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2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献

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Upper limb motion intent recognition using tactile sensing 基于触觉感知的上肢运动意图识别
Pub Date : 2017-12-14 DOI: 10.1109/IROS.2017.8206573
Thekla Stefanou, Allie J. Turton, A. Lenz, S. Dogramadzi
Focusing on upper limb rehabilitation of weak stroke patients, this pilot study explores how motion intent can be detected using force sensitive resistors (FSR). This is part of a bigger project which will see the actuation and control of an intent-driven exoskeleton. The limited time stroke survivors have with their therapists means that they can not often get enough training. During active-assisted training, therapists guide the paralysed limb through a movement only after detecting visual or haptic cues of the motion intent from the patient. Aiming to replicate therapist practices of recognising patients' intention to move, a pilot study of a tactile system is performed. The system will perform consistently even with patients who have low muscle strength and control ability. Currently available devices for detecting muscle activity do not offer the robustness and performance necessary; Electromyography (EMG) sensors, a well-established method, is affected by factors like skin moisture and BCI (Brain Computer Interface) has a slow response time. The proposed tactile sensing system is a simple yet robust solution both from a sensing as well as a usability point of view. Pilot experiments have been performed with a healthy subject emulating low muscle activation conditions. An overall accuracy of 80.45% is achieved when detecting forearm and arm muscle contractions and hence motion intent.
针对弱脑卒中患者的上肢康复,本初步研究探讨了如何使用力敏电阻(FSR)检测运动意图。这是一个更大项目的一部分,该项目将看到一个意图驱动的外骨骼的驱动和控制。中风幸存者与治疗师相处的时间有限,这意味着他们往往得不到足够的训练。在主动辅助训练中,治疗师只有在检测到患者的动作意图的视觉或触觉线索后,才能引导瘫痪的肢体进行运动。为了复制治疗师识别病人移动意图的做法,对触觉系统进行了初步研究。即使对于肌肉力量和控制能力较低的患者,该系统也能始终如一地发挥作用。目前可用的检测肌肉活动的设备不能提供必要的鲁棒性和性能;肌电(EMG)传感器是一种成熟的方法,受皮肤水分等因素的影响,BCI(脑机接口)反应时间较慢。从传感和可用性的角度来看,所提出的触觉传感系统是一个简单而强大的解决方案。在健康受试者身上进行了模拟低肌肉激活条件的先导实验。在检测前臂和手臂肌肉收缩和运动意图时,总体准确率达到80.45%。
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引用次数: 3
Soft fluidic rotary actuator with improved actuation properties 具有改进的驱动特性的软流体旋转驱动器
Pub Date : 2017-12-14 DOI: 10.1109/IROS.2017.8206448
J. Fras, Y. Noh, H. Wurdemann, K. Althoefer
The constantly increasing amount of machines operating in the vicinity of humans makes it necessary to rethink the design approach for such machines to ensure that they are safe when interacting with humans. Traditional mechanisms are rigid and heavy and as such considered unsuitable, even dangerous when a controlled physical contact with humans is desired. A huge improvement in terms of safe human-robot interaction has been achieved by a radically new approach to robotics — soft material robotics. These new robots are made of compliant materials that render them safe when compared to the conventional rigid-link robots. This undeniable advantage of compliance and softness is paired with a number of drawbacks. One of them is that a complex and sophisticated controller is required to move a soft robot into the desired positions or along a desired trajectory, especially with external forces being present. In this paper we propose an improved soft fluidic rotary actuator composed of silicone rubber and fiber-based reinforcement. The actuator is cheap and easily manufactured providing near linear actuation properties when compared to pneumatic actuators presented elsewhere. The paper presents the actuator design, manufacturing process and a mathematical model of the actuator behavior as well as an experimental validation of the model. Four different actuator types are compared including a square-shaped and three differently reinforced cylindrical actuators.
