| 1. |
- Li, Miao, et al.
(författare)
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Learning of Grasp Adaptation through Experience and Tactile Sensing
- 2014
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Ingår i: IEEE/RSJ International Conference on Intelligent Robots and Systems. - 2153-0858 .- 2153-0866.
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Konferensbidrag (refereegranskat)abstract
- To perform robust grasping, a multi-fingered robotic hand should be able to adapt its grasping configuration, i.e., how the object is grasped, to maintain the stability of the grasp. Such a change of grasp configuration is called grasp adaptation and it depends on the controller, the employed sensory feedback and the type of uncertainties inherit to the problem. This paper proposes a grasp adaptation strategy to deal with uncertainties about physical properties of objects, such as the object weight and the friction at the contact points. Based on an object-level impedance controller, a grasp stability estimator is first learned in the object frame. Once a grasp is predicted to be unstable by the stability estimator, a grasp adaptation strategy is triggered according to the similarity between the new grasp and the training examples. Experimental results demonstrate that our method improves the grasping performance on novel objects with different physical properties from those used for training.
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| 2. |
- Almeida, Diogo, 1991-, et al.
(författare)
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Dexterous manipulation with compliant grasps and external contacts
- 2017
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. - : IEEE. - 2153-0858 .- 2153-0866. ; 2017-September, s. 1913-1920
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Konferensbidrag (refereegranskat)abstract
- We propose a method that allows for dexterous manipulation of an object by exploiting contact with an external surface. The technique requires a compliant grasp, enabling the motion of the object in the robot hand while allowing for significant contact forces to be present on the external surface. We show that under this type of grasp it is possible to estimate and control the pose of the object with respect to the surface, leveraging the trade-off between force control and manipulative dexterity. The method is independent of the object geometry, relying only on the assumptions of type of grasp and the existence of a contact with a known surface. Furthermore, by adapting the estimated grasp compliance, the method can handle unmodelled effects. The approach is demonstrated and evaluated with experiments on object pose regulation and pivoting against a rigid surface, where a mechanical spring provides the required compliance.
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| 3. |
- Björkman, Mårten, 1970-, et al.
(författare)
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Enhancing Visual Perception of Shape through Tactile Glances
- 2013
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Ingår i: Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. - : IEEE conference proceedings. - 2153-0866 .- 2153-0858. - 9781467363587 ; , s. 3180-3186
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Konferensbidrag (refereegranskat)abstract
- Object shape information is an important parameter in robot grasping tasks. However, it may be difficult to obtain accurate models of novel objects due to incomplete and noisy sensory measurements. In addition, object shape may change due to frequent interaction with the object (cereal boxes, etc). In this paper, we present a probabilistic approach for learning object models based on visual and tactile perception through physical interaction with an object. Our robot explores unknown objects by touching them strategically at parts that are uncertain in terms of shape. The robot starts by using only visual features to form an initial hypothesis about the object shape, then gradually adds tactile measurements to refine the object model. Our experiments involve ten objects of varying shapes and sizes in a real setup. The results show that our method is capable of choosing a small number of touches to construct object models similar to real object shapes and to determine similarities among acquired models.
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| 4. |
- Chen, Yiting, et al.
(författare)
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Sliding Touch-Based Exploration for Modeling Unknown Object Shape with Multi-Fingered Hands
- 2023
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. - 2153-0858 .- 2153-0866. ; , s. 8943-8950
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Konferensbidrag (refereegranskat)abstract
- Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in unstructured environments, e.g. the vision sensors may only be able to provide a partial view. To address this issue, tactile sensors could be employed to extract local surface information for more robust unknown object shape estimation. In this paper, we propose a novel approach for efficient unknown 3D object shape exploration and reconstruction using a multi-fingered hand equipped with tactile sensors and a depth camera only providing a partial view. We present a multi-finger sliding touch strategy for efficient shape exploration using a Bayesian Optimization approach and a single-leader-multi-follower strategy for multi-finger smooth local surface perception. We evaluate our proposed method by estimating the 3D shape of objects from the YCB and OCRTOC datasets based on simulation and real robot experiments. The proposed approach yields successful reconstruction results relying on only a few continuous sliding touches. Experimental results demonstrate that our method is able to model unknown objects in an efficient and accurate way.
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| 5. |
- Cho, Jang Ho, et al.
