IAS-LAB PUBLICATIONS
scopus.relation.conferencename||scopus.subject.keywords||scopus.relation.article||scopus.relation.conferencedate||scopus.description.allpeopleoriginal||scopus.relation.conferenceplace
Authors: + 345 E 47TH ST, NEW YORK, NY 10017 USA; eng 2-s2.0-77950922113
Journal: Italy||Japan||Japan||Brazil||Italy||Italy
Published: doi
5418332
Volume: DallaLibera F.; Minato T.; Ishiguro H.; Ferreira A.; Pagello E.; Menegatti E. Pages: DallaLibera||Minato||Ishiguro||Ferreira||Pagello||Menegatti-Given the complexity and the high number of degrees of freedom humanoid robot motions often are generated off-line, stored in the robot memory and then reproduced. In the simplest cases motor commands are just replayed in open-loop (i.e. feed-forward), in more advanced implementations few parameters are changed on fly to adapt the motion to the external conditions. Indeed, several authors proposed a large variety of techniques to exploit the input from sensory feedback to modify a reference trajectory, in order to cope with environment changes and disturbances. In this paper, we propose a motion representation for humanoid robots that includes the sensory feedback information in the motion representation itself. This motion description allows stabilization against disturbances and environmental changes, but does not require any design or tuning of the relationships between sensory inputs and movement modification. We present experimental results on a simulated small humanoid robot equipped with motor encoders and touch sensors covering the whole body.
https://doi.org/10.1016/s0921-8890(09)00071-2
Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; ITA; DEU; SGP; 2015-06-05T05:57:19Z
Published: false
DOI: bronze
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Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; 2015-06-05T07:43:21Z
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
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Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; JPN; ITA; 2015-06-05T07:43:20Z
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
scopus.description.abstract||scopus.relation.conferencename||scopus.relation.article||scopus.relation.conferencedate||scopus.identifier.isbn||scopus.description.allpeopleoriginal||scopus.relation.conferenceplace
Authors: 1705 345 E 47TH ST, NEW YORK, NY 10017 USA; eng 2-s2.0-70350379433
Journal: Italy||Italy||Italy||Italy||Italy
Published: doi
5152449
Volume: Menegatti E.; Zanella A.; Zilli S.; Zorzi F.; Pagello E. Pages: Menegatti||Zanella||Zilli||Zorzi||Pagello-This paper presents the localization of a mobile robot while simultaneously mapping the position of the nodes of aWireless Sensor Network using only range measurements. The robot can estimate the distance to nearby nodes of the Wireless Sensor Network by measuring the Received Signal Strength Indicator (RSSI) of the received radio messages. The RSSI measure is very noisy, especially in an indoor environment due to interference and reflections of the radio signals. We adopted an Extended Kalman Filter SLAM algorithm to integrate RSSI measurements from the different nodes over time, while the robot moves in the environment. A simple pre-processing filter helps in reducing the RSSI variations due to interference and reflections. Successful experiments are reported in which an average localization error less than 1 m is obtained when the SLAM algorithm has no a priori knowledge on the wireless node positions, while a localization error less than 0.5 m can be achieved when the position of the node is initialized close to the their actual position. These results are obtained using a generic path loss model for the trasmission channel. Moreover, no internode communication is necessary in the WSN. This can save energy and enables to apply the proposed system also to fully disconnected networks. © 2009 IEEE.
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Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; Non assegn; FRA; ESP; GRC; ROU; ITA; CZE; 2015-06-04T20:38:54Z; 9789606749490
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
INTED2009
Authors: Non assegn; AREA MIN. 09 - Ingegneria industriale e dell'informazione; ESP; ITA
Journal: International Association of Technology, Education and Development
Published: Education||Computer Science & Engineering||Surgery||AI, Robotics & Automatic Control
2009
Authors: false; HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY LECT NOTES COMPUT SC
Journal: Antonelli||Dalla Libera||Menegatti||Minato||Ishiguro
Published: 13
DOI: 60000481||60000481||60000481||60024322||60024322
Volume: Antonelli||Dalla Libera||Menegatti||Minato||Ishiguro Pages: Marco||Fabio||Emanuele||Takashi||Hiroshi-Fac Engn||Fac Engn||Fac Engn||Japan Sci & Technol Agcy||Dept Adapt Machine Syst
Keywords: 9783642029202
4th Workshop on Humanoid Soccer Robots: A workshop of the 2009 IEEE-RAS Intl. Conf. On Humanoid Robots (Humanoids 2009),
Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione
Journal: IT+Robotics srl
Published: AI, Robotics & Automatic Control||Computer Science & Engineering
4th Workshop on Humanoid Soccer Robots: A workshop of the 2009 IEEE-RAS Intl. Conf. On Humanoid Robots (Humanoids 2009),
Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione
Journal: IT+Robotics srl
Published: AI, Robotics & Automatic Control||Computer Science & Engineering