Analysis and Observations from the First Amazon Picking Challenge

This paper presents a overview of the inaugural Amazon Picking Challenge along with a summary of a survey conducted among the 26 participating teams. The challenge goal was to design an autonomous robot to pick items from a warehouse shelf. This task is currently performed by human workers, and there is hope that robots can someday help increase efficiency and throughput while lowering cost. We report on a 28-question survey posed to the teams to learn about each team's background, mechanism design, perception apparatus, planning and control approach. We identify trends in this data, correlate it with each team's success in the competition, and discuss observations and lessons learned based on survey results and the authors' personal experiences during the challenge

Unscented Kalman Filter オ モチイタ シュケイジョウ スイテイ

http://library.naist.jp/mylimedio/dllimedio/show.cgi?bookid=100048474&oldid=89236修士 (Master)工学 (Engineering)修第3255

モデル キャリブレーション ト アンセンテッッド カルマン フィルタ ニヨル テシセイ スイテイ

博士(Doctor)工学(Engineering)奈良先端科学技術大学院大学博第966号甲第966号博士(工学)奈良先端科学技術大学院大

Measuring activities of daily living of stroke patients using integrated upper limb measurement system and ADL measurement table

To be able to automate some of the rehabilitation processes, it is necessary to be able to measure movement of stroke patients. This paper describes a complete system to measure the Activities of Daily Living (ADL) motions of healthy subjects and stroke patients. The system is composed of a customised table top, an Inertial Measurement Unit (IMU-based) to measure arm posture, and an Optical Linear Encoder (OLE)-based sensor to measure hand motion. The integrated system is designed to measure five ADL motions and save the data for further processing. The five ADLs measured are picking up a cup, zipping and unzipping a vest, picking up a phone, opening and closing a window, and wiping face with a towel. The system has been used to measure ADL motion data of fifteen healthy subjects and fifteen stroke patients.Published versio

Autonomous Robot Driving Decision Strategy Following Road Sign And Traffic Rules: Simulation Validation

Autonomous robot driving decision strategy following road signs and traffic rules is described using simulation with a Turtlebot [1]. A fully autonomous robot driving strategy is presented, which follows human level logic in decision making. A vision-based autonomous vehicles navigation system for road vehicles includes three main parts: 1) road and traffic signs detection; 2) vehicle movement guidance system; and 3) decision making following human level logic. The first two modules have been studied independently for many years and obtained many good results using different solutions, but there is little research in fully integrated system with high level decision making to achieve fully autonomous robot navigation following road signs. It is valuable to study and apply this concept into a real system. A simulation world is built according to real environment scenario proving the concept of study.Accepted versio

Strategies in vibrotactile feedback for improved upper arm posture mapping and replication using inertia sensors

Posture measurement and correction using inertia sensors are find in applications in rehabilitation as well as in human robot interaction systems. This paper presents two designs of arm posture mapping and replication system using inertia sensors and vibro tactile feedback device. The designs differ in the number of vibro tactile actuators and the vibration feedback pattern used. User performance in replicating armpostures when using the different systems were compared. Results show that using fewer vibro tactile actuators to provide feedback is feasible and that a more informative vibration feedback pattern could improve user response time in replicating reference arm postures.Accepted versio

Vibrotactile motors on stationary arm as directional feedback to correct arm posture

When appropriate sensing and feedback are utilized, automation could be used in occupational therapy to aid patient rehabilitation. Previous studies have shown the feasibility of a system that uses inertial measurement units (IMUs) for sensing and vibrotactile feedback for correction. In this paper, we present a similar system with a reconfigured vibrotactile feedback. Multiple vibrotactile motors are positioned on the stationary arm of the subject to provide consistent directional feedback on the moving arm. Up to six vibrotactile motors are employed to provide direction guidance in 3 dimensional cartesian space. Experiments with seven volunteers in correcting five reference postures show the robustness of this system for an accurate and fast arm posture correction