Pub Date : 2017-09-24DOI: 10.1109/IROS.2017.8206254
Qinbing Fu, Cheng Hu, Tian Liu, Shigang Yue
The developments of robotics inform research across a broad range of disciplines. In this paper, we will study and compare two collision selective neuron models via a vision-based autonomous micro robot. In the locusts' visual brain, two Lobula Giant Movement Detectors (LGMDs), i.e. LGMD1 and LGMD2, have been identified as looming sensitive neurons responding to rapidly expanding objects, yet with different collision selectivity. Both neurons have been modeled and successfully applied in robotic vision system for perceiving potential collisions in an efficient and reliable manner. In this research, we conduct binocular neuronal models, for the first time combining the functionalities of LGMD1 and LGMD2 neurons, in the visual modality of a ground mobile robot. The results of systematic on-line experiments demonstrated three contributions of this research: (1) The arena tests involving multiple robots verified the effectiveness and robustness of a reactive motion control strategy via integrating a bilateral pair of LGMD1 and LGMD2 models for collision detection in dynamic scenarios. (2) We pinpointed the different collision selectivity between LGMD1 and LGMD2 neuron models, which fulfill corresponding biological research. (3) The utilized micro robot may also benefit researches on other embedded vision systems as well as swarm robotics.
{"title":"Collision selective LGMDs neuron models research benefits from a vision-based autonomous micro robot","authors":"Qinbing Fu, Cheng Hu, Tian Liu, Shigang Yue","doi":"10.1109/IROS.2017.8206254","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206254","url":null,"abstract":"The developments of robotics inform research across a broad range of disciplines. In this paper, we will study and compare two collision selective neuron models via a vision-based autonomous micro robot. In the locusts' visual brain, two Lobula Giant Movement Detectors (LGMDs), i.e. LGMD1 and LGMD2, have been identified as looming sensitive neurons responding to rapidly expanding objects, yet with different collision selectivity. Both neurons have been modeled and successfully applied in robotic vision system for perceiving potential collisions in an efficient and reliable manner. In this research, we conduct binocular neuronal models, for the first time combining the functionalities of LGMD1 and LGMD2 neurons, in the visual modality of a ground mobile robot. The results of systematic on-line experiments demonstrated three contributions of this research: (1) The arena tests involving multiple robots verified the effectiveness and robustness of a reactive motion control strategy via integrating a bilateral pair of LGMD1 and LGMD2 models for collision detection in dynamic scenarios. (2) We pinpointed the different collision selectivity between LGMD1 and LGMD2 neuron models, which fulfill corresponding biological research. (3) The utilized micro robot may also benefit researches on other embedded vision systems as well as swarm robotics.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"35 1","pages":"3996-4002"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85857877","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 : 2017-09-24DOI: 10.1109/IROS.2017.8206522
Bryan Penin, R. Spica, P. Giordano, F. Chaumette
In this paper, we address the problem of using a camera with limited field of view for controlling the motion of a quadrotor in aggressive flight regimes. We present a minimum time trajectory planning method that guarantees visibility of the image features while allowing the robot to undertake aggressive motions for which the usual near-hovering assumption is violated. We exploit differential flatness and B-Splines to parametrize the system trajectories in terms of a finite number of control points, which can then be optimized by Sequential Quadratic Programming (SQP). The control strategy is similar to a Receding Horizon Control (RHC) approach for modifying online the reference trajectory in order to account for noise, disturbances and any non-modeled effect. The algorithm is validated in a physically realistic simulation environment.
