Pub Date : 2012-12-24DOI: 10.1109/IROS.2012.6386265
D. Borrmann, Hassan Afzal, J. Elseberg, A. Nüchter
Heat and air conditioning losses in buildings and factories lead to a large amount of wasted energy. The Action Plan for Energy Efficiency [4] of the European Commission estimates that the largest cost-effective energy savings potential lies in residential (≈ 27%) and commercial (≈ 30%) buildings. Imagine a technology that creates a precise digital 3D model of heat distribution and heat flow enabling one to detect all sources of wasted energy and to modify buildings to reach these savings. This video presents our approach to this task. Methods for creating a consistent laser scan model enhanced with information from thermal and optical cameras are presented.
{"title":"Thermal 3D modeling of indoor environments for saving energy","authors":"D. Borrmann, Hassan Afzal, J. Elseberg, A. Nüchter","doi":"10.1109/IROS.2012.6386265","DOIUrl":"https://doi.org/10.1109/IROS.2012.6386265","url":null,"abstract":"Heat and air conditioning losses in buildings and factories lead to a large amount of wasted energy. The Action Plan for Energy Efficiency [4] of the European Commission estimates that the largest cost-effective energy savings potential lies in residential (≈ 27%) and commercial (≈ 30%) buildings. Imagine a technology that creates a precise digital 3D model of heat distribution and heat flow enabling one to detect all sources of wasted energy and to modify buildings to reach these savings. This video presents our approach to this task. Methods for creating a consistent laser scan model enhanced with information from thermal and optical cameras are presented.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"29 1","pages":"4538-4539"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80149393","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 : 2012-12-24DOI: 10.1109/IROS.2012.6386066
Jeff C. Kahn, B. Flammang, J. Tangorra
A comprehensive understanding of the ways in which fish create and control forces is fundamental to engineering underwater vehicles that maneuver with the agility of fish. In this study the sunfish was selected as a biological model from which to understand pectoral fin motions and forces during hover. The kinematic patterns of the biological fin were identified and implemented on a biorobotic model of the fin. The effects of fin patterns and mechanical properties on force were evaluated. Pressure was measured at multiple points on the fin's surface and assessed for use in the closed loop control of fin force. The study revealed that a wide range of motions are used during hover, and that forces are significantly different from those found previously for steady swimming. However as fin speeds increase, the fin's dynamic motions, and the magnitude and direction of the forces become more similar to those of steady swimming. Collective measures of pressure over the fin's surface exhibited trends that correlated well with fin forces in relative magnitudes and directions. Results strongly suggest that distributed measures of pressure are useful for force prediction and control.
{"title":"Hover kinematics and distributed pressure sensing for force control of biorobotic fins","authors":"Jeff C. Kahn, B. Flammang, J. Tangorra","doi":"10.1109/IROS.2012.6386066","DOIUrl":"https://doi.org/10.1109/IROS.2012.6386066","url":null,"abstract":"A comprehensive understanding of the ways in which fish create and control forces is fundamental to engineering underwater vehicles that maneuver with the agility of fish. In this study the sunfish was selected as a biological model from which to understand pectoral fin motions and forces during hover. The kinematic patterns of the biological fin were identified and implemented on a biorobotic model of the fin. The effects of fin patterns and mechanical properties on force were evaluated. Pressure was measured at multiple points on the fin's surface and assessed for use in the closed loop control of fin force. The study revealed that a wide range of motions are used during hover, and that forces are significantly different from those found previously for steady swimming. However as fin speeds increase, the fin's dynamic motions, and the magnitude and direction of the forces become more similar to those of steady swimming. Collective measures of pressure over the fin's surface exhibited trends that correlated well with fin forces in relative magnitudes and directions. Results strongly suggest that distributed measures of pressure are useful for force prediction and control.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2 1","pages":"1460-1466"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80261322","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385773
Jürgen Sturm, Nikolas Engelhard, F. Endres, Wolfram Burgard, D. Cremers
In this paper, we present a novel benchmark for the evaluation of RGB-D SLAM systems. We recorded a large set of image sequences from a Microsoft Kinect with highly accurate and time-synchronized ground truth camera poses from a motion capture system. The sequences contain both the color and depth images in full sensor resolution (640 × 480) at video frame rate (30 Hz). The ground-truth trajectory was obtained from a motion-capture system with eight high-speed tracking cameras (100 Hz). The dataset consists of 39 sequences that were recorded in an office environment and an industrial hall. The dataset covers a large variety of scenes and camera motions. We provide sequences for debugging with slow motions as well as longer trajectories with and without loop closures. Most sequences were recorded from a handheld Kinect with unconstrained 6-DOF motions but we also provide sequences from a Kinect mounted on a Pioneer 3 robot that was manually navigated through a cluttered indoor environment. To stimulate the comparison of different approaches, we provide automatic evaluation tools both for the evaluation of drift of visual odometry systems and the global pose error of SLAM systems. The benchmark website [1] contains all data, detailed descriptions of the scenes, specifications of the data formats, sample code, and evaluation tools.
