2,601 research outputs found
MoDeep: A Deep Learning Framework Using Motion Features for Human Pose Estimation
In this work, we propose a novel and efficient method for articulated human
pose estimation in videos using a convolutional network architecture, which
incorporates both color and motion features. We propose a new human body pose
dataset, FLIC-motion, that extends the FLIC dataset with additional motion
features. We apply our architecture to this dataset and report significantly
better performance than current state-of-the-art pose detection systems
An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection
This paper presents an omnidirectional aerial manipulation platform for
robust and responsive interaction with unstructured environments, toward the
goal of contact-based inspection. The fully actuated tilt-rotor aerial system
is equipped with a rigidly mounted end-effector, and is able to exert a 6
degree of freedom force and torque, decoupling the system's translational and
rotational dynamics, and enabling precise interaction with the environment
while maintaining stability. An impedance controller with selective apparent
inertia is formulated to permit compliance in certain degrees of freedom while
achieving precise trajectory tracking and disturbance rejection in others.
Experiments demonstrate disturbance rejection, push-and-slide interaction, and
on-board state estimation with depth servoing to interact with local surfaces.
The system is also validated as a tool for contact-based non-destructive
testing of concrete infrastructure.Comment: Accepted submission to Robotics: Science and Systems conference 2019.
9 pages, 12 figure
On the kinematics and dynamics of 3-dof parallel robots with triangle platform
In the first part of the paper a structural study of two types of 3-DOF parallel mechanisms with triangle platform is reported. A comparison between their geometric models is performed. Kinematics and dynamics using Newton-Euler formalism for a concrete case of 3RRS parallel structure used for orientation applications (TV satellite antenna or sun tracker) are presented. In order to get the drive torques, which are necessary to overcome the frictions from the joints, the principle of virtual power is applied. The algorithms and simulation results for the workspace and singularities generation are provided. Diagrams for the dynamics representation are computed by means of numerical and graphical simulation
Actuators and sensors for application in agricultural robots: A review
In recent years, with the rapid development of science and technology, agricultural robots have gradually begun to replace humans, to complete various agricultural operations, changing traditional agricultural production methods. Not only is the labor input reduced, but also the production efficiency can be improved, which invariably contributes to the development of smart agriculture. This paper reviews the core technologies used for agricultural robots in non-structural environments. In addition, we review the technological progress of drive systems, control strategies, end-effectors, robotic arms, environmental perception, and other related systems. This research shows that in a non-structured agricultural environment, using cameras and light detection and ranging (LiDAR), as well as ultrasonic and satellite navigation equipment, and by integrating sensing, transmission, control, and operation, different types of actuators can be innovatively designed and developed to drive the advance of agricultural robots, to meet the delicate and complex requirements of agricultural products as operational objects, such that better productivity and standardization of agriculture can be achieved. In summary, agricultural production is developing toward a data-driven, standardized, and unmanned approach, with smart agriculture supported by actuator-driven-based agricultural robots. This paper concludes with a summary of the main existing technologies and challenges in the development of actuators for applications in agricultural robots, and the outlook regarding the primary development directions of agricultural robots in the near future
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