{"title":"Vision-based minimum-time trajectory generation for a quadrotor UAV","authors":"Bryan Penin, R. Spica, P. Giordano, F. Chaumette","doi":"10.1109/IROS.2017.8206522","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206522","url":null,"abstract":"In this paper, we address the problem of using a camera with limited field of view for controlling the motion of a quadrotor in aggressive flight regimes. We present a minimum time trajectory planning method that guarantees visibility of the image features while allowing the robot to undertake aggressive motions for which the usual near-hovering assumption is violated. We exploit differential flatness and B-Splines to parametrize the system trajectories in terms of a finite number of control points, which can then be optimized by Sequential Quadratic Programming (SQP). The control strategy is similar to a Receding Horizon Control (RHC) approach for modifying online the reference trajectory in order to account for noise, disturbances and any non-modeled effect. The algorithm is validated in a physically realistic simulation environment.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"69 1","pages":"6199-6206"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80369438","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 : 2017-09-24DOI: 10.1109/IROS.2017.8206369
R. Vasconcelos, Simon Hauser, F. Dzeladini, Mehmet Mutlu, T. Horvat, Kamilo Melo, P. Oliveira, A. Ijspeert
Animal locomotion exhibits all the features of complex non linear systems such as multi-stability, critical fluctuation, limit cycle behavior and chaos. Studying these aspects on real robots has been proved difficult and therefore results mostly rely on the use of computer simulation. Simple control approaches — based on phase oscillators — have been proposed and exhibit several of these features. In this work, we compare two types of controllers: (a) an open loop control approach based on phase oscillators and (b) the Tegotae-based closed loop extension of this controller. The first controller has been shown to exhibit synchronization features between the body and the controller when applied to a quadruped robot with compliant leg structures. In this contribution, we apply both controllers to the locomotion of a stiff quadruped structure. We show that the Tegotae-controller exhibits self-organizing behavior, such as spontaneous gait transition and critical fluctuation. Moreover, it exhibits features such as the ability to stabilize both asymmetric and symmetric morphological changes, despite the lack of compliance in the leg.
{"title":"Active stabilization of a stiff quadruped robot using local feedback","authors":"R. Vasconcelos, Simon Hauser, F. Dzeladini, Mehmet Mutlu, T. Horvat, Kamilo Melo, P. Oliveira, A. Ijspeert","doi":"10.1109/IROS.2017.8206369","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206369","url":null,"abstract":"Animal locomotion exhibits all the features of complex non linear systems such as multi-stability, critical fluctuation, limit cycle behavior and chaos. Studying these aspects on real robots has been proved difficult and therefore results mostly rely on the use of computer simulation. Simple control approaches — based on phase oscillators — have been proposed and exhibit several of these features. In this work, we compare two types of controllers: (a) an open loop control approach based on phase oscillators and (b) the Tegotae-based closed loop extension of this controller. The first controller has been shown to exhibit synchronization features between the body and the controller when applied to a quadruped robot with compliant leg structures. In this contribution, we apply both controllers to the locomotion of a stiff quadruped structure. We show that the Tegotae-controller exhibits self-organizing behavior, such as spontaneous gait transition and critical fluctuation. Moreover, it exhibits features such as the ability to stabilize both asymmetric and symmetric morphological changes, despite the lack of compliance in the leg.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"45 1","pages":"4903-4910"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88401336","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 : 2017-09-24DOI: 10.1109/IROS.2017.8202310
Abdellah Khelloufi, N. Achour, R. Passama, A. Cherubini
This paper presents a tentacle-based obstacle avoidance scheme for omnidirectional mobile robots that must satisfy visibility constraints during navigation. The navigation task consists of driving the robot towards a visual target in the presence of environment (static or moving) obstacles. The target is acquired by an on-board camera, while the obstacles surrounding the robot are sensed by laser range scanners. To perform such task, the robot must avoid the obstacles while maintaining the target in its field of view. The approach is validated in both simulated and real experiments.
{"title":"Tentacle-based moving obstacle avoidance for omnidirectional robots with visibility constraints","authors":"Abdellah Khelloufi, N. Achour, R. Passama, A. Cherubini","doi":"10.1109/IROS.2017.8202310","DOIUrl":"https://doi.org/10.1109/IROS.2017.8202310","url":null,"abstract":"This paper presents a tentacle-based obstacle avoidance scheme for omnidirectional mobile robots that must satisfy visibility constraints during navigation. The navigation task consists of driving the robot towards a visual target in the presence of environment (static or moving) obstacles. The target is acquired by an on-board camera, while the obstacles surrounding the robot are sensed by laser range scanners. To perform such task, the robot must avoid the obstacles while maintaining the target in its field of view. The approach is validated in both simulated and real experiments.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"36 2","pages":"1331-1336"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91417153","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 : 2017-09-24DOI: 10.1109/IROS.2017.8202264
Y. Bouzid, Y. Bestaoui, H. Siguerdidjane
In this paper, a quadrotor optimal coverage planning approach in damaged area is considered. The quadrotor is assumed to visit a set of reachable points following the shortest path while avoiding the no-fly zones. The problem is solved by using a two-scale proposed algorithm. In the first scale, an efficient tool for cluttered environments based on optimal Rapidly-exploring Random Trees (RRT) approach, called multi-RRT∗ Fixed Node (RRT∗FN), is developed to define the shortest paths from each point to their neighbors. Using the pair-wise costs between points provided by the first-scale algorithm, in the second scale, the overall shortest path is obtained by solving the Traveling Salesman Problem (TSP) using Genetic Algorithms (GA). Taking into consideration the limited onboard energy, a second alternative based on the well-known Vehicle Routing Problem (VRP) is used. This latter is solved using the savings heuristic approach. The effectiveness of this proposed two-scale algorithm is demonstrated through numerical simulations and promising results are obtained.