在人类附近操作的机器数量不断增加,这使得有必要重新考虑这些机器的设计方法,以确保它们在与人类互动时是安全的。传统的机械装置既僵硬又笨重,因此被认为不合适,甚至在需要与人进行有控制的身体接触时也是危险的。一种全新的机器人技术——软材料机器人技术,在安全人机交互方面取得了巨大的进步。这些新型机器人由柔性材料制成,与传统的刚性连杆机器人相比,它们更加安全。这种不可否认的顺应性和柔软性的优势伴随着许多缺点。其中之一是需要一个复杂而精密的控制器来将软机器人移动到期望的位置或沿着期望的轨迹,特别是在存在外力的情况下。本文提出了一种由硅橡胶和纤维基增强材料组成的改进型软流体旋转驱动器。与其他地方的气动执行器相比,该执行器价格便宜,易于制造,提供近线性执行特性。本文介绍了作动器的设计、制造过程,建立了作动器性能的数学模型,并对模型进行了实验验证。比较了四种不同的致动器类型,包括一个方形和三个不同增强的圆柱形致动器。
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引用次数: 30
Direct visual SLAM fusing proprioception for a humanoid robot 仿人机器人本体感觉的直接视觉SLAM融合
Pub Date : 2017-12-14 DOI: 10.1109/IROS.2017.8205943
Raluca Scona, S. Nobili, Y. Pétillot, M. Fallon
In this paper we investigate the application of semi-dense visual Simultaneous Localisation and Mapping (SLAM) to the humanoid robotics domain. Challenges of visual SLAM applied to humanoids include the type of dynamic motion executed by the robot, a lack of features in man-made environments and the presence of dynamics in the scene. Previous research on humanoid SLAM focused mostly on feature-based methods which result in sparse environment reconstructions. Instead, we investigate the application of a modern direct method to obtain a semi-dense visually interpretable map which can be used for collision free motion planning. We tackle the challenge of using direct visual SLAM on a humanoid by proposing a more robust pose tracking method. This is formulated as an optimisation problem over a cost function which combines information from the stereo camera and a low-drift kinematic-inertial motion prior. Extensive experimental demonstrations characterise the performance of our method using the NASA Valkyrie humanoid robot in a laboratory environment equipped with a Vicon motion capture system. Our experiments demonstrate pose tracking robustness to challenges such as sudden view change, motion blur in the image, change in illumination and tracking through sequences of featureless areas in the environment. Finally, we provide a qualitative evaluation of our stereo reconstruction against a LIDAR map.
本文研究了半密集视觉同步定位与映射(SLAM)在仿人机器人领域的应用。将视觉SLAM应用于类人机器人的挑战包括机器人执行的动态运动类型、人工环境中缺乏特征以及场景中存在动态。以往对仿人SLAM的研究主要集中在基于特征的方法上,这些方法导致了稀疏的环境重构。相反,我们研究了一种现代直接方法的应用,以获得可用于无碰撞运动规划的半密集视觉可解释地图。我们通过提出一种更鲁棒的姿态跟踪方法来解决在人形机器人上使用直接视觉SLAM的挑战。这被表述为一个成本函数的优化问题,该函数结合了来自立体摄像机和低漂移运动学-惯性运动先验的信息。广泛的实验演示描述了我们的方法在配备Vicon运动捕捉系统的实验室环境中使用NASA Valkyrie人形机器人的性能。我们的实验证明了姿态跟踪对诸如突然的视角变化、图像中的运动模糊、照明变化和通过环境中无特征区域序列的跟踪等挑战的鲁棒性。最后,我们针对激光雷达地图提供了立体重建的定性评估。
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引用次数: 29
Adaptive perception: Learning from sensory predictions to extract object shape with a biomimetic fingertip 自适应感知:从感官预测中学习,用仿生指尖提取物体形状
Pub Date : 2017-12-14 DOI: 10.1109/IROS.2017.8206590
Uriel Martinez-Hernandez, T. Prescott
In this work, we present an adaptive perception method to improve the performance in accuracy and speed of a tactile exploration task. This work extends our previous studies on sensorimotor control strategies for active tactile perception in robotics. First, we present the active Bayesian perception method to actively reposition a robot to accumulate evidence from better locations to reduce uncertainty. Second, we describe the adaptive perception method that, based on a forward model and a predicted information gain approach, allows to the robot to analyse ‘what would have happened' if a different decision ‘would have been made’ at previous decision time. This approach permits to adapt the active Bayesian perception process to improve the performance in accuracy and reaction time of an exploration task. Our methods are validated with a contour following exploratory procedure with a touch sensor. The results show that the adaptive perception method allows the robot to make sensory predictions and autonomously adapt, improving the performance of the exploration task.
