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Thread: IEEE International Conference on Robotics and Automation

  1. #11


    Taming the Swarm - Radhika Nagpal, Harvard University

    Published on May 27, 2015

    Taming the Swarm
    Radhika Nagpal, Harvard University
    Wednesday, May 27
    17:30pm-18:00
    WSCC 6A

    Abstract: In nature, groups of thousands to millions of individuals can cooperate to create complex structure purely through local interactions, from cells that develop into complex organisms, to social insects like army ants that self-assemble bridges, rafts, and even nests out of their own bodies. What would it take to create our own artificial collectives of the scale and complexity that nature achieves? In this talk, I will discuss one of our recent and ongoing endeavors - the Kilobot project - a 1024 ("kilo") robot swarm testbed for studying collective intelligence. I will describe some of the challenges for building and programming robot swarms at this scale, and I will discuss how we have used the Kilobot swarm to study collective algorithms inspired by both engineering (e.g. coordinate system formation) and nature (collective transport, self-assembly), and some of the lessons we have learned. Time permitting, I will also share some examples where our work in robotics has led to new work in biology, and some ideas on collectively influencing academic culture. A central theme for all of our work is understanding the global-to-local relationship: how complex and robust collective intelligence can be systematically achieved from large numbers of simple agents.
    Biography: Radhika Nagpal is the Kavli Professor of Computer Science at Harvard University and a core faculty member of the Wyss Institute for Biologically Inspired Engineering. At Harvard, she leads the Self-organizing Systems Research Group and her research interests span computer science, robotics, and biology; recent work includes the Termes robots for collective construction and the Kilobot thousand-robot swarm (Science 2014). She is also the author of a blog article on tenure-track life, and an advocate for a more inclusive and nurturing culture in science. Her awards include the Microsoft New Faculty Fellowship (2005), NSF Career Award (2007), Anita Borg Early Career Award (2010), Radcliffe Fellowship (2012), and most recently, Nature 10 award (2014).

  2. #12


    Danica Kragic - Seeing, caging, grasping

    Published on May 29, 2015

    Abstract: This talk is going to review our current work on sensor based grasping and caging considering both theoretical foundation and implementation in realistic scenarios. The notion of a caging grasp, which bounds the mobility of an object rather than necessarily immobilizing it completely, has recently received increased interest in robotics. Unlike classical grasp synthesis, where force-closure grasps are determined based on local contact information, the caging condition requires rigorous reasoning about connected components of the free configuration space of positions of an object. In terms of caging, we present a framework for the synthesis and provably correct verification of caging grasps on a class of 3D objects which exhibit geometric features we call `necks' and `forks' as well as demonstrate practical caging on objects that exhibit holes. In terms of grasping, we present a system for integrated grasp synthesis and grasp adaptation based on impedance control and finger gating.

    Biography: Danica Kragic is a Professor at the School of Computer Science and Communication at the Royal Institute of Technology, KTH. She received MSc in Mechanical Engineering from the Technical University of Rijeka, Croatia in 1995 and PhD in Computer Science from KTH in 2001. She has been a visiting researcher at Columbia University, Johns Hopkins University and INRIA Rennes. She is the Director of the Centre for Autonomous Systems. Danica received the 2007 IEEE Robotics and Automation Society Early Academic Career Award. She is a member of the Royal Swedish Academy of Sciences and Young Academy of Sweden. She holds a Honorary Doctorate from the Lappeenranta University of Technology. She chaired IEEE RAS Technical Committee on Computer and Robot Vision and served as an IEEE RAS AdCom member. Her research is in the area of robotics, computer vision and machine learning. In 2012, she received an ERC Starting Grant. Her research is supported by the EU, Knut and Alice Wallenberg Foundation, Swedish Foundation for Strategic Research and Swedish Research Council.

  3. #13


    Carme Torras - Clothing assistants: Challenges for robot learning

    Published on May 29, 2015

    Abstract: Textile objects pervade human environments and their versatile manipulation by robots would open up a whole range of possibilities, from increasing the autonomy of elderly and disabled people, housekeeping and hospital logistics, to novel automation in the clothing Internet business. Although deformable objects can be accurately rendered and rigid objects efficiently handled, the manipulation of clothing in the real world has proven elusive, because the vast number of degrees of freedom involved in non-rigid deformations leads to unbearable uncertainties in perceptions and action outcomes. Several learning challenges arising in this context will be addressed in the talk, such as garment recognition and pose estimation from rgb-d data, learning human-robot collaboration from demonstrations, safe physical human-robot interaction, reinforcement tuning of skills, and symbolic learning to plan and act. Progress in grasping garments in a task-suitable way and helping people to dress will be showcased.

