Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献
Pub Date : 2002-12-10DOI: 10.1109/IRDS.2002.1041530
Chunshien Li, K. Cheng
An attractive self-organizing fuzzy system (SOFS) with on-line learning ability is proposed in this paper The SOFS possesses the ability of self-organization and on-line learning for its knowledge base in application while the plant is viewed as a "black box" for the SOFS. A novel concept of pseudo-errors is utilized to capture the characteristic of plant behavior, and the information of pseudo-errors is considered as the behavior information of a plant. With statistical regression, observed data pairs of pseudo-errors are collected and analyzed input space formed by pseudo-errors is partitioned into several regions in cluster form. In cluster-based fuzzy reasoning, the partitioned region in the input space is viewed as the antecedent of a fuzzy if-then rule, in which Gaussian membership functions are used. Based on random optimization algorithm, an on-line learning method is proposed in the paper. It enables the SOFS to learn on tracking a reference curve directly. The learning iteration is divided into several sub-parts to make the on-line learning feasible by which the system parameters are. updated in a real-time style to search for the optimal fuzzy sets of if-then rules. The T-S fuzzy model is utilized, where the consequent parts are in the form of linear function. Inferred result does not require defuzzification because the consequents of the fuzzy rules are crisp. Motion control of an auto-warehousing crane system is used to illustrate the feasibility of the proposed approach.
{"title":"Soft computing system using fuzzy clustering and on-line learning","authors":"Chunshien Li, K. Cheng","doi":"10.1109/IRDS.2002.1041530","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1041530","url":null,"abstract":"An attractive self-organizing fuzzy system (SOFS) with on-line learning ability is proposed in this paper The SOFS possesses the ability of self-organization and on-line learning for its knowledge base in application while the plant is viewed as a \"black box\" for the SOFS. A novel concept of pseudo-errors is utilized to capture the characteristic of plant behavior, and the information of pseudo-errors is considered as the behavior information of a plant. With statistical regression, observed data pairs of pseudo-errors are collected and analyzed input space formed by pseudo-errors is partitioned into several regions in cluster form. In cluster-based fuzzy reasoning, the partitioned region in the input space is viewed as the antecedent of a fuzzy if-then rule, in which Gaussian membership functions are used. Based on random optimization algorithm, an on-line learning method is proposed in the paper. It enables the SOFS to learn on tracking a reference curve directly. The learning iteration is divided into several sub-parts to make the on-line learning feasible by which the system parameters are. updated in a real-time style to search for the optimal fuzzy sets of if-then rules. The T-S fuzzy model is utilized, where the consequent parts are in the form of linear function. Inferred result does not require defuzzification because the consequents of the fuzzy rules are crisp. Motion control of an auto-warehousing crane system is used to illustrate the feasibility of the proposed approach.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"52 1","pages":"1050-1055 vol.1"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73727524","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1041590
Zhongwei Yu, Huitang Chen, P. Woo
A new approach to the design of a fuzzy continuous gain scheduled H/sub /spl infin// controller based on Taylor series fitting for n-joint rigid robotic manipulators, which guarantees satisfactory dynamic characteristics in the whole movement range, is presented. This scheme combines the gain scheduled H/sub /spl infin// theory with LMI approach to design a continuous gain scheduled H/sub /spl infin// controller, which is applicable to systems with fast state variations so that the deficiency of the conventional gain scheduled controllers is overcome, with the use of Taylor series fitting. Fuzzy control is then incorporated so chat the designed controller possesses the characteristics of a fast response for large errors and a well-damped response for small errors. The system thus always has a good dynamic performance along with the variations of the system states. Simulations and experiments demonstrate the effectiveness of the designed controller.
