Pub Date : 2022-04-29DOI: 10.1109/icarsc55462.2022.9784779
J. Dias
{"title":"Embodiment of Intelligence and Computing for Robots and Robot Vision Applications","authors":"J. Dias","doi":"10.1109/icarsc55462.2022.9784779","DOIUrl":"https://doi.org/10.1109/icarsc55462.2022.9784779","url":null,"abstract":"","PeriodicalId":293686,"journal":{"name":"International Conference on Autonomous Robot Systems and Competitions","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122194327","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 : 2022-04-29DOI: 10.1109/icarsc55462.2022.9784781
G. Nikolakopoulos
{"title":"Autonomy as an enabler for the Next Generation of Space Robotics Exploration Missions","authors":"G. Nikolakopoulos","doi":"10.1109/icarsc55462.2022.9784781","DOIUrl":"https://doi.org/10.1109/icarsc55462.2022.9784781","url":null,"abstract":"","PeriodicalId":293686,"journal":{"name":"International Conference on Autonomous Robot Systems and Competitions","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121936722","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 : 2018-04-01DOI: 10.1109/ICARSC.2018.8374151
A. Ollero
This presentation will deal with new methods and technologies on aerial robotic manipulation developed mainly in the FP7 ARCAS and the H2020 AEROARMS projects. New aerial robotic manipulators with one and two arms will be presented. The interest of compliance will be pointed out as well as the consideration of aerodynamic effects. The talk will also introduce some perception and panning capabilities of the aerial robotic manipulation system. The last part of the presentation will be devoted to the application to inspection and maintenance, including industrial plants and infrastructures.
{"title":"Aerial robotic manipulation and its application to inspection and maintenance","authors":"A. Ollero","doi":"10.1109/ICARSC.2018.8374151","DOIUrl":"https://doi.org/10.1109/ICARSC.2018.8374151","url":null,"abstract":"This presentation will deal with new methods and technologies on aerial robotic manipulation developed mainly in the FP7 ARCAS and the H2020 AEROARMS projects. New aerial robotic manipulators with one and two arms will be presented. The interest of compliance will be pointed out as well as the consideration of aerodynamic effects. The talk will also introduce some perception and panning capabilities of the aerial robotic manipulation system. The last part of the presentation will be devoted to the application to inspection and maintenance, including industrial plants and infrastructures.","PeriodicalId":293686,"journal":{"name":"International Conference on Autonomous Robot Systems and Competitions","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126762217","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 : 2018-04-01DOI: 10.1109/ICARSC.2018.8374150
J. Dias
The mechatronic development of robots has considerably progressed during the past two decades with various designs based on different actuation technologies, from motorized based systems to hydraulic and soft actuation technologies. Despite though the advancements in the design of motorized robots significant limitations remain, preventing the robot hardware (physical structure and actuation) from equalling the performance of human in locomotion, manipulation and full body motion in terms of physical robustness, power performance and efficiency. Considering the compliant actuation principles and technologies developed at IIT this talk will present their application on the development of COMAN, WALK-MAN and CENTAURO platforms. Details on the actuation and robot design approaches to achieve the necessary performance in terms of physical resilience, high power and fast motion capabilities will be introduced. Recent work and considerations on the energy efficiency of compliant actuation systems will also be discussed.
{"title":"Mobilizing human talent by competitions and challenge prizes - The MBZIRC case","authors":"J. Dias","doi":"10.1109/ICARSC.2018.8374150","DOIUrl":"https://doi.org/10.1109/ICARSC.2018.8374150","url":null,"abstract":"The mechatronic development of robots has considerably progressed during the past two decades with various designs based on different actuation technologies, from motorized based systems to hydraulic and soft actuation technologies. Despite though the advancements in the design of motorized robots significant limitations remain, preventing the robot hardware (physical structure and actuation) from equalling the performance of human in locomotion, manipulation and full body motion in terms of physical robustness, power performance and efficiency. Considering the compliant actuation principles and technologies developed at IIT this talk will present their application on the development of COMAN, WALK-MAN and CENTAURO platforms. Details on the actuation and robot design approaches to achieve the necessary performance in terms of physical resilience, high power and fast motion capabilities will be introduced. Recent work and considerations on the energy efficiency of compliant actuation systems will also be discussed.","PeriodicalId":293686,"journal":{"name":"International Conference on Autonomous Robot Systems and Competitions","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127297629","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 : 2017-04-01DOI: 10.1109/ICARSC.2017.7964043
N. Tsagarakis
The mechatronic development of robots has considerably progressed during the past two decades with various designs based on different actuation technologies, from motorized based systems to hydraulic and soft actuation technologies. Despite though the advancements in the design of motorized robots significant limitations remain, preventing the robot hardware (physical structure and actuation) from equalling the performance of human in locomotion, manipulation and full body motion in terms of physical robustness, power performance and efficiency. Considering the compliant actuation principles and technologies developed at IIT this talk will present their application on the development of COMAN, WALK-MAN and CENTAURO platforms. Details on the actuation and robot design approaches to achieve the necessary performance in terms of physical resilience, high power and fast motion capabilities will be introduced. Recent work and considerations on the energy efficiency of compliant actuation systems will also be discussed.
