28,289 research outputs found
Novel infinitely Variable Transmission allowing efficient transmission ratio variations at rest
Recent studies showed that Continuously Variable Transmissions (CVT) and Infinitely Variable Transmissions (IVT) can considerably improve the locomotion efficiency in legged robot. A CVT is a transmission whose ratio can be continuously varied and an IVT is a transmission whose ratio can be continuously varied from positive to negative values. However, efficient use of such transmissions in walking applications requires changing the transmission ratio at a minimal energy cost, even at rest, i.e. when the input shaft is not rotating. This contribution proposes a novel CVT and IVT principle which can achieve such ratio variations at rest. The presented CVT is a modified planetary gear, whose planets are conical and mounted on inclined shafts, and whose ring is made of contiguous diabolo-shaped rollers. This configuration enables the control of the transmission ratio by adjusting the point of contact between the cones and rollers that comprise the ring. A traditional planetary gear system can be added to the CVT to form an IVT
Human-Machine Interface for Tele-Robotic Operation: Mapping of Tongue Movements Based on Aural Flow Monitoring
2004 IEEE International Conference on Intelligent Robots and Systems (IROS), October, 2004 (Awarded “Best Paper in Conference”
Online Visual Robot Tracking and Identification using Deep LSTM Networks
Collaborative robots working on a common task are necessary for many
applications. One of the challenges for achieving collaboration in a team of
robots is mutual tracking and identification. We present a novel pipeline for
online visionbased detection, tracking and identification of robots with a
known and identical appearance. Our method runs in realtime on the limited
hardware of the observer robot. Unlike previous works addressing robot tracking
and identification, we use a data-driven approach based on recurrent neural
networks to learn relations between sequential inputs and outputs. We formulate
the data association problem as multiple classification problems. A deep LSTM
network was trained on a simulated dataset and fine-tuned on small set of real
data. Experiments on two challenging datasets, one synthetic and one real,
which include long-term occlusions, show promising results.Comment: IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), Vancouver, Canada, 2017. IROS RoboCup Best Paper Awar
Active Boundary Component Models for Robotic Dressing Assistance
Twardon L, Ritter H. Active Boundary Component Models for Robotic Dressing Assistance. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Piscataway, NJ: IEEE; 2016: 2811-2818
Distinguishing sliding from slipping during object pushing
Meier M, Walck G, Haschke R, Ritter H. Distinguishing sliding from slipping during object pushing. In: Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. IEEE; 2016
Learning How a Tool Affords by Simulating 3D Models from the Web
Thanks to: UoAs ABVenture Zone, N. Petkov, K. Georgiev, B. Nougier, S. Fichtl, S. Ramamoorthy, M. Beetz, A. Haidu, J. Alexander, M. Schoeler, N. Pugeault, D. Cruickshank, M. Chung and N. Khan. Paulo Abelha is on a PhD studentship supported by the Brazilian agency CAPES through the program Science without Borders. Frank Guerin received no specific grant from any funding agency in the public, commercial, or not-for-profit sectors. Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) DOI: 10.1109/IROS.2017.8206372 Date of Conference: 24-28 Sept. 2017 Conference Location: Vancouver, BC, Canada.Postprin
Time-optimal Coordination of Mobile Robots along Specified Paths
In this paper, we address the problem of time-optimal coordination of mobile
robots under kinodynamic constraints along specified paths. We propose a novel
approach based on time discretization that leads to a mixed-integer linear
programming (MILP) formulation. This problem can be solved using
general-purpose MILP solvers in a reasonable time, resulting in a
resolution-optimal solution. Moreover, unlike previous work found in the
literature, our formulation allows an exact linear modeling (up to the
discretization resolution) of second-order dynamic constraints. Extensive
simulations are performed to demonstrate the effectiveness of our approach.Comment: Published in 2016 IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS
Passive Compliance Control of Aerial Manipulators
This paper presents a passive compliance control for aerial manipulators to
achieve stable environmental interactions. The main challenge is the absence of
actuation along body-planar directions of the aerial vehicle which might be
required during the interaction to preserve passivity. The controller proposed
in this paper guarantees passivity of the manipulator through a proper choice
of end-effector coordinates, and that of vehicle fuselage is guaranteed by
exploiting time domain passivity technique. Simulation studies validate the
proposed approach.Comment: IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS) 201
Online regeneration of bipedal walking gait pattern optimizing footstep placement and timing
Kryczka P, Kormushev P, Tsagarakis NG, Caldwell DG. Online regeneration of bipedal walking gait pattern optimizing footstep placement and timing. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical & Electronics Engineers (IEEE); 2015
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