{"title":"Fuzzy continuous gain scheduling H/sub /spl infin// control based on Taylor series fitting for robotic manipulators","authors":"Zhongwei Yu, Huitang Chen, P. Woo","doi":"10.1109/IRDS.2002.1041590","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1041590","url":null,"abstract":"A new approach to the design of a fuzzy continuous gain scheduled H/sub /spl infin// controller based on Taylor series fitting for n-joint rigid robotic manipulators, which guarantees satisfactory dynamic characteristics in the whole movement range, is presented. This scheme combines the gain scheduled H/sub /spl infin// theory with LMI approach to design a continuous gain scheduled H/sub /spl infin// controller, which is applicable to systems with fast state variations so that the deficiency of the conventional gain scheduled controllers is overcome, with the use of Taylor series fitting. Fuzzy control is then incorporated so chat the designed controller possesses the characteristics of a fast response for large errors and a well-damped response for small errors. The system thus always has a good dynamic performance along with the variations of the system states. Simulations and experiments demonstrate the effectiveness of the designed controller.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"48 1","pages":"2175-2180 vol.3"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74156379","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1041620
C. Luo, Simon X. Yang, Xiaobu Yuan
An area-covering operation is a kind of complete coverage path planning, which requires the robot path to cover every part of the workspace, which is an essential issue in cleaning robots and many other robotic applications such as vacuum, robots, painter robots, land mine detectors, lawn mowers, and windows cleaners. In this paper, a novel biologically inspired neural network approach is proposed for complete coverage path planning with obstacle avoidance of a cleaning robot in a nonstationary environment. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation or an additive equation derived from Hodgkin and Huxley's (1952) membrane equation. There are only local lateral connections among neurons. Thus the computational complexity linearly depends on the neural network size. The proposed model algorithm is computationally efficient, and can also deal with changing environment. Simulation results show that the proposed model is capable of planning collision-free complete coverage robot path.
{"title":"Real-time area-covering operations with obstacle avoidance for cleaning robots","authors":"C. Luo, Simon X. Yang, Xiaobu Yuan","doi":"10.1109/IRDS.2002.1041620","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1041620","url":null,"abstract":"An area-covering operation is a kind of complete coverage path planning, which requires the robot path to cover every part of the workspace, which is an essential issue in cleaning robots and many other robotic applications such as vacuum, robots, painter robots, land mine detectors, lawn mowers, and windows cleaners. In this paper, a novel biologically inspired neural network approach is proposed for complete coverage path planning with obstacle avoidance of a cleaning robot in a nonstationary environment. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation or an additive equation derived from Hodgkin and Huxley's (1952) membrane equation. There are only local lateral connections among neurons. Thus the computational complexity linearly depends on the neural network size. The proposed model algorithm is computationally efficient, and can also deal with changing environment. Simulation results show that the proposed model is capable of planning collision-free complete coverage robot path.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"39 1","pages":"2359-2364 vol.3"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75153304","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1043958
O. Fukuda, T. Tsuji, Kousuke Takahashi, M. Kaneko
Electromyogram (EMG) has often been used as a control signal for a prosthetic arm, which includes information on the operator's motor intentions and the mechanical impedance of joints. Most previous research adopted the control methods of the prosthetic arms based on the EMG pattern discrimination and/or the force estimation from the EMG signals, and did not utilize any knowledge on tasks performed by amputees such as object grasping and soup-spooning tasks. In this paper, a new myoelectric control method is proposed using a statistically organized neural network and an event-driven task model. The task model is represented using a Petri net to describe the task dependent knowledge, which is used to modify the neural network's output. Experimental results show that the use of the task model significantly improves the accuracy of the EMG pattern discrimination.
