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2020 17th International Conference on Ubiquitous Robots (UR)最新文献

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Woody: Low-Cost, Open-Source Humanoid Torso Robot 伍迪:低成本、开源的人形躯干机器人
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144924
D. Hayosh, Xiao Liu, Kiju Lee
This paper presents a humanoid torso robot, named Woody. It has two arms, each with five degrees of freedom (DoF) and a 2-DoF neck supporting the head with two moving eyebrows. Woody’s hardware is made primarily from laser-cut plywood. Two cameras, a microphone, a speaker, and a microprocessor board are embedded in the robot. The processor board also contains a wireless communication module for remote control and access to networked or cloudbased resources. The interactive functions include face tracking, facial emotion recognition, and several pre-programmed default gestures. Woody’s graphical user interface (GUI) provides its users with instructions on hardware construction and initial setup. Through this GUI, the user can also program the robot and record new gestures by its motion recording function. Woody is developed as an open-source hardware platform that can also utilize open-source software for educational purposes.
本文介绍了一种人形躯干机器人伍迪。它有两只手臂,每只手臂有五个自由度(DoF),还有一个2自由度的脖子,用两个移动的眉毛支撑着头部。伍迪的硬件主要由激光切割的胶合板制成。机器人内嵌了两个摄像头、一个麦克风、一个扬声器和一个微处理器板。处理器板还包含一个无线通信模块,用于远程控制和访问网络或基于云的资源。交互功能包括面部跟踪、面部情感识别和几个预编程的默认手势。Woody的图形用户界面(GUI)为用户提供了有关硬件构造和初始设置的说明。通过该GUI,用户还可以对机器人进行编程,并通过其动作记录功能记录新的手势。Woody是作为一个开源硬件平台开发的,它也可以利用开源软件进行教育。
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引用次数: 3
3D Printing an Assembled Biomimetic Robotic Finger 3D打印组装的仿生机器人手指
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144774
Maryam Tebyani, Ash Robbins, William Asper, S. Kurniawan, M. Teodorescu, Zhongkui Wang, S. Hirai
We present a novel approach for fabricating cable-driven robotic systems. Particularly, we show that a biomimetic finger featuring accurate bone geometry, ligament structures, and viscoelastic tendons can be synthesized as a single part using a mutli-material 3D printer. This fabrication method eliminates the need to engineer an interface between the rigid skeletal structure and elastic tendon system. The artificial muscles required to drive the printed tendons of the finger can also be printed in place. MuJoCo, a physics simulation engine which can be used to generate control strategies, is used to develop a model of the non-linear platform. A physical test bed is used to compare the simulation results to a printed prototype. This lays the groundwork for a new robotics design approach, where the fabrication and assembly is automated.
我们提出了一种制造缆索驱动机器人系统的新方法。特别是,我们展示了一个仿生手指,具有精确的骨骼几何形状,韧带结构和粘弹性肌腱,可以使用多材料3D打印机合成为单个部分。这种制造方法消除了在刚性骨骼结构和弹性肌腱系统之间设计界面的需要。驱动打印的手指肌腱所需的人造肌肉也可以打印到位。利用可生成控制策略的物理仿真引擎MuJoCo建立了非线性平台的模型。利用物理试验台将仿真结果与打印样机进行比较。这为一种新的机器人设计方法奠定了基础,在这种方法中,制造和组装是自动化的。
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引用次数: 3
Optimized Jumping of an Articulated Robotic Leg 铰接机器人腿的优化跳跃
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144799
Junjie Shen, Yeting Liu, Xiaoguang Zhang, D. Hong
This paper proposes a nonlinear programming (NLP) formulation intended for the trajectory optimization of legged robot jumping applications during the stance phase, taking into consideration the detailed robot model, actuator capability, terrain condition, etc. The method is applicable to a wide class of jumping robots and was successfully implemented on an articulated robotic leg for jumping in terms of maximum reachable height, minimum energy consumption, as well as optimum energy efficiency. The simulation and experimental results demonstrate that this approach is capable of not only planning one single jumping trajectory, but also designing a periodic jumping gait for legged robots.