(författare)
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Design of an Intermediate Layer to Enhance Operator Awareness and Safety in Telesurgical Systems
- 2012
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Ingår i: Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), October 7-12, 2012. Vilamoura, Algarve, Portugal. - 2153-0858 .- 2153-0866. ; , s. 1292-1297
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Konferensbidrag (refereegranskat)abstract
- This paper presents a novel control architecture for enhanced operator awareness and improved safety in telesurgical systems. We introduce an intermediate layer between the master and slave sides which allows us to modify the slave motion for safety and the force feedback for operator awareness. The intermediate layer is then designed with a performance objective for the specific task at hand. The control scheme is validated via experiments using a suture and an industrial manipulator. More specifically we show that operator awareness should be implemented as an integrated part of the safety level to maintain safety during surgery.
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| 6. |
- Diehl, Maximilian, 1995, et al.
(författare)
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Automated Generation of Robotic Planning Domains from Observations
- 2021
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. - 2153-0858 .- 2153-0866. ; , s. 6732-6738
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Konferensbidrag (refereegranskat)abstract
- Automated planning enables robots to find plans to achieve complex, long-horizon tasks, given a planning domain. This planning domain consists of a list of actions, with their associated preconditions and effects, and is usually manually defined by a human expert, which is very time-consuming or even infeasible. In this paper, we introduce a novel method for generating this domain automatically from human demonstrations. First, we automatically segment and recognize the different observed actions from human demonstrations. From these demonstrations, the relevant preconditions and effects are obtained, and the associated planning operators are generated. Finally, a sequence of actions that satisfies a user-defined goal can be planned using a symbolic planner. The generated plan is executed in a simulated environment by the TIAGo robot. We tested our method on a dataset of 12 demonstrations collected from three different participants. The results show that our method is able to generate executable plans from using one single demonstration with a 92% success rate, and 100% when the information from all demonstrations are included, even for previously unknown stacking goals.
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| 7. |
- Droukas, Leonidas, et al.
(författare)
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Force/Position/Rolling Control For Spherical Tip Robotic Fingers
- 2015
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. - 2153-0858 .- 2153-0866. - 9781479999941 ; 2015-December, s. 858-863
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Konferensbidrag (refereegranskat)abstract
- The rolling motion of a soft robotic fingertip is in this paper explicitly included in the control objectives together with the force/position regulation targets. A model based control law is proposed to linearize and decouple the system with respect to the force/position and sliding dynamics based on an appropriately defined task Jacobian. The controller is validated by simulations including rolling on a stationary surface and graspless manipulation of a flat object.
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| 8. |
- Grossmann, Bjarne, et al.
(författare)
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Continuous close-range 3D object pose estimation
- 2019
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Ingår i: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. - 2153-0858 .- 2153-0866. - 9781728140049 ; , s. 2861-2867
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Konferensbidrag (refereegranskat)abstract
- In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately handle objects that might not be placed at fixed positions during the robot task execution. Industrial tasks bring multiple challenges for the robust pose estimation of objects such as difficult object properties, tight cycle times and constraints on camera views. In particular, when interacting with objects, we have to work with close-range partial views of objects that pose a new challenge for typical view-based pose estimation methods.In this paper, we present a 3D pose estimation method based on a gradient-ascend particle filter that integrates new observations on-the-fly to improve the pose estimate. Thereby, we can apply this method online during task execution to save valuable cycle time. In contrast to other view-based pose estimation methods, we model potential views in full 6dimensional space that allows us to cope with close-range partial objects views. We demonstrate the approach on a real assembly task, in which the algorithm usually converges to the correct pose within 10-15 iterations with an average accuracy of less than 8mm.
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| 9. |
- Güler, Püren, et al.
(författare)
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What's in the Container? : Classifying Object Contents from Vision and Touch
- 2014
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Ingår i: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014). - : IEEE. - 2153-0858 .- 2153-0866. - 9781479969340 ; , s. 3961-3968
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Konferensbidrag (refereegranskat)abstract
- Robots operating in household environments need to interact with food containers of different types. Whether a container is filled with milk, juice, yogurt or coffee may affect the way robots grasp and manipulate the container. In this paper, we concentrate on the problem of identifying what kind of content is in a container based on tactile and/or visual feedback in combination with grasping. In particular, we investigate the benefits of using unimodal (visual or tactile) or bimodal (visual-tactile) sensory data for this purpose. We direct our study toward cardboard containers with liquid or solid content or being empty. The motivation for using grasping rather than shaking is that we want to investigate the content prior to applying manipulation actions to a container. Our results show that we achieve comparable classification rates with unimodal data and that the visual and tactile data are complimentary.
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| 10. |
- Huang, Zhifeng, et al.
