Pub Date : 2005-07-18DOI: 10.1109/ICAR.2005.1507419
A. Nüchter, K. Lingemann, J. Hertzberg, H. Surmann
This paper provides a new solution to the simultaneous localization and mapping (SLAM) problem with six degrees of freedom. A fast variant of the iterative closest points (ICP) algorithm registers 3D scans taken by a mobile robot into a common coordinate system and thus provides relocalization. Hereby, data association is reduced to the problem of searching for closest points. Approximation algorithms for this searching, namely, approximate kd-trees and box decomposition trees, are presented and evaluated in this paper. A solution to 6D SLAM that considers all free parameters in the robot pose is built based on 3D scan matching
{"title":"6D SLAM with approximate data association","authors":"A. Nüchter, K. Lingemann, J. Hertzberg, H. Surmann","doi":"10.1109/ICAR.2005.1507419","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507419","url":null,"abstract":"This paper provides a new solution to the simultaneous localization and mapping (SLAM) problem with six degrees of freedom. A fast variant of the iterative closest points (ICP) algorithm registers 3D scans taken by a mobile robot into a common coordinate system and thus provides relocalization. Hereby, data association is reduced to the problem of searching for closest points. Approximation algorithms for this searching, namely, approximate kd-trees and box decomposition trees, are presented and evaluated in this paper. A solution to 6D SLAM that considers all free parameters in the robot pose is built based on 3D scan matching","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126165377","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507449
Ankur Kapoor, Nabil Simaan, Russell H. Taylor
We present our work on developing and testing the high-level control for a future telerobotic system for minimally invasive surgery of the throat and upper airways. As a test-bed for these experiments, we used a hybrid 8 degrees-of-freedom (DoF) experimental robot composed of a six DoF robot and a two DoF snake-like unit. The kinematics and weighted redundancy resolution to support suturing in confined spaces, such as the throat, is developed and experimental validation in presented. The kinematics of the hybrid system is described in an 8-dimensional augmented vector space composed from the joint variables of the six DoF robot and two angles describing the configuration of the snake-like unit. Then a weighted, multi objective, optimization framework is used to perform the suturing operation under the assumption of a predefined suture geometry while satisfying joint limits, torque constraints, and minimizing extraneous motions of the system joints
{"title":"Suturing in confined spaces: constrained motion control of a hybrid 8-DoF robot","authors":"Ankur Kapoor, Nabil Simaan, Russell H. Taylor","doi":"10.1109/ICAR.2005.1507449","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507449","url":null,"abstract":"We present our work on developing and testing the high-level control for a future telerobotic system for minimally invasive surgery of the throat and upper airways. As a test-bed for these experiments, we used a hybrid 8 degrees-of-freedom (DoF) experimental robot composed of a six DoF robot and a two DoF snake-like unit. The kinematics and weighted redundancy resolution to support suturing in confined spaces, such as the throat, is developed and experimental validation in presented. The kinematics of the hybrid system is described in an 8-dimensional augmented vector space composed from the joint variables of the six DoF robot and two angles describing the configuration of the snake-like unit. Then a weighted, multi objective, optimization framework is used to perform the suturing operation under the assumption of a predefined suture geometry while satisfying joint limits, torque constraints, and minimizing extraneous motions of the system joints","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123560918","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507408
Shujun Lu, J. Chung
This paper presents a collision-detection enabled weighted path planning approach for a robot sharing the same workspace with humans. Using base and wrist force/torque sensors, a model based method is proposed to detect the collision forces and disturbance torques on the joints of the manipulator; then a weighted path planning approach is developed to control the interaction. The experimental results illustrate the validity of the developed collision detection and planning scheme
{"title":"Collision detection enabled weighted path planning: a wrist and base force/torque sensors approach","authors":"Shujun Lu, J. Chung","doi":"10.1109/ICAR.2005.1507408","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507408","url":null,"abstract":"This paper presents a collision-detection enabled weighted path planning approach for a robot sharing the same workspace with humans. Using base and wrist force/torque sensors, a model based method is proposed to detect the collision forces and disturbance torques on the joints of the manipulator; then a weighted path planning approach is developed to control the interaction. The experimental results illustrate the validity of the developed collision detection and planning scheme","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123729921","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507431
