods to facilitate this trend. In this work, we first discuss details about a efficient motion planning strategy, e.g., Stable Estimator of Dynamical Systems (SEDS). A human first demonstrates reaching tasks several times, and Gaussian Mixture Regression is used to roughly encode the demonstrations into a set of differential equations. Then based on Lyapunov Stability Theorem, a constrained nonlinear optimization problem is formulated to iteratively refine the previously learned differential equations and SEDS is thus obtained. Experiments have been conducted on a KUKA LBR iiwa robot to verify two properties of the proposed method, e.g., asymptotical stability and adaptation to spatial perturbations.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128988793","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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