Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
- TAGS
- pegaso
- october
- lirmm
- www2.lirmm.fr
Create successful ePaper yourself
Turn your PDF publications into a flip-book with our unique Google optimized e-Paper software.
<strong>Session</strong> WedDT5 Gemini 2 <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 14:00–15:00<br />
Human-Machine Interfaces<br />
Chair Fabio Paolo Bonsignorio, Heron Robots srl Univ. Carlos III de Madrid<br />
Co-Chair<br />
14:00–14:15 WedDT5.1<br />
Novel Equilibrium-Point Control of Agonist-<br />
Antagonist System with Pneumatic Artificial Muscles:<br />
II. Application to EMG-based Human-machine<br />
Interface for an Elbow-joint System<br />
Yohei Ariga, Daisuke Maeda, Hang T. T. Pham,<br />
Mitsunori Uemura, Hiroaki Hirai and Fumio Miyazaki<br />
Graduate School of Engineering Science, Osaka University, Japan<br />
• An EMG-based HMI for the agonist-antagonist system with<br />
pneumatic artificial muscles (PAMs) is proposed.<br />
• We introduce the novel concepts of agonist-antagonist<br />
muscle-pair ratio (A-A ratio) and agonist-antagonist<br />
muscle-pair activity (A-A activity).<br />
• These concepts enable us to linearly<br />
translate the equilibrium point of<br />
the human muscle system into that<br />
of the PAM system, linking these two<br />
systems in a simple way.<br />
EMG Signal<br />
14:30–14:45 WedDT5.3<br />
I’ll Keep You in Sight: Finding a Good Position<br />
to Observe a Person<br />
Jens Kessler and Daniel Iser and Horst-Michael Gross<br />
Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of<br />
Technology, Germany<br />
• Hard and soft criteria are<br />
combined to find a good position<br />
(e.g. visibility, sensor distance)<br />
• Particle swarm optimization is<br />
used to find the position<br />
• A very computational expensive<br />
3D approach is reduced to an<br />
efficient 2D approach<br />
• First experiments show stable<br />
results in both cases<br />
Valid search space from hard criteria and<br />
the person occupancy distribution<br />
14:15–14:30 WedDT5.2<br />
Benchmarking Shared Control for Assistive<br />
Manipulators: From Controllability to the Speed-<br />
Accuracy Trade-Off<br />
Martin F. Stoelen, Virginia F. Tejada,<br />
Alberto Jardón Huete and Carlos Balaguer<br />
Roboticslab, Universidad Carlos III de Madrid (UC3M), Spain<br />
Fabio Bonsignorio<br />
UC3M and Heron Robots, Genova, Italy<br />
• Shared control for assistive manipulators<br />
• Predict intent and assist disabled user<br />
• So far mainly wheelchairs/mobile platf.<br />
• Benchmarking/experiments important<br />
• High-DOF human-robot systems<br />
• Sharing and replication of results<br />
• System models and metrics proposed<br />
• Controllability from user’s perspective<br />
• Speed-accuracy trade-off<br />
• Case study on adaptive shared control<br />
showed improvement in both metrics<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–155–<br />
Experimental setup used for case<br />
study on adaptive shared control<br />
14:45–15:00 WedDT5.4<br />
Embedding Imperceptible Codes into Video<br />
Projection and Applications in Robotics<br />
Jingwen Dai and Ronald Chung<br />
Department of Mechanical and Automation Engineering,<br />
The Chinese University of Hong Kong, Hong Kong<br />
• A novel system of embedding<br />
imperceptible structured codes<br />
into normal projection.<br />
• In coding end: noise-tolerant<br />
schemes (specifically designed<br />
shapes and large hamming<br />
distance) are employed.<br />
• In decoding end: pre-trained<br />
primitive shape detectors are used<br />
to detect and identify the weakly<br />
embedded codes.<br />
• Some potential applications to a<br />
robotic system are demonstrated.