S. Bovet, R. Pfeifer
It seems self-evident that an agent's perception of its surrounding environment is tightly coupled to its behavior. However, most robot control architectures make some assumptions about how sensory information relates to motor actions, in order to provide a set of basic behaviors (such as reflexes). It is largely unknown to what extent these biases reduce the potential for the generation of diverse or unexpected behaviors from the agent-environment interaction. In this paper, we propose a new model of robot control architecture, consisting of homogeneous, non-hierarchical coupling, which only learns the correlation of simultaneous activity between any pair of sensor or motor modalities. We show that the propagation of activity across the different modalities, modulated by the learnt correlations, can lead to the emergence of coherent complex behaviors, such as approaching and following an object, or solving a task based on the temporal relationship between an early clue and a delayed reward
{"title":"Emergence of coherent behaviors from homogenous sensorimotor coupling","authors":"S. Bovet, R. Pfeifer","doi":"10.1109/ICAR.2005.1507431","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507431","url":null,"abstract":"It seems self-evident that an agent's perception of its surrounding environment is tightly coupled to its behavior. However, most robot control architectures make some assumptions about how sensory information relates to motor actions, in order to provide a set of basic behaviors (such as reflexes). It is largely unknown to what extent these biases reduce the potential for the generation of diverse or unexpected behaviors from the agent-environment interaction. In this paper, we propose a new model of robot control architecture, consisting of homogeneous, non-hierarchical coupling, which only learns the correlation of simultaneous activity between any pair of sensor or motor modalities. We show that the propagation of activity across the different modalities, modulated by the learnt correlations, can lead to the emergence of coherent complex behaviors, such as approaching and following an object, or solving a task based on the temporal relationship between an early clue and a delayed reward","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122753346","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507501
W. Sheng, Qizhi Wang, Qingyan Yang, Shenghuo Zhu
In many multi-robot applications, ad hoc networks are formed for data communication, which enables effective decision making and results in significant energy and time saving. However, unnecessary large volumes of communication data may still lead to big time delay and energy waste. This paper addresses the problem of how to reduce the data exchange among multiple robots when they carry out cooperative area exploration or coverage. In this application, multiple robots need exchange map information in order to minimize the repeated exploration or coverage. When a connected ad hoc network can not be maintained, the map data exchange or synchronization should be carefully dealt with in order to reduce the volume of data exchange. In this paper, a novel sequence number-based map representation scheme and an effective robot map update tracking scheme are proposed. Based on them, an algorithm is developed to reduce the volumes of map data exchange when robot subnetworks merge. Simulation results validate this algorithm
{"title":"Minimizing data exchange in ad hoc multi-robot networks","authors":"W. Sheng, Qizhi Wang, Qingyan Yang, Shenghuo Zhu","doi":"10.1109/ICAR.2005.1507501","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507501","url":null,"abstract":"In many multi-robot applications, ad hoc networks are formed for data communication, which enables effective decision making and results in significant energy and time saving. However, unnecessary large volumes of communication data may still lead to big time delay and energy waste. This paper addresses the problem of how to reduce the data exchange among multiple robots when they carry out cooperative area exploration or coverage. In this application, multiple robots need exchange map information in order to minimize the repeated exploration or coverage. When a connected ad hoc network can not be maintained, the map data exchange or synchronization should be carefully dealt with in order to reduce the volume of data exchange. In this paper, a novel sequence number-based map representation scheme and an effective robot map update tracking scheme are proposed. Based on them, an algorithm is developed to reduce the volumes of map data exchange when robot subnetworks merge. Simulation results validate this algorithm","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129603211","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507406
Huiliang Jin, M. Zacksenhouse