{"title":"A benchmark for the evaluation of RGB-D SLAM systems","authors":"Jürgen Sturm, Nikolas Engelhard, F. Endres, Wolfram Burgard, D. Cremers","doi":"10.1109/IROS.2012.6385773","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385773","url":null,"abstract":"In this paper, we present a novel benchmark for the evaluation of RGB-D SLAM systems. We recorded a large set of image sequences from a Microsoft Kinect with highly accurate and time-synchronized ground truth camera poses from a motion capture system. The sequences contain both the color and depth images in full sensor resolution (640 × 480) at video frame rate (30 Hz). The ground-truth trajectory was obtained from a motion-capture system with eight high-speed tracking cameras (100 Hz). The dataset consists of 39 sequences that were recorded in an office environment and an industrial hall. The dataset covers a large variety of scenes and camera motions. We provide sequences for debugging with slow motions as well as longer trajectories with and without loop closures. Most sequences were recorded from a handheld Kinect with unconstrained 6-DOF motions but we also provide sequences from a Kinect mounted on a Pioneer 3 robot that was manually navigated through a cluttered indoor environment. To stimulate the comparison of different approaches, we provide automatic evaluation tools both for the evaluation of drift of visual odometry systems and the global pose error of SLAM systems. The benchmark website [1] contains all data, detailed descriptions of the scenes, specifications of the data formats, sample code, and evaluation tools.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"82 1","pages":"573-580"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80523669","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385668
Omar Tahri, Helder Sabino de Araújo
Catadioptric cameras combine conventional cameras and mirrors to create omnidirectional sensors providing 360° panoramic views of a scene. Modeling such cameras has been subject of significant research interest in the computer vision community leading to a deeper understanding of the image properties and also to different models for different types of configurations. Visual servoing applications using catadioptric cameras have essentially been using central cameras and the corresponding unified projection model. So far only in very few cases more general models have been used. In this paper we address the problem of visual servoing using the so-called the radial model. The radial model can be applied to many camera configurations and in particular to non-central catadioptric systems with mirror shapes that are symmetric around the optical axis. In this case we show that the radial model can be used with a non-central catadioptric camera to allow effective image-based visual servoing (IBVS) of a mobile robot. Using this model, which is valid for a large set of catadioptric cameras, new visual features are proposed to control the degrees of freedom of a mobile robot moving on a plane. Several simulation results are provided to validate the effectiveness of such features.