(författare)
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Three-dimensional posture optimization for biped robot stepping over large ditch based on a ducted-fan propulsion system
- 2020
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. - 2153-0858 .- 2153-0866. ; , s. 3591-3597
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Konferensbidrag (refereegranskat)abstract
- The recent progress of an ongoing project utilizing a ducted-fan propulsion system to improve a humanoid robot's ability to step over large ditches is reported. A novel method (GAS) based on the genetic algorithm with smoothness constraint can effectively minimize the thrust by optimizing the robot's posture during 3D stepping. The significant advantage of the method is that it can realize the continuity and smoothness of the thrust and pelvis trajectories. The method enables the landing point of the robot's swing foot to be not only in the forward but also in a side direction. The methods were evaluated by simulation and by being applied on a prototype robot, JetHR1. By keeping a quasistatic balance, the robot could step over a ditch with a span of 450 mm (as much as 97% of the length of the robot's leg) in 3D stepping.
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| 11. |
- Krajnik, T., et al.
(författare)
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Long-term topological localisation for service robots in dynamic environments using spectral maps
- 2014
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. Proceedings. - : IEEE Press. - 2153-0858 .- 2153-0866. - 9781479969340 ; , s. 4537-4542
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents a new approach for topological localisation of service robots in dynamic indoor environments. In contrast to typical localisation approaches that rely mainly on static parts of the environment, our approach makes explicit use of information about changes by learning and modelling the spatio-temporal dynamics of the environment where the robot is acting. The proposed spatio-temporal world model is able to predict environmental changes in time, allowing the robot to improve its localisation capabilities during long-term operations in populated environments. To investigate the proposed approach, we have enabled a mobile robot to autonomously patrol a populated environment over a period of one week while building the proposed model representation. We demonstrate that the experience learned during one week is applicable for topological localization even after a hiatus of three months by showing that the localization error rate is significantly lower compared to static environment representations.
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| 12. |
- Kurtser, Polina, 1990-, et al.
(författare)
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The use of dynamic sensing strategies to improve detection for a pepper harvesting robot
- 2018
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. Proceedings. - : IEEE Press. - 2153-0858 .- 2153-0866. - 9781538680940 ; , s. 8286-8293
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents the use of dynamic sensing strategies to improve detection results for a pepper harvesting robot. The algorithm decides if an additional viewpoint is needed and selects the best-fit viewpoint location from a predefined set of locations based on the predicted profitability of such an action. The suggestion of a possible additional viewpoint is based on image analysis for fruit and occlusion level detection, prediction of the expected number of additional targets sensed from that viewpoint, and final decision if choosing the additional viewpoint is beneficial. The developed heuristic was applied on 96 greenhouse images of 30 sweet peppers and resulted in up to 19% improved detection. The harvesting utility cost function decreased by up to 10% compared to the conventional single viewpoint strategy.
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| 13. |
- Linderoth, Magnus, et al.
(författare)
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Robotic Force Estimation Using Motor Torques and Modeling of Low Velocity Friction Disturbances
- 2013
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Ingår i: Proc. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-7, 2013. Tokyo, Japan. - 2153-0866 .- 2153-0858. ; , s. 3550-3556
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Konferensbidrag (refereegranskat)abstract
- For many assembly operations force control is needed, but force sensors may be expensive and add mass to the system. An alternative is to use the motor torques, though friction causes large disturbances. The Coulomb friction can be quite well known when a joint is moving, but has much larger uncertainties for velocities close to zero. This paper presents a method for force estimation that accounts for the velocity dependent uncertainty of the Coulomb friction and combines data from several joints to produce accurate estimates. The estimate is calculated by solving a convex optimization problem in real time. The proposed method is experimentally evaluated on a force-controlled dual-arm assembly operation and validated with data from a force sensor. The estimates are shown to improve with the number of joints used, and the method can even exploit data from an arm that is controlled not to move.
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| 14. |
- Nguyen, Björnborg, 1992, et al.
(författare)
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Systematic benchmarking for reproducibility of computer vision algorithms for real-time systems: The example of optic flow estimation
- 2019
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. - : IEEE. - 2153-0858 .- 2153-0866. ; , s. 5264-5269
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Konferensbidrag (refereegranskat)abstract
- Until now there have been few formalized methods for conducting systematic benchmarking aiming at reproducible results when it comes to computer vision algorithms. This is evident from lists of algorithms submitted to prominent datasets, authors of a novel method in many cases primarily state the performance of their algorithms in relation to a shallow description of the hardware system where it was evaluated. There are significant problems linked to this non-systematic approach of reporting performance, especially when comparing different approaches and when it comes to the reproducibility of claimed results. Furthermore how to conduct retrospective performance analysis such as an algorithm's suitability for embedded real-time systems over time with underlying hardware and software changes in place. This paper proposes and demonstrates a systematic way of addressing such challenges by adopting containerization of software aiming at formalization and reproducibility of benchmarks. Our results show maintainers of broadly accepted datasets in the computer vision community to strive for systematic comparison and reproducibility of submissions to increase the value and adoption of computer vision algorithms in the future.