在这项工作中,我们提出了一种自适应感知方法来提高触觉探索任务的准确性和速度。这项工作扩展了我们之前对机器人主动触觉感知的感觉运动控制策略的研究。首先,我们提出了主动贝叶斯感知方法,主动重新定位机器人,从更好的位置收集证据,以减少不确定性。其次,我们描述了自适应感知方法,该方法基于前向模型和预测信息增益方法,允许机器人分析如果在之前的决策时间“做出”不同的决策“会发生什么”。这种方法允许调整主动贝叶斯感知过程,以提高勘探任务的准确性和反应时间。我们的方法是验证轮廓以下探索性程序与触摸传感器。结果表明,自适应感知方法使机器人能够进行感官预测和自主适应,提高了探索任务的性能。
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引用次数: 4
Underwater 3D structures as semantic landmarks in SONAR mapping 水下三维结构在声纳映射中的语义标志
Pub Date : 2017-12-14 DOI: 10.1109/IROS.2017.8202215
Thomas Guerneve, K. Subr, Y. Pétillot
SONAR mapping of underwater environments leads to dense point-clouds. These maps have large memory footprints, are inherently noisy and consist of raw data with no semantic information. This paper presents an approach to underwater semantic mapping where known man-made structures that appear in multibeam SONAR data are automatically recognised. From a set of SONAR images acquired by an Autonomous Underwater Vehicle (AUV) and a catalogue of ‘a-priori’ 3D CAD models of structures that may potentially be found in the data, our algorithm proceeds in two phases. First we recognise objects using an efficient, rotation-invariant 2D descriptor combined with a histogram matching method. Then, we determine pose using a 6 degree-of-freedom registration of the 3D object to the local scene using a fast 2D correlation, refined with an iterative closest point (ICP)-based method. Once the structures located and identified, we build a semantic representation of the world based on the initial CAD models, resulting in a lightweight yet accurate world model. We demonstrate the applicability of our method on field data acquired by an AUV in Loch Linnhe, Scotland. Our method proves to be suitable for online semantic mapping of a partially man-made underwater environment such as a typical oil field.
水下环境的声纳测绘导致密集的点云。这些地图占用大量内存,固有地有噪声,并且由没有语义信息的原始数据组成。本文提出了一种自动识别多波束声呐数据中出现的已知人造结构的水下语义映射方法。从自主水下航行器(AUV)获取的一组声纳图像和可能在数据中发现的“先验”结构3D CAD模型目录中,我们的算法分两个阶段进行。首先,我们使用一种有效的、旋转不变的2D描述符结合直方图匹配方法来识别物体。然后,我们使用快速2D相关的3D对象到局部场景的6个自由度配准来确定姿态,并使用基于迭代最近点(ICP)的方法进行改进。一旦结构被定位和识别,我们就会在初始CAD模型的基础上建立世界的语义表示,从而产生轻量级但准确的世界模型。我们证明了该方法在苏格兰Linnhe湖水下航行器获取的现场数据上的适用性。结果表明,该方法适用于典型油田等部分人工水下环境的在线语义映射。
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引用次数: 5
Linear velocity from commotion motion 由骚动运动产生的线速度
Pub Date : 2017-12-13 DOI: 10.1109/IROS.2017.8206187
Wenbo Dong, Volkan Isler
Most Unmanned Aerial Vehicle (UAV) controllers require linear velocities as input. An effective method to obtain linear velocity is to place a downward facing camera and to estimate the velocity from the optical flow. However, this technique fails in outdoor environments when the ground is covered with grass or other objects which move due to winds such as those caused by the propellers. We present a novel method to estimate the linear velocities from stereo images even in the presence of disorderly motion of image features. We validate the approach using imagery obtained from a UAV flying through orchard rows.
大多数无人机(UAV)控制器需要线速度作为输入。一种获得线速度的有效方法是放置一个面朝下的相机,并从光流中估计速度。然而,在室外环境中,当地面被草或其他物体覆盖时,这种技术就失效了,这些物体由于风(如螺旋桨引起的风)而移动。我们提出了一种新的方法来估计从立体图像的线速度,即使存在无序运动的图像特征。我们使用从飞越果园的无人机获得的图像验证了该方法。
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引用次数: 3
Insertion method for minimizing fine needle deflection in bowel insertion based on experimental analysis 基于实验分析的肠插入中最小化细针偏转的插入方法
Pub Date : 2017-12-13 DOI: 10.1109/IROS.2017.8202156
R. Tsumura, K. Shitashima, H. Iwata
Accurate insertion of fine needles is difficult due to needle deflection. Needle deflection in the lower abdomen is particularly complex, as the needle has to pass through various tissues. As the area of the bowel is dominant in lower abdominal insertion, it is important to analyze the deflection during bowel insertion and to control the needle to minimize deflection. Few studies have focused on bowel insertion. We performed a fundamental deflection analysis of needle insertion in the bowel. Moreover, we have proposed an insertion method for minimizing the needle deflection based on our analysis. First, we performed needle insertion at various insertion positions and insertion angles into the hollow-shaped bowel, and determined the trend of the needle deflection during bowel insertion. The results revealed that the needle deflection was increased due to an increase in insertion angle, and therefore insertion angle should be minimized as much as possible. However, during actual bowel needle insertion, there are many situations in which the ideal path cannot be selected due to the arrangement of the bowel loops. We proposed an insertion method that can eliminate the total needle deflections during bowel insertion by controlling the needle tip direction at the breaching of each bowel wall. The results suggest that the needle deflection can be minimized by selecting the insertion path in which the sum of each insertion angle is zero. We verified the results of this insertion method in multiple bowels in in vivo experiments, and showed that it has the potential to be used in clinical practice.