{"title":"Non-central catadioptric cameras visual servoing for mobile robots using a radial camera model","authors":"Omar Tahri, Helder Sabino de Araújo","doi":"10.1109/IROS.2012.6385668","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385668","url":null,"abstract":"Catadioptric cameras combine conventional cameras and mirrors to create omnidirectional sensors providing 360° panoramic views of a scene. Modeling such cameras has been subject of significant research interest in the computer vision community leading to a deeper understanding of the image properties and also to different models for different types of configurations. Visual servoing applications using catadioptric cameras have essentially been using central cameras and the corresponding unified projection model. So far only in very few cases more general models have been used. In this paper we address the problem of visual servoing using the so-called the radial model. The radial model can be applied to many camera configurations and in particular to non-central catadioptric systems with mirror shapes that are symmetric around the optical axis. In this case we show that the radial model can be used with a non-central catadioptric camera to allow effective image-based visual servoing (IBVS) of a mobile robot. Using this model, which is valid for a large set of catadioptric cameras, new visual features are proposed to control the degrees of freedom of a mobile robot moving on a plane. Several simulation results are provided to validate the effectiveness of such features.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"115 1","pages":"1683-1688"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79145133","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 : 2012-12-24DOI: 10.1109/IROS.2012.6386204
A. Harmat, I. Sharf, M. Trentini
This paper presents the integration of a fast fluid solver based on the vortex particle method with an open source robot simulation environment for the purpose of simulating wind in urban areas. It is desired for the wind simulation to run at realtime speeds so that high-level landing behaviors can be developed for a small rotary-wing UAV. Due to the realtime constraint, some inaccuracies in the simulation are tolerated. It is found that the present method captures some key aspects of fluid flow that are important to flying small aircraft near environmental obstacles, but a simplified treatment of boundary conditions leads to incomplete development of vortices at the fluid-solid boundary.
{"title":"A hybrid particle/grid wind model for realtime small UAV flight simulation","authors":"A. Harmat, I. Sharf, M. Trentini","doi":"10.1109/IROS.2012.6386204","DOIUrl":"https://doi.org/10.1109/IROS.2012.6386204","url":null,"abstract":"This paper presents the integration of a fast fluid solver based on the vortex particle method with an open source robot simulation environment for the purpose of simulating wind in urban areas. It is desired for the wind simulation to run at realtime speeds so that high-level landing behaviors can be developed for a small rotary-wing UAV. Due to the realtime constraint, some inaccuracies in the simulation are tolerated. It is found that the present method captures some key aspects of fluid flow that are important to flying small aircraft near environmental obstacles, but a simplified treatment of boundary conditions leads to incomplete development of vortices at the fluid-solid boundary.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"7 1","pages":"3780-3785"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81857257","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385608
M. Basiri, F. Schill, P. Lima, D. Floreano
In search and rescue missions, Micro Air Vehicles (MAV's) can assist rescuers to faster locate victims inside a large search area and to coordinate their efforts. Acoustic signals play an important role in outdoor rescue operations. Emergency whistles, as found on most aircraft life vests, are commonly carried by people engaging in outdoor activities, and are also used by rescue teams, as they allow to signal reliably over long distances and far beyond visibility. For a MAV involved in such missions, the ability to locate the source of a distress sound signal, such as an emergency whistle blown by a person in need of help, is therefore significantly important and would allow the localization of victims and rescuers during night time, through foliage and in adverse conditions such as dust, fog and smoke. In this paper we present a sound source localization system for a MAV to locate narrowband sound sources on the ground, such as the sound of a whistle or personal alarm siren. We propose a method based on a particle filter to combine information from the cross correlation between signals of four spatially separated microphones mounted on the MAV, the dynamics of the aerial platform, and the doppler shift in frequency of the sound due to the motion of the MAV. Furthermore, we evaluate our proposed method in a real world experiment where a flying micro air vehicle is used to locate and track the position of a narrowband sound source on the ground.