{"title":"Actuation principles for robots with high power and enhance physical interaction capabilities","authors":"N. Tsagarakis","doi":"10.1109/ICARSC.2017.7964043","DOIUrl":"https://doi.org/10.1109/ICARSC.2017.7964043","url":null,"abstract":"The mechatronic development of robots has considerably progressed during the past two decades with various designs based on different actuation technologies, from motorized based systems to hydraulic and soft actuation technologies. Despite though the advancements in the design of motorized robots significant limitations remain, preventing the robot hardware (physical structure and actuation) from equalling the performance of human in locomotion, manipulation and full body motion in terms of physical robustness, power performance and efficiency. Considering the compliant actuation principles and technologies developed at IIT this talk will present their application on the development of COMAN, WALK-MAN and CENTAURO platforms. Details on the actuation and robot design approaches to achieve the necessary performance in terms of physical resilience, high power and fast motion capabilities will be introduced. Recent work and considerations on the energy efficiency of compliant actuation systems will also be discussed.","PeriodicalId":293686,"journal":{"name":"International Conference on Autonomous Robot Systems and Competitions","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131509298","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 : 2017-04-01DOI: 10.1109/ICARSC.2017.7964042
R. Madhavan
Recent developments in robotics, automation, and artificial intelligence accompanied by the confusion and concerns surrounding their societal impacts (e.g., self-driving cars, drones, and robots equated to job losses) only fuel the speculation of their negative effects while making the discussion imbalanced and skewed. Consequently, there exists a huge disconnect between what is possible from an engineering viewpoint and what the expectations of the general public are. While the source of this disconnect can be conveniently blamed on Hollywood movies and alarmist opinions reported by the media, the scientific community also can be held accountable, at least partly, for some of these confusions and exaggerations. Fundamentally, the problem lies in the fact that we have not seen many practical, robust, and affordable solutions that can make a difference in the quality of lives of end-users. My previous work focused on performance evaluation, benchmarking and standardization of intelligent systems (mostly ground robots). My current work focuses on the applied use of robotics and automation technologies for the benefit of underserved and under-developed communities by working closely with them to develop solutions that showcase the effectiveness of solutions in domains that strike a chord with the beneficiaries. This is made possible by bringing together researchers, practitioners from industry, academia, local governments, and various entities such as the IEEE Robotics Automation Society's Special Interest Group on Humanitarian Technology (RAS-SIGHT), NGOs, and NPOs across the globe. In this keynote, I will discuss a demining challenge that I have been co-organizing with the intent of producing an open-source solution for detecting and classifying buried unexploded ordnance. I will also outline my recent efforts in the technology and public policy domains with emphasis on socio-economic, cultural, privacy, and security issues in developing and developed economies. Finally, I will draw my conclusions based on the competitions and challenges that have been organized from industrial, academic, and humanitarian viewpoints and how their impacts could be assessed.