{"title":"Skill assistance for myoelectric control using an event-driven task model","authors":"O. Fukuda, T. Tsuji, Kousuke Takahashi, M. Kaneko","doi":"10.1109/IRDS.2002.1043958","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1043958","url":null,"abstract":"Electromyogram (EMG) has often been used as a control signal for a prosthetic arm, which includes information on the operator's motor intentions and the mechanical impedance of joints. Most previous research adopted the control methods of the prosthetic arms based on the EMG pattern discrimination and/or the force estimation from the EMG signals, and did not utilize any knowledge on tasks performed by amputees such as object grasping and soup-spooning tasks. In this paper, a new myoelectric control method is proposed using a statistically organized neural network and an event-driven task model. The task model is represented using a Petri net to describe the task dependent knowledge, which is used to modify the neural network's output. Experimental results show that the use of the task model significantly improves the accuracy of the EMG pattern discrimination.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"11 1","pages":"1445-1450 vol.2"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75622011","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1041417
V. Lippiello, B. Siciliano, L. Villani
The problem of real-time pose estimation of moving objects using a stereo video camera system is considered in this paper. A computationally efficient algorithm is proposed based on Kalman filtering of the position measurements of suitable feature points selected on the target objects. The efficiency of the algorithm is improved by adopting a new pre-selection technique of the feature points, based on binary space partition (BSP) trees, which takes advantage of the Kalman filter prediction capability. Computer simulations are presented.
{"title":"A new method of image features pre-selection for real-time pose estimation based on Kalman filter","authors":"V. Lippiello, B. Siciliano, L. Villani","doi":"10.1109/IRDS.2002.1041417","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1041417","url":null,"abstract":"The problem of real-time pose estimation of moving objects using a stereo video camera system is considered in this paper. A computationally efficient algorithm is proposed based on Kalman filtering of the position measurements of suitable feature points selected on the target objects. The efficiency of the algorithm is improved by adopting a new pre-selection technique of the feature points, based on binary space partition (BSP) trees, which takes advantage of the Kalman filter prediction capability. Computer simulations are presented.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"32 1","pages":"372-377 vol.1"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72951495","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1041453
Grigoris Lionis, K. Kyriakopoulos
We have developed a laser scanner based simultaneous localization and map building method, specifically addressing the divergence problem of the classical extended Kalman filters (EKF) based simultaneous localization and map building (SLAM) algorithms. Our method utilizes two EKFs. The first is used to estimate the orientations of the robot and the obstacles, and the second estimates the positions of the robot and of the obstacles. Experimental results are also presented to verify our arguments.
{"title":"A laser scanner based mobile robot SLAM algorithm with improved convergence properties","authors":"Grigoris Lionis, K. Kyriakopoulos","doi":"10.1109/IRDS.2002.1041453","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1041453","url":null,"abstract":"We have developed a laser scanner based simultaneous localization and map building method, specifically addressing the divergence problem of the classical extended Kalman filters (EKF) based simultaneous localization and map building (SLAM) algorithms. Our method utilizes two EKFs. The first is used to estimate the orientations of the robot and the obstacles, and the second estimates the positions of the robot and of the obstacles. Experimental results are also presented to verify our arguments.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"43 1","pages":"582-587 vol.1"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73072249","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1043908
Taketoshi Mori, K. Tsujioka, M. Shimosaka, Tomomasa Sato
This paper proposes a human-like action recognition system which can output the result of human action recognition just like the case human does. The system targets actions associated with regular human activity such as walking or lying down, and uses three human recognition characteristics: using specific features of an action to recognize that action; recognition of simultaneous actions; and summarization of recognition results over a short time interval. Experimental results demonstrate the effectiveness of human-like recognition for identifying actions and the superior performance of the proposed system with respect to conventional action recognitions systems. Human-like recognition is expected to ensure smooth communication between humans and robots and enhances the support functionality.
{"title":"Human-like action recognition system using features extracted by human","authors":"Taketoshi Mori, K. Tsujioka, M. Shimosaka, Tomomasa Sato","doi":"10.1109/IRDS.2002.1043908","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1043908","url":null,"abstract":"This paper proposes a human-like action recognition system which can output the result of human action recognition just like the case human does. The system targets actions associated with regular human activity such as walking or lying down, and uses three human recognition characteristics: using specific features of an action to recognize that action; recognition of simultaneous actions; and summarization of recognition results over a short time interval. Experimental results demonstrate the effectiveness of human-like recognition for identifying actions and the superior performance of the proposed system with respect to conventional action recognitions systems. Human-like recognition is expected to ensure smooth communication between humans and robots and enhances the support functionality.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"21 1","pages":"1214-1220 vol.2"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75700142","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1041469
Benjamín Tovar, Rafael Murrieta-Cid, Claudia Esteves
The goal of this work is to develop techniques that allow one or more robotic observers to operate with full autonomy while accomplishing the task of model building. The planning algorithm operates using certain simple but flexible models of the observer sensor and actuator abilities. We provide techniques that allow us to implement these sensor models on top of the capabilities of the actual (and off-the-shelf) sensors we have. It is worth keeping the following points in mind regarding our goals: 1) even with completely idealized sensing and mobility capabilities, the algorithmic task of model building is quite challenging; 2) computational techniques can be used to approximate and implement these idealized sensors on top of actual sensors; and 3) the quality and success of the generated plans depend significantly on the observer capabilities. The study of this dependency terms of high-level parameters describing the sensors is part of this work.