{"title":"Robust acoustic source localization of emergency signals from Micro Air Vehicles","authors":"M. Basiri, F. Schill, P. Lima, D. Floreano","doi":"10.1109/IROS.2012.6385608","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385608","url":null,"abstract":"In search and rescue missions, Micro Air Vehicles (MAV's) can assist rescuers to faster locate victims inside a large search area and to coordinate their efforts. Acoustic signals play an important role in outdoor rescue operations. Emergency whistles, as found on most aircraft life vests, are commonly carried by people engaging in outdoor activities, and are also used by rescue teams, as they allow to signal reliably over long distances and far beyond visibility. For a MAV involved in such missions, the ability to locate the source of a distress sound signal, such as an emergency whistle blown by a person in need of help, is therefore significantly important and would allow the localization of victims and rescuers during night time, through foliage and in adverse conditions such as dust, fog and smoke. In this paper we present a sound source localization system for a MAV to locate narrowband sound sources on the ground, such as the sound of a whistle or personal alarm siren. We propose a method based on a particle filter to combine information from the cross correlation between signals of four spatially separated microphones mounted on the MAV, the dynamics of the aerial platform, and the doppler shift in frequency of the sound due to the motion of the MAV. Furthermore, we evaluate our proposed method in a real world experiment where a flying micro air vehicle is used to locate and track the position of a narrowband sound source on the ground.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"8 1","pages":"4737-4742"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84222391","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385884
Stefan A. J. Spanjer, Ravi Balasubramanian, J. Herder, A. Dollar
This paper investigates the possibility of increasing the robustness of underactuated grasping through the use of variable transmission ratios. We propose a 4-step procedure to investigate and improve the robustness of an underactuated finger on a fixed object. This procedure maximizes the robustness against random force disturbances to the maximum obtainable value under given circumstances. A simulation study is presented that analyzes the disturbance robustness, followed by an experimental study to confirm the effect. The variable transmission ratio is a promising means to increase grasp robustness and has great application potential.
{"title":"Improved grasp robustness through variable transmission ratios in underactuated fingers","authors":"Stefan A. J. Spanjer, Ravi Balasubramanian, J. Herder, A. Dollar","doi":"10.1109/IROS.2012.6385884","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385884","url":null,"abstract":"This paper investigates the possibility of increasing the robustness of underactuated grasping through the use of variable transmission ratios. We propose a 4-step procedure to investigate and improve the robustness of an underactuated finger on a fixed object. This procedure maximizes the robustness against random force disturbances to the maximum obtainable value under given circumstances. A simulation study is presented that analyzes the disturbance robustness, followed by an experimental study to confirm the effect. The variable transmission ratio is a promising means to increase grasp robustness and has great application potential.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"7 1","pages":"2289-2294"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84303622","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385647
Fabian L. Mueller, Angela P. Schoellig, R. D’Andrea
We revisit a recently developed iterative learning algorithm that enables systems to learn from a repeated operation with the goal of achieving high tracking performance of a given trajectory. The learning scheme is based on a coarse dynamics model of the system and uses past measurements to iteratively adapt the feed-forward input signal to the system. The novelty of this work is an identification routine that uses a numerical simulation of the system dynamics to extract the required model information. This allows the learning algorithm to be applied to any dynamic system for which a dynamics simulation is available (including systems with underlying feedback loops). The proposed learning algorithm is applied to a quadrocopter system that is guided by a trajectory-following controller. With the identification routine, we are able to extend our previous learning results to three-dimensional quadrocopter motions and achieve significantly higher tracking accuracy due to the underlying feedback control, which accounts for non-repetitive noise.