{"title":"Quadrotor-UAV optimal coverage path planning in cluttered environment with a limited onboard energy","authors":"Y. Bouzid, Y. Bestaoui, H. Siguerdidjane","doi":"10.1109/IROS.2017.8202264","DOIUrl":"https://doi.org/10.1109/IROS.2017.8202264","url":null,"abstract":"In this paper, a quadrotor optimal coverage planning approach in damaged area is considered. The quadrotor is assumed to visit a set of reachable points following the shortest path while avoiding the no-fly zones. The problem is solved by using a two-scale proposed algorithm. In the first scale, an efficient tool for cluttered environments based on optimal Rapidly-exploring Random Trees (RRT) approach, called multi-RRT∗ Fixed Node (RRT∗FN), is developed to define the shortest paths from each point to their neighbors. Using the pair-wise costs between points provided by the first-scale algorithm, in the second scale, the overall shortest path is obtained by solving the Traveling Salesman Problem (TSP) using Genetic Algorithms (GA). Taking into consideration the limited onboard energy, a second alternative based on the well-known Vehicle Routing Problem (VRP) is used. This latter is solved using the savings heuristic approach. The effectiveness of this proposed two-scale algorithm is demonstrated through numerical simulations and promising results are obtained.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"11 1","pages":"979-984"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88976382","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 : 2017-09-24DOI: 10.1109/IROS.2017.8206229
Logan Farrell, Philip Strawser, K. Hambuchen, W. Baker, Julia M. Badger
Teleoperation is the dominant form of dexterous robotic tasks in the field. However, there are many use cases in which direct teleoperation is not feasible such as disaster areas with poor communication as posed in the DARPA Robotics Challenge or robot operations on spacecraft far from Earth. Presented is a solution that combines the Affordance Template Framework for object interaction with TaskForce for supervisory control in order to accomplish high-level task objectives with basic autonomous behavior from the robot. This framework has allowed the robot to take corrective actions before requesting assistance from the user. This work is demonstrated with Robonaut 2 removing a Cargo Transfer Bag from a simulated logistics resupply vehicle for spaceflight using a single operator command. This was executed with 80% success with no human involvement and 95% success with limited human interaction. This technology sets the stage to do any number of high-level tasks using a similar framework, allowing the robot to accomplish tasks with minimal to no human interaction.
{"title":"Supervisory control of a humanoid robot in microgravity for manipulation tasks","authors":"Logan Farrell, Philip Strawser, K. Hambuchen, W. Baker, Julia M. Badger","doi":"10.1109/IROS.2017.8206229","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206229","url":null,"abstract":"Teleoperation is the dominant form of dexterous robotic tasks in the field. However, there are many use cases in which direct teleoperation is not feasible such as disaster areas with poor communication as posed in the DARPA Robotics Challenge or robot operations on spacecraft far from Earth. Presented is a solution that combines the Affordance Template Framework for object interaction with TaskForce for supervisory control in order to accomplish high-level task objectives with basic autonomous behavior from the robot. This framework has allowed the robot to take corrective actions before requesting assistance from the user. This work is demonstrated with Robonaut 2 removing a Cargo Transfer Bag from a simulated logistics resupply vehicle for spaceflight using a single operator command. This was executed with 80% success with no human involvement and 95% success with limited human interaction. This technology sets the stage to do any number of high-level tasks using a similar framework, allowing the robot to accomplish tasks with minimal to no human interaction.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"101 1","pages":"3797-3802"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88937356","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 : 2017-09-24DOI: 10.1109/IROS.2017.8206274
Yutong Ban, Xavier Alameda-Pineda, Fabien Badeig, Silèye O. Ba, R. Horaud
Multi-person tracking with a robotic platform is one of the cornerstones of human-robot interaction. Challenges arise from occlusions, appearance changes and a time-varying number of people. Furthermore, the final system is constrained by the hardware platform: low computational capacity and limited field-of-view. In this paper, we propose a novel method to simultaneously track a time-varying number of persons in three-dimensions and perform visual servoing. The complementary nature of the tracking and visual servoing enables the system to: (i) track several persons while compensating for large ego-movements and (ii) visually control the robot to keep a selected person of interest within the field of view. We propose a variational Bayesian formulation allowing us to effectively solve the inference problem through the use of closed-form solutions. Importantly, this leads to a computationally efficient procedure that runs at 10 FPS. The experiments on the NAO-MPVS dataset confirm the importance of using visual servoing for tracking multiple persons.