{"title":"Robot motion planning for map building","authors":"Benjamín Tovar, Rafael Murrieta-Cid, Claudia Esteves","doi":"10.1109/IRDS.2002.1041469","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1041469","url":null,"abstract":"The goal of this work is to develop techniques that allow one or more robotic observers to operate with full autonomy while accomplishing the task of model building. The planning algorithm operates using certain simple but flexible models of the observer sensor and actuator abilities. We provide techniques that allow us to implement these sensor models on top of the capabilities of the actual (and off-the-shelf) sensors we have. It is worth keeping the following points in mind regarding our goals: 1) even with completely idealized sensing and mobility capabilities, the algorithmic task of model building is quite challenging; 2) computational techniques can be used to approximate and implement these idealized sensors on top of actual sensors; and 3) the quality and success of the generated plans depend significantly on the observer capabilities. The study of this dependency terms of high-level parameters describing the sensors is part of this work.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"36 1","pages":"673-680 vol.1"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74321910","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1044052
C. Ott, A. Albu-Schäffer, G. Hirzinger
This paper addresses the adaptive tracking control of flexible joint manipulators based on the singular perturbation approach. Comparisons between adaptive and nonadaptive tracking controllers are given. Experimental results with the DLR's light weight robot are given for the 2-DOF case.
{"title":"Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator","authors":"C. Ott, A. Albu-Schäffer, G. Hirzinger","doi":"10.1109/IRDS.2002.1044052","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1044052","url":null,"abstract":"This paper addresses the adaptive tracking control of flexible joint manipulators based on the singular perturbation approach. Comparisons between adaptive and nonadaptive tracking controllers are given. Experimental results with the DLR's light weight robot are given for the 2-DOF case.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2015 8","pages":"2018-2024 vol.2"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72610891","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1043894
K. Iwamoto, K. Komoriya, K. Tanie
This paper describes the eye movement tracking type image display system that can display a wide view angle image with high resolution using human eye characteristics, although conventional displays are used. The principle is that a small high-resolution image is presented at the viewpoint superimposed over a wide view angle image of low resolution by using two displays. Human can see an object as a high-resolution image only near the viewpoint. Therefore, the operator can feel that the displayed image has wide view angle with high resolution. In this paper, the image capturing and the display system are discussed. Some evaluation experiments for the high-resolution image presentation, which is followed by eye movement, are introduced using the prototype system.
{"title":"Eye movement tracking type image display system for wide view image presentation with high-resolution - evaluation of high-resolution image presentation","authors":"K. Iwamoto, K. Komoriya, K. Tanie","doi":"10.1109/IRDS.2002.1043894","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1043894","url":null,"abstract":"This paper describes the eye movement tracking type image display system that can display a wide view angle image with high resolution using human eye characteristics, although conventional displays are used. The principle is that a small high-resolution image is presented at the viewpoint superimposed over a wide view angle image of low resolution by using two displays. Human can see an object as a high-resolution image only near the viewpoint. Therefore, the operator can feel that the displayed image has wide view angle with high resolution. In this paper, the image capturing and the display system are discussed. Some evaluation experiments for the high-resolution image presentation, which is followed by eye movement, are introduced using the prototype system.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"12 1","pages":"1190-1195 vol.2"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78603021","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}
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
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