由于针的偏转,细针难以准确插入。下腹的针偏转特别复杂,因为针必须穿过各种组织。由于下腹部穿刺以肠区为主,因此分析肠插入时的偏转情况并控制针头以减少偏转是很重要的。很少有研究关注肠插入。我们对针头插入肠道进行了基本的偏转分析。此外,在分析的基础上,我们提出了一种最小化针挠度的插入方法。首先,我们以不同的插入位置和角度将针插入空心肠内,并确定针在插入肠时的偏转趋势。结果表明,针的偏转由于插入角的增大而增大,因此应尽量减小插入角。然而,在实际的肠针插入过程中,由于肠袢的排列,很多情况下无法选择理想路径。我们提出了一种插入方法,通过控制每个肠壁的针尖方向,可以消除插入过程中针的总偏转。结果表明,选择各插入角之和为零的插入路径可以使针的偏转最小。我们在多个肠道的体内实验中验证了这种插入方法的结果,并表明它具有应用于临床实践的潜力。
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引用次数: 6
Adaptive trajectory tracking control for the ball-pendulum system with time-varying uncertainties 时变不确定性球摆系统的自适应轨迹跟踪控制
Pub Date : 2017-12-13 DOI: 10.1109/IROS.2017.8206026
Yang Bai, M. Svinin, Motoji Yamamoto
An adaptive trajectory tracking problem for a spherical rolling robot driven by a 2DOF pendulum is considered in this paper. A feedback controller is proposed for the goal of tracking the trajectory for the full configuration of the spherical robot. To deal with time-varying uncertainty of the system dynamics, an adaptation mechanism is included in the trajectory tracking controller by parameterizing the system uncertainty with a polynomial function, weighted by unknown constant parameters adjustable by the defined update law. The constructed controller is first tested for the planar hoop-pendulum and then applied to the ball-pendulum system. The convergence to the desired trajectories under the control law is proved and then verified by simulations for tracking circular motions under perturbation.
研究了由二自由度摆驱动的球面滚动机器人的自适应轨迹跟踪问题。针对球面机器人的全构型轨迹跟踪问题,提出了一种反馈控制器。为了处理系统动力学的时变不确定性,在轨迹跟踪控制器中加入了自适应机制,将系统的不确定性用多项式函数参数化,并通过定义的更新律对未知常数参数进行加权。首先对所构建的控制器进行了平面圈摆的测试,然后将其应用于球摆系统。首先证明了控制律对期望轨迹的收敛性,然后通过扰动下跟踪圆周运动的仿真验证了其收敛性。
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引用次数: 14
Towards MRI-guided and actuated tetherless milli-robots: Preoperative planning and modeling of control 走向核磁共振引导和驱动的无系绳毫米机器人:术前规划和控制建模
Pub Date : 2017-12-13 DOI: 10.1109/IROS.2017.8206550
Thibault Kensicher, J. Leclerc, Daniel Biediger, D. Shah, I. Seimenis, Aaron T. Becker, N. Tsekos
Image-guided and robot-assisted surgical procedures are rapidly evolving due to their potential to improve patient management and cost effectiveness. Magnetic Resonance Imaging (MRI) is used for pre-operative planning and is also investigated for real-time intra-operative guidance. A new type of technology is emerging that uses the magnetic field gradients of the MR scanner to maneuver ferromagnetic agents for local delivery of therapeutics. With this approach, MRI is both a sensor and forms a closed-loop controlled entity that behaves as a robot (we refer to them as MRbots). The objective of this paper is to introduce a computational framework for preoperative planning using MRI and modeling of MRbot maneuvering inside tortuous blood vessels. This platform generates a virtual corridor that represents a safety zone inside the vessel that is then used to access the safety of the MRbot maneuvering. In addition, to improve safety we introduce a control that sets speed based on the local curvature of the vessel. The functionality of the framework was then tested on a realistic operational scenario of accessing a neurological lesion, a meningioma. This virtual case study demonstrated the functionality and potential of MRbots as well as revealed two primary challenges: real-time MRI (during propulsion) and the need of very strong gradients for maneuvering small MRbots inside narrow cerebral vessels. Our ongoing research focuses on further developing the computational core, MR tracking methods, and on-line interfacing to the MR scanner.