The capabilities of an oscillator-based controller are compared with that of a model-based controller for stabilizing a yoyo in this paper. It is shown that the oscillator-based controller can operate with a once per cycle feedback, while the model-based controller requires high-rate state feedback. However, a consequence upon the oscillator-based control with low-rate feedback is a smaller stability regime in its parameter space. Hence it may be necessary to use the model-based controller with high-freq feedback to stabilize the system initially. Once the system is stabilized, it is possible to switch to the oscillator-based controller, which can keep the system stable against minor disturbances even with low-rate feedback. This is demonstrated in the context of yoyo-control, which is periodic and open-loop unstable
{"title":"Oscillator-based yoyo control: implementation and comparison with model-based control","authors":"Huiliang Jin, M. Zacksenhouse","doi":"10.1109/ICAR.2005.1507406","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507406","url":null,"abstract":"The capabilities of an oscillator-based controller are compared with that of a model-based controller for stabilizing a yoyo in this paper. It is shown that the oscillator-based controller can operate with a once per cycle feedback, while the model-based controller requires high-rate state feedback. However, a consequence upon the oscillator-based control with low-rate feedback is a smaller stability regime in its parameter space. Hence it may be necessary to use the model-based controller with high-freq feedback to stabilize the system initially. Once the system is stabilized, it is possible to switch to the oscillator-based controller, which can keep the system stable against minor disturbances even with low-rate feedback. This is demonstrated in the context of yoyo-control, which is periodic and open-loop unstable","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128213734","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507470
Sangbae Kim, A. Asbeck, M. Cutkosky, W. Provancher
A new climbing robot has been developed that can scale flat, hard vertical surfaces including concrete, brick, stucco and masonry without using suction or adhesives. The robot can carry a payload equal to its own weight and can cling without consuming power. It employs arrays of miniature spines that catch opportunistically on surface asperities. The approach is inspired by the mechanisms observed in some climbing insects and spiders. This paper covers the analysis and implementation of the approach, focusing on issues of spine/surface interaction and compliant suspension design
{"title":"SpinybotII: climbing hard walls with compliant microspines","authors":"Sangbae Kim, A. Asbeck, M. Cutkosky, W. Provancher","doi":"10.1109/ICAR.2005.1507470","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507470","url":null,"abstract":"A new climbing robot has been developed that can scale flat, hard vertical surfaces including concrete, brick, stucco and masonry without using suction or adhesives. The robot can carry a payload equal to its own weight and can cling without consuming power. It employs arrays of miniature spines that catch opportunistically on surface asperities. The approach is inspired by the mechanisms observed in some climbing insects and spiders. This paper covers the analysis and implementation of the approach, focusing on issues of spine/surface interaction and compliant suspension design","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128313978","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507424
T. Maneewarn, S. Suthaweesub
This paper presents the idea of reconfiguring multiple mobile-manipulator platforms called wheel-arm robots to increase their mobility and functionality. The wheel-arm robot is designed to be a wheel robot with a 4 DOF arm that has ability to manipulate small objects and move on flat terrain. The wheel-arm can also reconfigure itself to be a different type of one-wheel robot. By connecting multiple wheel-arm robots in different configurations, the robot group achieves different functionality. This paper provides kinematic analysis for various types of configurations which explains how the change in configuration affects their functionality including numbers of degrees of freedom for locomotion, manipulation, the ability to climb over obstacles and the maximum force exertion. These kinematic indices can be used in the task-based reconfiguration process which selects the configuration that best matches the given task requirements
{"title":"Kinematic analysis for task-based reconfiguration of wheel-arm robots","authors":"T. Maneewarn, S. Suthaweesub","doi":"10.1109/ICAR.2005.1507424","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507424","url":null,"abstract":"This paper presents the idea of reconfiguring multiple mobile-manipulator platforms called wheel-arm robots to increase their mobility and functionality. The wheel-arm robot is designed to be a wheel robot with a 4 DOF arm that has ability to manipulate small objects and move on flat terrain. The wheel-arm can also reconfigure itself to be a different type of one-wheel robot. By connecting multiple wheel-arm robots in different configurations, the robot group achieves different functionality. This paper provides kinematic analysis for various types of configurations which explains how the change in configuration affects their functionality including numbers of degrees of freedom for locomotion, manipulation, the ability to climb over obstacles and the maximum force exertion. These kinematic indices can be used in the task-based reconfiguration process which selects the configuration that best matches the given task requirements","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121524994","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507503