本文提出了一种考虑机器人详细模型、作动器性能、地形条件等因素的非线性规划(NLP)公式,用于腿式机器人跳跃应用在站立阶段的轨迹优化。该方法适用于各种类型的跳跃机器人,并成功地在关节机器人腿上实现了最大可达高度、最小能量消耗和最佳能量效率。仿真和实验结果表明,该方法不仅能够规划单个跳跃轨迹,而且能够设计出有腿机器人的周期性跳跃步态。
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引用次数: 6
Cloud Services for Culture Aware Conversation: Socially Assistive Robots and Virtual Assistants 面向文化对话的云服务:社交辅助机器人和虚拟助手
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144750
C. Recchiuto, Luna Gava, Lucrezia Grassi, Alberto Grillo, Marta Lagomarsino, Davide Lanza, Zijian Liu, C. Papadopoulos, I. Papadopoulos, Antonello Scalmato, A. Sgorbissa
This paper introduces a new Cloud platform providing services for culturally competent interaction, that has been developed to expand the capabilities of Socially Assistive Robots and virtual assistants interacting with older persons. The rationale behind the proposed architecture is discussed, by outlining key principles as well as the functionalities provided, with a specific focus on verbal interaction. Three case studies, the humanoid robot Pepper, a robotic medicine dispenser Pillo, and a custom-built Android-based virtual assistant, are analyzed in detail, by showing how robots and other assistants may easily access culturally competent Cloud services to expand their interaction capabilities. Transcripts of conversations are reported and commented, in order to outline both the positive features and the limitations of the system.
本文介绍了一个新的云平台,为文化能力互动提供服务,该平台已被开发用于扩展社交辅助机器人和虚拟助手与老年人互动的能力。通过概述关键原则以及所提供的功能,讨论了所提议的体系结构背后的基本原理,并特别关注口头交互。通过展示机器人和其他助手如何轻松访问具有文化竞争力的云服务以扩展其交互能力,详细分析了三个案例研究,即人形机器人Pepper、机器人药品分发器Pillo和定制的基于android的虚拟助手。报告和评论对话记录,以便概述该系统的积极特点和局限性。
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引用次数: 17
Jerk estimation for quadrotor based on differential flatness 基于微分平整度的四旋翼机颤振估计
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144980
Juan Medrano, Francisco Yumbla, SeungYeop Jeong, Iksu Choi, Yonghee Park, Eugene Auh, H. Moon
In this work, we propose a method to estimate the inertial jerk of a multicopter vehicle using inertial measurement unit (IMU) measurements, without taking any time derivatives nor the need for motor rpm sensors. If an attitude estimate is not available, a jerk estimate expressed in the vehicle-fixed frame can still be obtained. Our main result comes from the differential flatness property of the vehicle dynamics, which provides an expression that relates jerk with acceleration, angular velocity and thrust dynamics. Dynamic simulation shows that a reasonable estimation of jerk is obtained at linear and angular speed as fast as 2 m/s and 2 rad/s, respectively, and degraded with speed beyond those values. The proposed sensing model could be used to improve control performance or state estimation pipelines in multicopter vehicles.
在这项工作中,我们提出了一种使用惯性测量单元(IMU)测量来估计多旋翼飞行器惯性抖动的方法,而不需要任何时间导数也不需要电机转速传感器。当姿态估计不可用时,仍可得到用固定车架表示的加速度估计。我们的主要结果来自于车辆动力学的微分平整度特性,它提供了一个将加速度、角速度和推力动力学联系起来的表达式。动态仿真表明,在线速度和角速度分别为2 m/s和2 rad/s时,可以得到合理的加速度估计,并且在速度超过该值时,加速度会下降。所提出的感知模型可用于改善多旋翼飞行器的控制性能或状态估计管道。
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引用次数: 0
Trajectory Planning of Upper Limb Rehabilitation Robot Based on Human Pose Estimation 基于人体姿态估计的上肢康复机器人轨迹规划
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144771
T. Tao, Xingyu Yang, Jiayu Xu, Wei Wang, Sicong Zhang, Ming Li, Guanghua Xu
Stroke has become the second leading cause of death in the world, and timely rehabilitation can effectively help patients recover. At present, with the shortage of rehabilitation doctors, using rehabilitation robots to help patients recover has become a more feasible solution. In order to plan a bionic motion trajectory of an upper limb rehabilitation robot more conveniently, a teaching trajectory planning method was proposed based on human pose estimation in this paper. The teaching trajectories were collected by Kinect's depth camera and human bone joints were tracked using deep neural networks OpenPose. The processed trajectories were verified with modeling simulation and robot motion. The planar trajectories were evaluated using the minimum Jerk principle on bio-imitability, the position determination coefficient is more 0.99, the speed determination coefficient is more than 0.94, and the acceleration determination coefficient is more than 0.88. In the case of block, the recognition success rate has increased by more than 73.4% compared with Kinect's bone binding OpenPose algorithm for human bone joint recognition. The bioimitability of the trajectories planned by this method can conveniently and quickly meet the needs of rehabilitation doctors in hospitals to plan the rehabilitation robot trajectory.