{"title":"Robotics & automation for societal good bridging competitions & challenges and technology & public policy","authors":"R. Madhavan","doi":"10.1109/ICARSC.2017.7964042","DOIUrl":"https://doi.org/10.1109/ICARSC.2017.7964042","url":null,"abstract":"Recent developments in robotics, automation, and artificial intelligence accompanied by the confusion and concerns surrounding their societal impacts (e.g., self-driving cars, drones, and robots equated to job losses) only fuel the speculation of their negative effects while making the discussion imbalanced and skewed. Consequently, there exists a huge disconnect between what is possible from an engineering viewpoint and what the expectations of the general public are. While the source of this disconnect can be conveniently blamed on Hollywood movies and alarmist opinions reported by the media, the scientific community also can be held accountable, at least partly, for some of these confusions and exaggerations. Fundamentally, the problem lies in the fact that we have not seen many practical, robust, and affordable solutions that can make a difference in the quality of lives of end-users. My previous work focused on performance evaluation, benchmarking and standardization of intelligent systems (mostly ground robots). My current work focuses on the applied use of robotics and automation technologies for the benefit of underserved and under-developed communities by working closely with them to develop solutions that showcase the effectiveness of solutions in domains that strike a chord with the beneficiaries. This is made possible by bringing together researchers, practitioners from industry, academia, local governments, and various entities such as the IEEE Robotics Automation Society's Special Interest Group on Humanitarian Technology (RAS-SIGHT), NGOs, and NPOs across the globe. In this keynote, I will discuss a demining challenge that I have been co-organizing with the intent of producing an open-source solution for detecting and classifying buried unexploded ordnance. I will also outline my recent efforts in the technology and public policy domains with emphasis on socio-economic, cultural, privacy, and security issues in developing and developed economies. Finally, I will draw my conclusions based on the competitions and challenges that have been organized from industrial, academic, and humanitarian viewpoints and how their impacts could be assessed.","PeriodicalId":293686,"journal":{"name":"International Conference on Autonomous Robot Systems and Competitions","volume":"255 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124645769","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}
Olga Contente, José Nuno Panelas Nunes Lau, Francisco Morgado, Raul Manuel Pereira Morais dos Santos
Prior knowledge of possible routes is undoubtedly an added value for autonomous navigation in irregular agricultural terrains. This information is particularly important when it involves the navigation of a monitoring robot, which necessarily carries a wide range of expensive sensors and when the vineyard presents a non-uniform configuration and extends over a very highly uneven terrain. In such case, a small navigation positional error can result in a large vertical deviation and consequently, a serious fall, which may damage or even destroy the robot. This article presents an automated way of deriving possible routes in this kind of terrain using three curve-skeleton algorithms for the 3D surfaces of the vineyard where the robot may navigate. The skeleton curves and real trajectory were represented in a graphical user OpenGL application developed for this purpose. A thinning, a geometric and a distance field algorithm were used for this study. The skeleton curves were compared with a real navigation path made by an expert when driving a tractor while spraying of the vineyard. In order to meet expert recommendations, the thinning algorithm was validated as the most suitable to achieve the aim of the study as it minimizes the quadratic average distance function applied to the skeleton points and the real trajectory. The limits of the most suitable curve-skeleton will be used as decision making points to establish navigation criteriafor next step path planning.
{"title":"Vineyard Skeletonization for Autonomous Robot Navigation","authors":"Olga Contente, José Nuno Panelas Nunes Lau, Francisco Morgado, Raul Manuel Pereira Morais dos Santos","doi":"10.1109/ICARSC.2015.16","DOIUrl":"https://doi.org/10.1109/ICARSC.2015.16","url":null,"abstract":"Prior knowledge of possible routes is undoubtedly an added value for autonomous navigation in irregular agricultural terrains. This information is particularly important when it involves the navigation of a monitoring robot, which necessarily carries a wide range of expensive sensors and when the vineyard presents a non-uniform configuration and extends over a very highly uneven terrain. In such case, a small navigation positional error can result in a large vertical deviation and consequently, a serious fall, which may damage or even destroy the robot. This article presents an automated way of deriving possible routes in this kind of terrain using three curve-skeleton algorithms for the 3D surfaces of the vineyard where the robot may navigate. The skeleton curves and real trajectory were represented in a graphical user OpenGL application developed for this purpose. A thinning, a geometric and a distance field algorithm were used for this study. The skeleton curves were compared with a real navigation path made by an expert when driving a tractor while spraying of the vineyard. In order to meet expert recommendations, the thinning algorithm was validated as the most suitable to achieve the aim of the study as it minimizes the quadratic average distance function applied to the skeleton points and the real trajectory. The limits of the most suitable curve-skeleton will be used as decision making points to establish navigation criteriafor next step path planning.","PeriodicalId":293686,"journal":{"name":"International Conference on Autonomous Robot Systems and Competitions","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121097754","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 : 2014-05-14DOI: 10.1109/ICARSC.2014.6849798
F. Martín, F. J. Lera, Vicente Matellán Olivera
This paper describes the development of a low cost robotic platform named MYRABot+, which is able to make the required tasks in order to assist a human in a domestic environment. We also believe that the best way to measure its performance and validate its behavior is taking part in a robotic challenge. This robotic platform explicitly uses low cost components, making it an accessible platform in monetary terms. In addition, we have designed a component-oriented software architecture that allows an easy implementation of simple HRI tasks. We demonstrate the feasibility of this proposal by taking part in the competition RoCKIn@home. There we show the basic abilities needed to work in a house environment, such as selflocalization, navigation, human dialog, and object manipulation. Our goal is to be able to evaluate and to compare it with other robotic platforms.