{"title":"Tracking a varying number of people with a visually-controlled robotic head","authors":"Yutong Ban, Xavier Alameda-Pineda, Fabien Badeig, Silèye O. Ba, R. Horaud","doi":"10.1109/IROS.2017.8206274","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206274","url":null,"abstract":"Multi-person tracking with a robotic platform is one of the cornerstones of human-robot interaction. Challenges arise from occlusions, appearance changes and a time-varying number of people. Furthermore, the final system is constrained by the hardware platform: low computational capacity and limited field-of-view. In this paper, we propose a novel method to simultaneously track a time-varying number of persons in three-dimensions and perform visual servoing. The complementary nature of the tracking and visual servoing enables the system to: (i) track several persons while compensating for large ego-movements and (ii) visually control the robot to keep a selected person of interest within the field of view. We propose a variational Bayesian formulation allowing us to effectively solve the inference problem through the use of closed-form solutions. Importantly, this leads to a computationally efficient procedure that runs at 10 FPS. The experiments on the NAO-MPVS dataset confirm the importance of using visual servoing for tracking multiple persons.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"23 1","pages":"4144-4151"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83855294","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 : 2017-09-24DOI: 10.1109/IROS.2017.8202256
V. Groenhuis, F. Siepel, J. Veltman, S. Stramigioli
Targeting of small lesions with high precision is essential in an early phase of breast cancer for diagnosis and accurate follow up, and subsequently determines prognosis. Current techniques to diagnose breast cancer are suboptimal, and there is a need for a small, MRI-compatible robotic system able to target lesions with high precision and direct feedback of MRI. Therefore, the design and working mechanism of the new Stormram 4, an MRI-compatible needle manipulator with four degrees of freedom, will be presented to take biopsies of small lesions in the MRI scanner. Its dimensions (excluding racks and needle) are 72×51×40 mm, and the system is driven by two linear and two curved pneumatic stepper motors. The T-26 linear motor measures 26×21×16 mm, has a nominal step size of 0.25 mm and the measured maximum force is 63N at 0.65 MPa. The workspace has a total volume of 2.2 L. Accuracy measurements have shown that the mean positioning error is 0.7 mm, with a reproducibility of 0.1 mm. Velocity measurements with 5 m long tubes show a maximum stepping frequency of 8 Hz (maximum force) to 30 Hz (unloaded). These results show that the robot might be able to target lesions with sub-millimeter accuracy within reasonable time for the MRI-guided breast biopsy procedure.