G. Pettinaro, L. Gambardella, A. Ramirez-Serrano
Swarm robotics is a rising paradigm which aims at designing new robot artifacts by extracting engineering guidelines from Nature. The work presented here shows the use of a particular swarm of robots called swarm-bot for carrying out distributed missions of fetching and retrieval of objects. To solve this task, a high level description plan defined in terms of behaviors is synthesized. A mission is divided in four different stages: searching for a target, calling for a swarm to aggregate as soon as one is found, jointly fetching it, and jointly retrieving it back. All robots used (s-bots) are assumed to know the same set of behaviors as well as the same behavioral plan for carrying out the task. Units are kept purely reactive, thus they do not keep any memory of their previous history. This allows to withstand changes in a highly dynamic environment. Coordination is achieved asynchronously by using light signals, whereas cooperation for the actual transportation is realized by using a force sensor located between the turret and the tracks of each s-bot. A swarm-bot, which is formed by a group of s-bots physically connected to their target, is capable of behaving during its homeward motion as if it were a single entity. Experiments show the high level of adaptability and resilience of a swarm-bot with respect to occasional possible failures of its members
{"title":"Adaptive distributed fetching and retrieval of goods by a swarm-bot","authors":"G. Pettinaro, L. Gambardella, A. Ramirez-Serrano","doi":"10.1109/ICAR.2005.1507503","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507503","url":null,"abstract":"Swarm robotics is a rising paradigm which aims at designing new robot artifacts by extracting engineering guidelines from Nature. The work presented here shows the use of a particular swarm of robots called swarm-bot for carrying out distributed missions of fetching and retrieval of objects. To solve this task, a high level description plan defined in terms of behaviors is synthesized. A mission is divided in four different stages: searching for a target, calling for a swarm to aggregate as soon as one is found, jointly fetching it, and jointly retrieving it back. All robots used (s-bots) are assumed to know the same set of behaviors as well as the same behavioral plan for carrying out the task. Units are kept purely reactive, thus they do not keep any memory of their previous history. This allows to withstand changes in a highly dynamic environment. Coordination is achieved asynchronously by using light signals, whereas cooperation for the actual transportation is realized by using a force sensor located between the turret and the tracks of each s-bot. A swarm-bot, which is formed by a group of s-bots physically connected to their target, is capable of behaving during its homeward motion as if it were a single entity. Experiments show the high level of adaptability and resilience of a swarm-bot with respect to occasional possible failures of its members","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124503586","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507399
P. Tiezzi, G. Vassura
The paper describes an experimental activity concerning the mechanical characterization of soft fingertips for robotic hands, focusing on the effects of the presence of an inner rigid core, as in robotic fingers with an endo-skeletal articulated frame covered by an external layer of soft material. By means of a purposely-designed test equipment, fingertips with differently sized cores have been tested, showing the influence of the thickness of the compliant layer on the resultant fingertip stiffness with respect to different materials and loading conditions (pure normal load, normal and tangential load, normal load and torque)
{"title":"Experimental analysis of soft fingertips with internal rigid core","authors":"P. Tiezzi, G. Vassura","doi":"10.1109/ICAR.2005.1507399","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507399","url":null,"abstract":"The paper describes an experimental activity concerning the mechanical characterization of soft fingertips for robotic hands, focusing on the effects of the presence of an inner rigid core, as in robotic fingers with an endo-skeletal articulated frame covered by an external layer of soft material. By means of a purposely-designed test equipment, fingertips with differently sized cores have been tested, showing the influence of the thickness of the compliant layer on the resultant fingertip stiffness with respect to different materials and loading conditions (pure normal load, normal and tangential load, normal load and torque)","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126251594","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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