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| 15. |
- Purkait, Pulak, et al.
(författare)
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Seeing Behind Things: Extending Semantic Segmentation to Occluded Regions
- 2019
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. - 2153-0858 .- 2153-0866. ; , s. 1998-2005
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Konferensbidrag (refereegranskat)abstract
- Semantic segmentation and instance level segmentation made substantial progress in recent years due to the emergence of deep neural networks (DNNs). A number of deep architectures with Convolution Neural Networks (CNNs) were proposed that surpass the traditional machine learning approaches for segmentation by a large margin. These architectures predict the directly observable semantic category of each pixel by usually optimizing a cross-entropy loss. In this work we push the limit of semantic segmentation towards predicting semantic labels of directly visible as well as occluded objects or objects parts, where the network's input is a single depth image. We group the semantic categories into one background and multiple foreground object groups, and we propose a modification of the standard cross-entropy loss to cope with the settings. In our experiments we demonstrate that a CNN trained by minimizing the proposed loss is able to predict semantic categories for visible and occluded object parts without requiring to increase the network size (compared to a standard segmentation task). The results are validated on a newly generated dataset (augmented from SUNCG) dataset.
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| 16. |
- Süberkrüb, Finn, et al.
(författare)
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Feel the Tension: Manipulation of Deformable Linear Objects in Environments with Fixtures using Force Information
- 2022
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. - 2153-0858 .- 2153-0866. - 9781665479271 ; 2022-October, s. 11216-11222
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Konferensbidrag (refereegranskat)abstract
- Humans are able to manipulate Deformable Linear Objects (DLOs) such as cables and wires, with little or no visual information, relying mostly on force sensing. In this work, we propose a reduced DLO model which enables such blind manipulation by keeping the object under tension. Further, an online model estimation procedure is also proposed. A set of elementary sliding and clipping manipulation primitives are defined based on our model. The combination of these primitives allows for more complex motions such as winding of a DLO. The model estimation and manipulation primitives are tested individually but also together in a real-world cable harness production task, using a dual-arm YuMi, thus demonstrating that force-based perception can be sufficient even for such a complex scenario.
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| 17. |
- Sörnmo, Olof, et al.
(författare)
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Adaptive Internal Model Control for Mid-Ranging of Closed-Loop Systems with Internal Saturation
- 2013
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Ingår i: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. - 2153-0866 .- 2153-0858. ; , s. 4893-4899
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Konferensbidrag (refereegranskat)abstract
- This paper considers the problem of performing mid-ranging control of two closed-loop controlled systems that have internal saturations. The problem originates from previous work in machining with industrial robots, where an external compensation mechanism is used to compensate for position errors. Because of the limited workspace and the considerably higher bandwidth of the compensator, a mid-ranging control approach is proposed. An adaptive, model-based solution is presented, which is verified through simulations and experiments, where a close correspondence of the obtained results is achieved. Comparing the IAE of experiments using the proposed controller to previously established methods, a performance increase of up to 56 % is obtained.
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| 18. |
- Uhde, Constantin, et al.
(författare)
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The robot as scientist: Using mental simulation to test causal hypotheses extracted from human activities in virtual reality
- 2020
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. - 2153-0858 .- 2153-0866. ; , s. 8081-8086
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Konferensbidrag (refereegranskat)abstract
- To act effectively in its environment, a cognitive robot needs to understand the causal dependencies of all intermediate actions leading up to its goal. For example, the system has to infer that it is instrumental to open a cupboard door before trying to grasp an object inside the cupboard. In this paper, we introduce a novel learning method for extracting instrumental dependencies by following the scientific approach of observations, generation of causal hypotheses, and testing through experiments. Our method uses a virtual reality dataset containing observations from human activities to generate hypotheses about causal dependencies between actions. It detects pairs of actions with a high temporal co-occurrence and verifies if one action is instrumental in executing the other action through mental simulation in a virtual reality environment which represents the system's mental model. Our system is able to extract all present instrumental action dependencies while significantly reducing the search space for mental simulation, resulting in a 6-fold reduction in computational time.
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| 19. |
- Vina, Francisco, 1990-, et al.