{"title":"Design and characterization of Stormram 4: An MRI-compatible robotic system for breast biopsy","authors":"V. Groenhuis, F. Siepel, J. Veltman, S. Stramigioli","doi":"10.1109/IROS.2017.8202256","DOIUrl":"https://doi.org/10.1109/IROS.2017.8202256","url":null,"abstract":"Targeting of small lesions with high precision is essential in an early phase of breast cancer for diagnosis and accurate follow up, and subsequently determines prognosis. Current techniques to diagnose breast cancer are suboptimal, and there is a need for a small, MRI-compatible robotic system able to target lesions with high precision and direct feedback of MRI. Therefore, the design and working mechanism of the new Stormram 4, an MRI-compatible needle manipulator with four degrees of freedom, will be presented to take biopsies of small lesions in the MRI scanner. Its dimensions (excluding racks and needle) are 72×51×40 mm, and the system is driven by two linear and two curved pneumatic stepper motors. The T-26 linear motor measures 26×21×16 mm, has a nominal step size of 0.25 mm and the measured maximum force is 63N at 0.65 MPa. The workspace has a total volume of 2.2 L. Accuracy measurements have shown that the mean positioning error is 0.7 mm, with a reproducibility of 0.1 mm. Velocity measurements with 5 m long tubes show a maximum stepping frequency of 8 Hz (maximum force) to 30 Hz (unloaded). These results show that the robot might be able to target lesions with sub-millimeter accuracy within reasonable time for the MRI-guided breast biopsy procedure.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"78 1","pages":"928-933"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85635578","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 : 2017-09-24DOI: 10.1109/IROS.2017.8206217
Pierre Fernbach, S. Tonneau, A. Prete, M. Taïx
We present a novel method for synthesizing collision-free, dynamic locomotion behaviors for legged robots, including jumping, going down a very steep slope, or recovering from a push using the arms of the robot. The approach is automatic and generic: non-gaited motions, comprising arbitrary contact postures can be generated along any environment. At the core of our framework is a new steering method that generates trajectories connecting two states of the robot. These trajectories account for the state-dependent, centroidal dynamic constraints inherent to legged robots. The method, of low dimension, formulated as a Linear Program, is really efficient to compute, and can find an application in various problems related to legged locomotion. By incorporating this steering method into an existing sampling-based contact planner, we propose the first kinodynamic contact planner for legged robots.
{"title":"A kinodynamic steering-method for legged multi-contact locomotion","authors":"Pierre Fernbach, S. Tonneau, A. Prete, M. Taïx","doi":"10.1109/IROS.2017.8206217","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206217","url":null,"abstract":"We present a novel method for synthesizing collision-free, dynamic locomotion behaviors for legged robots, including jumping, going down a very steep slope, or recovering from a push using the arms of the robot. The approach is automatic and generic: non-gaited motions, comprising arbitrary contact postures can be generated along any environment. At the core of our framework is a new steering method that generates trajectories connecting two states of the robot. These trajectories account for the state-dependent, centroidal dynamic constraints inherent to legged robots. The method, of low dimension, formulated as a Linear Program, is really efficient to compute, and can find an application in various problems related to legged locomotion. By incorporating this steering method into an existing sampling-based contact planner, we propose the first kinodynamic contact planner for legged robots.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"78 1","pages":"3701-3707"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77198262","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 : 2017-09-24DOI: 10.1109/IROS.2017.8206589
Gabriel Bustamante, P. Danès
Binaural sound localization is known to be improved by incorporating the movement of the sensor. “Active” schemes based on this paradigm can overcome conventional limitations such as front-back ambiguity and source range recovery. Starting from a Gaussian prior on the relative position of a source, this paper determines the motion of a binaural sensor which leads to the most effective path for localization. To this aim, a reward function is defined as the conditional expectation, over the yet unknown N next observations, of the entropy of the N-step-ahead posterior pdf of the relative source position. The optimal motion of the binaural sensor is obtained from a constrained optimization problem involving the automatic differentiation of the reward function. The method is validated in simulation, and is being implemented on a real-life robotic test bed.
{"title":"Multi-step-ahead information-based feedback control for active binaural localization","authors":"Gabriel Bustamante, P. Danès","doi":"10.1109/IROS.2017.8206589","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206589","url":null,"abstract":"Binaural sound localization is known to be improved by incorporating the movement of the sensor. “Active” schemes based on this paradigm can overcome conventional limitations such as front-back ambiguity and source range recovery. Starting from a Gaussian prior on the relative position of a source, this paper determines the motion of a binaural sensor which leads to the most effective path for localization. To this aim, a reward function is defined as the conditional expectation, over the yet unknown N next observations, of the entropy of the N-step-ahead posterior pdf of the relative source position. The optimal motion of the binaural sensor is obtained from a constrained optimization problem involving the automatic differentiation of the reward function. The method is validated in simulation, and is being implemented on a real-life robotic test bed.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"5 1","pages":"6729-6734"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73895516","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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