中风已成为全球第二大死亡原因,及时进行康复治疗可以有效帮助患者康复。目前,在康复医生短缺的情况下,使用康复机器人帮助患者康复已成为一种更可行的解决方案。为了更方便地规划上肢康复机器人的仿生运动轨迹,本文提出了一种基于人体姿态估计的教学轨迹规划方法。教学轨迹由Kinect的深度摄像头收集,并使用深度神经网络OpenPose跟踪人体骨骼关节。通过建模仿真和机器人运动验证了处理后的轨迹。采用生物仿性最小震动原理对平面轨迹进行评价,位置决定系数大于0.99,速度决定系数大于0.94,加速度决定系数大于0.88。在块的情况下,与Kinect的骨绑定OpenPose算法相比,识别成功率提高了73.4%以上。该方法所规划的轨迹具有生物仿性,可以方便、快速地满足医院康复医生规划康复机器人轨迹的需求。
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引用次数: 10
Vehicle Control with Prediction Model Based Monte-Carlo Tree Search 基于蒙特卡罗树搜索的预测模型车辆控制
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144958
Timothy Ha, Kyunghoon Cho, Geonho Cha, Kyungjae Lee, Songhwai Oh
In this paper, we propose a model-based Monte-Carlo Tree Search (model-based MCTS) algorithm for the vehicle planning and control problem. While driving vehicles, we need to predict the future states of other vehicles to avoid collisions. However, because the movements of the vehicles are determined by the intentions of the human drivers, we need to use a prediction model which captures the intention of the human behavior. In our model-based MCTS algorithm, we introduce a neural-network-based prediction model which predicts the behaviors of the human drivers. Unlike conventional MCTS algorithms, our method estimates the rewards and Q-values based on intention-considering future states, not from the pre-defined deterministic models or self-play methods. For the evaluation, we use environments where the other vehicles follow the trajectories of pre-collected driver datasets. Our method shows novel results in the collision avoidance and success rate of the driving, compared to other reinforcement learning and imitation learning algorithms.
本文提出了一种基于模型的蒙特卡罗树搜索(model-based MCTS)算法来解决车辆规划和控制问题。在驾驶车辆时,我们需要预测其他车辆的未来状态,以避免碰撞。然而,由于车辆的运动是由人类驾驶员的意图决定的,我们需要使用一个预测模型来捕捉人类行为的意图。在基于模型的MCTS算法中,我们引入了一个基于神经网络的预测模型来预测人类驾驶员的行为。与传统的MCTS算法不同,我们的方法基于考虑意图的未来状态来估计奖励和q值,而不是基于预定义的确定性模型或自玩方法。为了进行评估,我们使用了其他车辆遵循预先收集的驾驶员数据集轨迹的环境。与其他强化学习和模仿学习算法相比,我们的方法在避免碰撞和驾驶成功率方面显示出新的结果。
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引用次数: 2
An Integrated Teleoperation Assistance System for Collision Avoidance of High-speed UAVs in Complex Environments 复杂环境下高速无人机避碰集成远操作辅助系统
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144902
Min Wang, H. Voos
UAV teleoperation is a demanding task, especially for amateur operators who wish to successfully accomplish their mission without collision. In this work we present an integrated 2D LIDAR based Sense-and-Avoid system which actively assists unskilled human operator in obstacle avoidance, so that the operator can focus on higher-level decisions and global objectives in UAV applications such as search and rescue, farming etc. Specifically, with our perception-assistive vehicle control design, novel adaptive virtual cushion force field (AVCFF) based avoidance strategy, and integrated sensing solution, the proposed UAV teleoperation assistance system is capable of obstacle detection and tracking, as well as automatic avoidance in complex environment where both static and dynamic objects are present. The proposed system is constructed on the basis of Hector Quadrotor open source framework [1], and its effectiveness is demonstrated and validated on a realistic simulated UAV platform in Gazebo simulations where the UAV is operated at a high speed.