{"title":"MYRABot+: A feasible robotic system for interaction challenges","authors":"F. Martín, F. J. Lera, Vicente Matellán Olivera","doi":"10.1109/ICARSC.2014.6849798","DOIUrl":"https://doi.org/10.1109/ICARSC.2014.6849798","url":null,"abstract":"This paper describes the development of a low cost robotic platform named MYRABot+, which is able to make the required tasks in order to assist a human in a domestic environment. We also believe that the best way to measure its performance and validate its behavior is taking part in a robotic challenge. This robotic platform explicitly uses low cost components, making it an accessible platform in monetary terms. In addition, we have designed a component-oriented software architecture that allows an easy implementation of simple HRI tasks. We demonstrate the feasibility of this proposal by taking part in the competition RoCKIn@home. There we show the basic abilities needed to work in a house environment, such as selflocalization, navigation, human dialog, and object manipulation. Our goal is to be able to evaluate and to compare it with other robotic platforms.","PeriodicalId":293686,"journal":{"name":"International Conference on Autonomous Robot Systems and Competitions","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124732362","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 : 2014-05-14DOI: 10.1109/ICARSC.2014.6849753
M. Dorigo
Marco Dorigo (born 26 August 1961, in Milan, Italy) received his Ph.D. in electronic engineering in 1992 from Politecnico di Milano, Italy, and the title of Agrégé de l’Enseignement Supérieur, from Université Libre de Bruxelles (ULB), in 1995. Since 1996, he has been a tenured Researcher of the fund for scientific research F.R.S.-FNRS of Belgium’s French Community, and a Research Director of IRIDIA, ULB. He is the inventor of the ant colony optimization metaheuristic. His current research interests include swarm intelligence, swarm robotics, and metaheuristics for discrete optimization. He is the Editor-in-Chief of Swarm Intelligence. Dr. Dorigo is a Fellow of the IEEE and of ECCAI. He was awarded the Italian Prize for Artificial Intelligence in 1996, the Marie Curie Excellence Award in 2003, the Dr. A. De Leeuw–Damry–Bourlart award in applied sciences in 2005, the Cajastur International Prize for Soft Computing in 2007, and an ERC Advanced Grant in 2010. II. ABSTRACT
{"title":"The Swarm-bots and swarmanoid experiments in swarm robotics","authors":"M. Dorigo","doi":"10.1109/ICARSC.2014.6849753","DOIUrl":"https://doi.org/10.1109/ICARSC.2014.6849753","url":null,"abstract":"Marco Dorigo (born 26 August 1961, in Milan, Italy) received his Ph.D. in electronic engineering in 1992 from Politecnico di Milano, Italy, and the title of Agrégé de l’Enseignement Supérieur, from Université Libre de Bruxelles (ULB), in 1995. Since 1996, he has been a tenured Researcher of the fund for scientific research F.R.S.-FNRS of Belgium’s French Community, and a Research Director of IRIDIA, ULB. He is the inventor of the ant colony optimization metaheuristic. His current research interests include swarm intelligence, swarm robotics, and metaheuristics for discrete optimization. He is the Editor-in-Chief of Swarm Intelligence. Dr. Dorigo is a Fellow of the IEEE and of ECCAI. He was awarded the Italian Prize for Artificial Intelligence in 1996, the Marie Curie Excellence Award in 2003, the Dr. A. De Leeuw–Damry–Bourlart award in applied sciences in 2005, the Cajastur International Prize for Soft Computing in 2007, and an ERC Advanced Grant in 2010. II. ABSTRACT","PeriodicalId":293686,"journal":{"name":"International Conference on Autonomous Robot Systems and Competitions","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129221033","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 : 1900-01-01DOI: 10.1109/ICARSC58346.2023.10129632
R. V. D. Molengraft
{"title":"Will robots beat the human world champion football in 2050?","authors":"R. V. D. Molengraft","doi":"10.1109/ICARSC58346.2023.10129632","DOIUrl":"https://doi.org/10.1109/ICARSC58346.2023.10129632","url":null,"abstract":"","PeriodicalId":293686,"journal":{"name":"International Conference on Autonomous Robot Systems and Competitions","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124840260","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：