图像引导和机器人辅助的外科手术正在迅速发展,因为它们有可能改善患者管理和成本效益。磁共振成像(MRI)用于术前计划,也用于术中实时指导。一种新型技术正在出现,它利用磁共振扫描仪的磁场梯度来操纵铁磁剂,以局部递送治疗药物。通过这种方法,MRI既是一个传感器,又是一个闭环控制实体,其行为就像一个机器人(我们称之为MRbots)。本文的目的是介绍一种利用MRI和MRbot在弯曲血管内机动的建模进行术前计划的计算框架。该平台生成一个虚拟走廊,代表船舶内部的安全区,然后用于访问MRbot操作的安全性。此外,为了提高安全性,我们引入了一个基于船舶局部曲率设置速度的控制。该框架的功能随后在接近神经病变脑膜瘤的实际操作场景中进行了测试。这个虚拟案例研究展示了mrbot的功能和潜力,同时也揭示了两个主要挑战:实时MRI(在推进过程中)和在狭窄的脑血管内操纵小型mrbot需要非常强的梯度。我们正在进行的研究重点是进一步开发计算核心,核磁共振跟踪方法,以及与核磁共振扫描仪的在线接口。
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引用次数: 5
Development of microphone-array-embedded UAV for search and rescue task 用于搜救任务的嵌入式麦克风阵列无人机的研制
Pub Date : 2017-12-13 DOI: 10.1109/IROS.2017.8206494
K. Nakadai, M. Kumon, HIroshi G. Okuno, Kotaro Hoshiba, Mizuho Wakabayashi, Kai Washizaki, Takahiro Ishiki, D. Gabriel, Yoshiaki Bando, Takayuki Morito, Ryosuke Kojima, Osamu Sugiyama
This paper addresses online outdoor sound source localization using a microphone array embedded in an unmanned aerial vehicle (UAV). In addition to sound source localization, sound source enhancement and robust communication method are also described. This system is one instance of deployment of our continuously developing open source software for robot audition called HARK (Honda Research Institute Japan Audition for Robots with Kyoto University). To improve the robustness against outdoor acoustic noise, we propose to combine two sound source localization methods based on MUSIC (multiple signal classification) to cope with trade-off between latency and noise robustness. The standard Eigenvalue decomposition based MUSIC (SEVD-MUSIC) has smaller latency but less noise robustness, whereas the incremental generalized singular value decomposition based MUSIC (iGSVD-MUSIC) has higher noise robustness but larger latency. A UAV operator can use an appropriate method according to the situation. A sound enhancement method called online robust principal component analysis (ORPCA) enables the operator to detect a target sound source more easily. To improve the stability of wireless communication, and robustness of the UAV system against weather changes, we developed data compression based on free lossless audio codec (FLAC) extended to support a 16 ch audio data stream via UDP, and developed a water-resistant microphone array. The resulting system successfully worked in an outdoor search and rescue task in ImPACT Tough Robotics Challenge in November 2016.
本文研究了利用嵌入在无人机中的麦克风阵列进行在线室外声源定位的方法。除了声源定位之外,还描述了声源增强和鲁棒通信方法。该系统是我们不断开发的机器人试听开源软件HARK(与京都大学合作的日本本田研究所机器人试听)的一个部署实例。为了提高对室外噪声的鲁棒性,我们提出结合两种基于MUSIC(多信号分类)的声源定位方法来处理延迟和噪声鲁棒性之间的权衡。基于标准特征值分解的MUSIC (SEVD-MUSIC)具有较小的延迟,但噪声鲁棒性较差,而基于增量广义奇异值分解的MUSIC (iGSVD-MUSIC)具有较高的噪声鲁棒性,但延迟较大。无人机操作员可以根据情况使用适当的方法。一种名为在线鲁棒主成分分析(ORPCA)的声音增强方法使操作员能够更容易地检测到目标声源。为了提高无线通信的稳定性和无人机系统对天气变化的鲁棒性,我们开发了基于自由无损音频编解码器(FLAC)的数据压缩,扩展到通过UDP支持16 ch音频数据流,并开发了一个防水麦克风阵列。该系统在2016年11月ImPACT Tough Robotics Challenge的户外搜索和救援任务中成功运行。
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引用次数: 38
期刊
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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