(författare)
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In-hand manipulation using gravity and controlled slip
- 2015
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Ingår i: Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on. - : IEEE conference proceedings. ; 2015-December, s. 5636-5641
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Konferensbidrag (refereegranskat)abstract
- In this work we propose a sliding mode controllerfor in-hand manipulation that repositions a tool in the robot’shand by using gravity and controlling the slippage of the tool. In our approach, the robot holds the tool with a pinch graspand we model the system as a link attached to the grippervia a passive revolute joint with friction, i.e., the grasp onlyaffords rotational motions of the tool around a given axis ofrotation. The robot controls the slippage by varying the openingbetween the fingers in order to allow the tool to move tothe desired angular position following a reference trajectory.We show experimentally how the proposed controller achievesconvergence to the desired tool orientation under variations ofthe tool’s inertial parameters.
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| 20. |
- Wang, Yuquan, 1985-, et al.
(författare)
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Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application
- 2015
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Ingår i: Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on. - Hamburg, Germany : IEEE Robotics and Automation Society. - 2153-0858 .- 2153-0866. ; , s. 2372-2379
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Konferensbidrag (refereegranskat)abstract
- In the future mobile dual-arm robots are expected to perform many tasks. Kinematically, the configuration of two manipulators that branch from the same common mobile base results in a serial-to-parallel kinematic structure, which makes inverse kinematic computations non-trivial. The motion of the base has to be decided in a trade-off, taking the needs of both arms into account. We propose to use a Virtual Kinematic Chain (VKC) to specify the common motion of the parallel manipulators, instead of using the two manipulators kinematics directly. With this VKC, we formulate a constraint based programming solution for the robot to respond to external disturbances during task execution. The proposed approach is experimentally verified both in a noise-free illustrative simulation and a real human robot co-manipulation task.
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| 21. |
- Caccamo, Sergio, et al.
(författare)
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Active Exploration Using Gaussian Random Fields and Gaussian Process Implicit Surfaces
- 2016
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. - : Institute of Electrical and Electronics Engineers (IEEE). - 2153-0858. - 9781509037629 ; , s. 582-589
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Konferensbidrag (refereegranskat)abstract
- In this work we study the problem of exploring surfaces and building compact 3D representations of the environment surrounding a robot through active perception. We propose an online probabilistic framework that merges visual and tactile measurements using Gaussian Random Field and Gaussian Process Implicit Surfaces. The system investigates incomplete point clouds in order to find a small set of regions of interest which are then physically explored with a robotic arm equipped with tactile sensors. We show experimental results obtained using a PrimeSense camera, a Kinova Jaco2 robotic arm and Optoforce sensors on different scenarios. We then demostrate how to use the online framework for object detection and terrain classification.
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| 22. |
- La Hera, Pedro, et al.
(författare)
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Electro-hydraulically actuated forestry manipulator : Modeling and Identification
- 2012
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Ingår i: 2012 IEEE/RSJ Iinternational Conference on Intelligent Robots and Systems (IROS). - New York : IEEE conference proceedings. - 2153-0858. - 9781467317368 ; , s. 3399-3404
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Konferensbidrag (refereegranskat)abstract
- We present results of modeling dynamics of a forestry manipulator, in which we consider its mechanics, as well as its hydraulic actuation system. The mathematical model of its mechanics is formulated by Euler-Lagrange equations, for which the addition of friction forces is straightforward. Dynamics of the hydraulic system is modeled upon first principle laws, which concern flow through orifices and fluid compressibility. These models lead to a set of equations with various unknown parameters, which are related to the inertias, masses, location of center of masses, friction forces, and valve coefficients. The numerical values of these parameters are estimated by the use of least-square methods, which is made feasible by transforming the models into linear representations. The results of simulation tests show a significant correspondence between measured and estimated variables, validating our modeling and identification approach.
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| 23. |
- Ortiz Morales, Daniel, 1984-, et al.
(författare)
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Generating Periodic Motions for the Butterfly Robot
- 2013
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Ingår i: Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. - : IEEE conference proceedings. - 2153-0858. - 9781467363587 ; , s. 2527-2532
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Konferensbidrag (refereegranskat)abstract
- We analyze the problem of dynamic non-prehensile manipulation by considering the example of thebutterfly robot. Our main objective is to study the problem of stabilizing periodic motions, which resemble some form of juggling acrobatics. To this end, we approach the problem by considering theframework of virtual holonomic constraints. Under this basis, we provide an analytical and systematic solution to the problems of trajectory planning and design of feedback controllers to guarantee orbital exponential stability. Results are presented in the form of simulation tests.
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| 24. |
- Stolt, Andreas, et al.
(författare)
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Robotic Assembly of Emergency Stop Buttons
- 2013
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Ingår i: Proc. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013). - 2153-0866. ; , s. 2081-2081
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Konferensbidrag (refereegranskat)
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