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In this study, grasp positions of human hands are measured for planar objects for development of a reasonable grasp criterion for a two-soft-fingered robotic hand. We first propose a grasp criterion that yields the best grasping position for a robot hand with two soft fingers. To examine the properties of this criterion with respect to some weighting coefficients included in the criterion, a grasping...
We propose a new method for automatically accessing an internet database of 3D models that are searchable only by their user-annotated labels, for using them for vision and robotic manipulation purposes. Instead of having only a local database containing already seen objects, we want to use shared databases available over the internet. This approach while having the potential to dramatically increase...
People in densely populated environments typically form groups that split and merge. In this paper we track groups of people so as to reflect this formation process and gain efficiency in situations where maintaining the state of individual people would be intractable. We pose the group tracking problem as a recursive multi-hypothesis model selection problem in which we hypothesize over both, the...
The authors aim at the development of a 3D laser scanner that can measure uniform and dense 3D shape of static objects in dynamic environment. The 3D scanner was composed of a 2D Laser Range Finder (LRF) and Pan-Tilt base. 3D shape is measured by rotating 2D LRF that is tilted around the two axes. The laser point trajectory shows cross scan. Use of cross scan achieved the wide view angular and the...
This paper proposed a limit-cycle based algorithm for cooperative hunting task using multiple mobile robots. By integrating the model-based system and the behavior-based system, a hybrid distributed control system is established, which emphasizes on the autonomy and intelligence of each robot. On the one hand, the algorithm uses artificial potential field for multi-robot formation. On the other hand,...
Service robots in real world environments need to have computer vision capability for detecting a large class of objects. We discuss how freely available 3D model databases can be used to enable robots to know the appearance of a wide variety of objects in human environments with special application to our assistive kitchen. However, the open and free nature of such databases pose problems for example...
This paper discusses a vision problem for the detection of lift operation panel which is a plane subject to deformation due to viewing angle change. The key problem in this project is the large scale change where the panel detection has to start at a significant distance away, and end up with the camera very near to the panel button. The process has three steps: (1) hunting for the panel using a coarse...
We present results of a biologically inspired method to enhance a sonar transducerpsilas directivity pattern for localization purposes. We show that an artificial pinna structure mounted over a transducer introduces features in its head related transfer function that are more interesting for localization than those in the basic piston-like directivity pattern of common ultrasonic transducers. We measured...
Simulation of crowd motions has great potential in many applications in robotics, games and animations. However, it is also a great challenge to be able to control the motion of a virtual crowd according to the intents of its designer such as making the crowd conform to a specific shape while avoiding collisions with other agents in the crowd or with obstacles. In this paper, we propose a simulation...
This paper describes an algorithm for an autonomous car to identify the shape of a roadway by detecting geometric features via LIDAR. The data from multiple LIDAR are fused together to detect both obstacles as well as geometric features such as curbs, berms, and shoulders. These features identify the boundaries of the roadway and are used by a stochastic state estimator to identify the most likely...
We describe a framework for detecting and tracking continuous ldquotrailsrdquo in images and image sequences for autonomous robot navigation. Continuous trails are extended regions along the ground such as roads, hiking paths, rivers, and pipelines which can be navigationally useful for ground-based or aerial robots. Our approach to single-image trail segmentation incorporates both bottom-up and top-down...
Spatial scaffolding is a naturally occurring human teaching behavior, in which teachers use their bodies to spatially structure the learning environment to direct the attention of the learner. Robotic systems can take advantage of simple, highly reliable spatial scaffolding cues to learn from human teachers. We present an integrated robotic architecture that combines social attention and machine learning...
In this paper, three-dimensional caging by a multifingered hand (3D multifingered caging) is studied. Caging is a method of object constraining in which robot bodies surround an object and make it inescapable from the ldquocagerdquo composed of the robot bodies. In 3D multifingered caging, position-controlled robot hands can constrain objects and transport them, and force control is not necessary...
In this paper we develop a theory of metamodules and an associated distributed asynchronous planner which generalizes previous work on metamodules for lattice-based modular robotic systems. All extant modular robotic systems have some form of non-holonomic motion constraints. This has prompted many researchers to look to metamodules, i.e., groups of modules that act as a unit, as a way to reduce motion...
In this research, the mapping and navigation system in a wide space in a building for mobile robots which have laser range finders and stereo cameras was achieved. The map was described as a combination of topological corridor maps and metric room maps. The topological corridor maps have nodes which represent entrances of each room, and the grid-based room maps have accurate information about positions...
This paper presents a novel method of contour reconstruction from dexel data solving the shape anomalies for the complex geometry in virtual sculpting. Grouping and traversing processes are developed to find connectivity between dexels along every two adjacent rays. After traveling through all the rays on one slice, sub-boundaries are connected into full boundaries which are desired contours. The...
Urban search and rescue (USAR) involves locating, rescuing (extricating), and medically stabilizing victims trapped in confined spaces. In this paper we state the current approach to USAR, address the limitations and discuss the way for moving in rugged topography. To achieve objectives such as surveillance, reconnaissance, and rescue, it is necessary to develop a driving mechanism that can handle...
In this paper, the purpose is to realize self-propelling ability of a snake like robot which travels in pipes. The robot consists of thirteen intelligent actuators and each actuator has a DC motor and a micro processor including a motor driver and communication function. Three control algorithms, force control, adjusting controls to changing pipe diameter and to curved pipe are proposed and programmed...
Human symbiosis service robots of various sizes have already been developed. However, few quantitative investigations have been made concerning the influence of the size of a robot on a userpsilas impression. We focused on the height of a robot (robot size), investigating the effect of robot size on the anxiety or threat felt by a human to be caused by a robot and the appropriate human-robot distance...
This paper presents a trajectory planning strategy of a wheeled mobile robot in an obstructed environment. In order to sense its surrounding environment, the mobile robot is assumed to be equipped with a laser range finder. The potential field method is utilized to create force fields around obstacles and a goal. Look-ahead control is adopted to steer the mobile robot in which a reference point located...
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