无人机远程操作是一项要求很高的任务,特别是对于希望顺利完成任务而不发生碰撞的业余操作员。在这项工作中,我们提出了一个集成的基于二维激光雷达的感知和避免系统,主动协助不熟练的人类操作员避开障碍物,使操作员可以专注于更高层次的决策和全局目标,如搜索和救援,农业等无人机应用。具体而言,通过感知辅助车辆控制设计、基于自适应虚拟缓冲力场(AVCFF)的避障策略和集成传感解决方案,所提出的无人机远操作辅助系统能够在静态和动态物体并存的复杂环境中进行障碍物检测和跟踪,并实现自动避障。本文提出的系统基于Hector四旋翼开源框架构建[1],并在Gazebo仿真中,在无人机高速运行的真实仿真无人机平台上验证了其有效性。
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引用次数: 5
Real-time trajectory scaling for robot manipulators 机器人操纵臂的实时轨迹缩放
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144889
M. Faroni, R. Pagani, G. Legnani
Recent developments in industrial robotics use real-time trajectory modification to improve throughput and safety in automatic processes. Online trajectory scaling is often used to this purpose. In this paper, we propose a feedback trajectory scaling approach that is able to recover from the delay introduced by the speed modulation and improves the path-following performance thanks to an additional inner control loop. Simulation and experimental results on an industrial 6-degree-of-freedom robot show the effectiveness of the proposed approach compared to standard algorithms.
工业机器人的最新发展使用实时轨迹修改来提高自动化过程的吞吐量和安全性。在线轨迹缩放通常用于此目的。在本文中,我们提出了一种反馈轨迹缩放方法,该方法能够从速度调制引入的延迟中恢复,并由于额外的内部控制回路而提高路径跟踪性能。在工业六自由度机器人上的仿真和实验结果表明,与标准算法相比,该方法是有效的。
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引用次数: 4
Tripod gait using buffer area around leg workspace for flexible direction change 三脚架步态采用缓冲区域围绕腿的工作空间灵活的方向变化
Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144921
Kenichi Ishida, T. Takubo, Daiki Kobayashi, A. Ueno
The tripod gait using a buffer area around leg workspace is proposed to improve the mobility of the hexapod robot. The proposed method provides the buffer area for the support leg located near the border of the workspace to make a continuous walking motion when the walking direction is suddenly changed from the current walking direction. The change of direction is frequently occurred in the teleoperation by the operator to adapt to the remote environment and the required tasks. In the case of a fixed workspace, the group of the support leg when it located on the border of the workspace has to stop the motion until the group of the swing leg will reach to a new landing position corresponding to the commanded direction. Since the buffer area is given to the support leg, it can move until the swing leg will land to the new target position for the direction change. In this paper, the buffer area is defined around the workspace so that the trajectory generation method of the direction change of the support leg and the swing leg using the buffer area are implemented. The smooth direction change using the proposed method is shown based on the actual robot parameters.
为了提高六足机器人的机动性,提出了在腿部工作空间周围设置缓冲区域的三脚架步态。该方法为位于工作空间边界附近的支撑腿提供缓冲区,使其在当前行走方向突然改变时进行连续行走运动。为适应远程环境和任务要求,操作者在远程操作中经常发生方向变化。在固定工作空间的情况下,当支撑腿组位于工作空间边界时,必须停止运动,直到摆腿组到达与指令方向相对应的新着陆位置。由于缓冲区域是给支撑腿的,所以它可以移动,直到摇摆腿着陆到新的目标位置进行方向改变。本文在工作空间周围定义了缓冲区,实现了支撑腿和摆腿利用缓冲区进行方向变化的轨迹生成方法。基于机器人的实际参数,给出了采用该方法进行方向平滑变换的结果。
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引用次数: 0
期刊
2020 17th International Conference on Ubiquitous Robots (UR)
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