{"title":"Iterative learning of feed-forward corrections for high-performance tracking","authors":"Fabian L. Mueller, Angela P. Schoellig, R. D’Andrea","doi":"10.1109/IROS.2012.6385647","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385647","url":null,"abstract":"We revisit a recently developed iterative learning algorithm that enables systems to learn from a repeated operation with the goal of achieving high tracking performance of a given trajectory. The learning scheme is based on a coarse dynamics model of the system and uses past measurements to iteratively adapt the feed-forward input signal to the system. The novelty of this work is an identification routine that uses a numerical simulation of the system dynamics to extract the required model information. This allows the learning algorithm to be applied to any dynamic system for which a dynamics simulation is available (including systems with underlying feedback loops). The proposed learning algorithm is applied to a quadrocopter system that is guided by a trajectory-following controller. With the identification routine, we are able to extend our previous learning results to three-dimensional quadrocopter motions and achieve significantly higher tracking accuracy due to the underlying feedback control, which accounts for non-repetitive noise.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"160 1","pages":"3276-3281"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84989485","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385828
Claudio Zito, R. Stolkin, Marek Kopicki, J. Wyatt
This paper presents an algorithm for planning sequences of pushes, by which a robotic arm equipped with a single rigid finger can move a manipulated object (or manipulandum) towards a desired goal pose. Pushing is perhaps the most basic kind of manipulation, however it presents difficult challenges for planning, because of the complex relationship between manipulative pushing actions and resulting manipulandum motions. The motion planning literature has well developed paradigms for solving e.g. the piano-mover's problem, where the search occurs directly in the configuration space of the manipulandum object being moved. In contrast, in pushing manipulation, a plan must be built in the action space of the robot, which is only indirectly linked to the motion space of the manipulandum through a complex interaction for which inverse models may not be known. In this paper, we present a two stage approach to planning pushing operations. A global RRT path planner is used to explore the space of possible manipulandum configurations, while a local push planner makes use of predictive models of pushing interactions, to plan sequences of pushes to move the manipulandum from one RRT node to the next. The effectiveness of the algorithm is demonstrated in simulation experiments in which a robot must move a rigid body through complex 3D transformations by applying only a sequence of simple single finger pushes.
{"title":"Two-level RRT planning for robotic push manipulation","authors":"Claudio Zito, R. Stolkin, Marek Kopicki, J. Wyatt","doi":"10.1109/IROS.2012.6385828","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385828","url":null,"abstract":"This paper presents an algorithm for planning sequences of pushes, by which a robotic arm equipped with a single rigid finger can move a manipulated object (or manipulandum) towards a desired goal pose. Pushing is perhaps the most basic kind of manipulation, however it presents difficult challenges for planning, because of the complex relationship between manipulative pushing actions and resulting manipulandum motions. The motion planning literature has well developed paradigms for solving e.g. the piano-mover's problem, where the search occurs directly in the configuration space of the manipulandum object being moved. In contrast, in pushing manipulation, a plan must be built in the action space of the robot, which is only indirectly linked to the motion space of the manipulandum through a complex interaction for which inverse models may not be known. In this paper, we present a two stage approach to planning pushing operations. A global RRT path planner is used to explore the space of possible manipulandum configurations, while a local push planner makes use of predictive models of pushing interactions, to plan sequences of pushes to move the manipulandum from one RRT node to the next. The effectiveness of the algorithm is demonstrated in simulation experiments in which a robot must move a rigid body through complex 3D transformations by applying only a sequence of simple single finger pushes.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"14 1","pages":"678-685"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85028270","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385921
Antoine Bussy, A. Kheddar, A. Crosnier, François Keith
In this paper, we propose a control scheme that allows a humanoid robot to perform a transportation task jointly with a human partner. From the study of how human dyads achieve such a task, we have developed a control law for physical interaction that unifies standalone and collaborative (leader and follower) modes for trajectory-based tasks. We present it in the case of a linear impedance controller but it can be generalized to more complex impedances. Desired trajectories are decomposed into sequences of elementary motion primitives. We implemented this model with a Finite State Machine associated with a reactive pattern generator. First experiments conducted on a real HRP-2 humanoid robot assess the overall approach.
{"title":"Human-humanoid haptic joint object transportation case study","authors":"Antoine Bussy, A. Kheddar, A. Crosnier, François Keith","doi":"10.1109/IROS.2012.6385921","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385921","url":null,"abstract":"In this paper, we propose a control scheme that allows a humanoid robot to perform a transportation task jointly with a human partner. From the study of how human dyads achieve such a task, we have developed a control law for physical interaction that unifies standalone and collaborative (leader and follower) modes for trajectory-based tasks. We present it in the case of a linear impedance controller but it can be generalized to more complex impedances. Desired trajectories are decomposed into sequences of elementary motion primitives. We implemented this model with a Finite State Machine associated with a reactive pattern generator. First experiments conducted on a real HRP-2 humanoid robot assess the overall approach.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"94 1","pages":"3633-3638"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81243333","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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