    Biography: Carme Torras is Research Professor at the Spanish Scientific Research Council (CSIC). She received M.Sc. degrees in Mathematics and Computer Science from the Universitat de Barcelona and the University of Massachusetts, Amherst, respectively, and a Ph.D. degree in Computer Science from the Technical University of Catalonia (UPC). Prof. Torras has published five books and about two hundred papers in the areas of robot kinematics, computer vision, geometric reasoning, machine learning and manipulation planning. She has been local project leader of several European projects in the frontier between AI and Robotics, among which the FP6 IP project “Perception, Action and COgnition through Learning of Object-Action Complexes” (PACO-PLUS), and the FP7 STREP projects “GARdeNIng with a Cognitive System” (GARNICS) and “Intelligent observation and execution of Actions and manipulations” (IntellAct). She was awarded the Narc?s Monturiol Medal of the Generalitat de Catalunya in 2000, and she became ECCAI Fellow in 2007, member of Academia Europaea in 2010, and member of the Royal Academy of Sciences and Arts of Barcelona in 2013. Prof. Torras was IEEE RAS Associate Vice-President for Publication Activities (2012-13) and she is currently Editor of the IEEE Transactions on Robotics.

  4. #14

  5. #15


    Flying machines: from DUCK robots to flying monkeys - ICRA2016 highlights 1/4

    Published on May 8, 2016

    This video shows some of the contributions to ICRA, the largest conference in the field of robotics and automation.
    See http://trailer.icra2016.org for more details about these clips and the other 3 episodes. Papers featured in this video:


    ***

    Duckies can fly, walk, swim and dive. Likewise, this robot is able to fly and walk, by combining the body of a quadrotor, together with passive legs, which are not actively powered. The robot can walk down an inclined surface with its propeller motors turned off, and use the propellers to walk on flat surfaces and to fly.

    * "Dynamic Underactuated Flying-Walking (DUCK) Robot"
    Christopher J. Pratt and Kam K. Leang (University of Utah Robotics Center, University of Utah)

    ***

    This robotic perception system can track fast objects with very high accuracy over a wide field of view, by using a 1000 frames-per-second camera and three mirrors that are actively controlled. In this clip, the system is tracking a flying duckie.

    * "Saccade Mirror 3: High-speed gaze controller with ultra wide gaze control range using triple rotational mirrors"
    Kazuhisa Iida, Hiromasa Oku (Gunma University)

    ***

    This work develops an algorithm to allow a drone to pick up an object while in flight. Optimizing the trajectory is especially challenging because of the interaction of the dynamics of flight and the dynamics of an articulated manipulator.

    * "Trajectory Generation for Quadrotor based Systems using Numerical Optimal Control"
    Mathieu Geisert, Nicolas Mansard (LAAS-CNRS)

    ***

    This is the “flying monkey”, a robot that can fly, walk, and grasp. This new robotic platform merges one of the world’s smallest quadrotor aircraft with a lightweight, simple walking mechanism and a gripper to enable all three functions in a 30g package.

    * "The Flying Monkey: a Mesoscale Robot that can Run, Fly, and Grasp"
    Yash Mulgaonkar, Brandon Araki, Je-sung Koh, Luis Guerrero-Bonilla, Daniel M. Aukes, Anurag Makineni, Michael T. Tolley, Daniela Rus, Robert J. Wood, Vijay Kumar (UPenn, Harvard, MIT, UCSD)

  6. #16


    Robots in our daily life - ICRA 2016 highlights 2/4

    Published on May 10, 2016

    This robot can effectively iron garments, using a camera to recognize where the wrinkles are. This technique has been successfully tested on pants, shirts, sweaters and fabric.

    * "Multi-Sensor Surface Analysis for Robotic Ironing"
    Yinxiao Li, Xiuhan Hu, Danfei Xu, Yonghao Yue, Eitan Grinspun, Peter K. Allen
    (Columbia University)

    ****

    This robot used deep learning to obtain a concise representation of the visual scene from raw image pixels. Using these features, the robot learned hand-eye coordination skills such as using spoons and spatulas to scoop objects and moving duckies to their aquatic habitat.

    * "Deep Spatial Autoencoders for Visuomotor Learning"
    Chelsea Finn, Xin Yu Tan, Yan Duan, Trevor Darrell, Sergey Levine, Pieter Abbeel
    (UC Berkeley)

    ****

    This robot can safely perform a collaborative screwing task. The operator uses a touch interface to trigger the different phases of the work.

    * "An ISO10218-compliant adaptive damping controller for safe Physical Human-Robot Interaction"
    Benjamin Navarro, Andrea Cherubini, Aicha Fonte, Robin Passama, Gerard Poisson, and Philippe Fraisse
    (PRISME Laboratory, University of Orl?ans)

    ****

    This prototype of disease detection system for greenhouse peppers can lead to improved quality, increased yield, and reduction of pesticide use. The robot is guided by the perception of multiple threats (and occasional ducky visitors).

    * "Robotic Disease Detection in Greenhouses"
    Noa Schor, Avital Bechar, Timea Ignat, Aviv Dombrovsky, Yigal Elad, Sigal Berman
    (ABC robotics, Ben-Gurion University of the Negev)

    ****

    This robot analyzes the material properties of an object by watching, while gently squeezing. Image filtering and motion amplification allow the method to work with stiff or delicate objects, and those exhibiting little texture.

    * "Interactive Computational Imaging for Deformable Object Analysis"
    Donald G. Dansereau, Surya P. N. Singh, Jurgen Leitner
    (Australian Centre for Robotic Vision, Queensland University of Technology)

  7. #17


    Incredible machines - ICRA 2016 highlights 3/4

    Published on May 11, 2016

    Modern 3D printing technologies allow 3D solids and liquids to be printed together, to create mechanisms that are hydraulically actuated. This method allows a complex moving robot to be printed in one piece, and can also be used to print to soft robots.

    "Printable Hydraulics: A Method for Fabricating Robots by 3D Co-Printing Solids and Liquids"
    Robert MacCurdy, Robert Katzschmann, Youbin Kim, Daniela Rus
    MIT

    ***

    This is a novel mechanism for reaching high ceilings. Translation and rotation of the robot tool are achieved through the coordinated motion of the linear actuators at the base.

    "Triple Scissor Extender: A 6-DOF Lifting and Positioning Robot"
    Daniel J. Gonzalez and H. Harry Asada
    MIT

    ***


    Are you able to stabilize the position of a disk at a given angle, while keeping another rolling disk in balance on its top? This acrobatic problem is solved here in an automatic way, suggesting a control strategy for more complex robot manipulation tasks.

    "The effect of shapes in input-state linearization for stabilization of nonprehensile planar rolling dynamic manipulation"
    Vincenzo Lippiello, Fabio Ruggiero, Bruno Siciliano
    University of Naples

    ***


    This robot’s movement is generated by an algorithm that is capable of optimizing for the sequence and timing of contacts with the environment, alongside with the smooth motion between contacts. This capability is important for generating dynamic motions for robots with arms and legs.

    "Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences"
    Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
    Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT)

    ***

    This autonomous rally car at one-fifth scale performs agile cornering maneuvers by repeatedly executing and optimizing a trajectory around an off-road track. All of the computation required is performed on-the-fly, without any pre-planning phase, using only the computer on board of the vehicle.

    "Aggressive Driving with Model Predictive Path Integral Control"
    Grady Williams, Paul Drews, Brian Goldfain, James Rehg, and Evangelos A. Theodorou
    Institute for Robotics and Intelligent Machines, Georgia Institute of Technology

    Come to ICRA, the largest conference in the field of robotics and automation, to see all of this, and more.

  8. #18


    Mini-micro robots - ICRA highlights 4/4

    Published on May 12, 2016

    This robot moves by routing fluid through itself. The modular design allows its size and shape to be changed. The modules can travel separately through confined spaces. Once assembled together, they gain in precision and force, helping them to transport an object. The design could be scaled down to be used in micro medicine.

    * "Modular Hydraulic Propulsion: A Robot that Moves by Routing Fluid Through Itself"
    Matthew J. Doyle, Xinyu Xu, Yue Gu, Fernando Perez-Diaz, Christopher Parrott and Roderich Gro?
    University of Sheffield

    ---

    This is an autonomous robot developed to perform biopsies. The needle on the right is controlled using feedback from ultrasound images, taken from the sensor held by the arm on the left.

    * "Visual Tracking of Biopsy Needles in 2D Ultrasound Images"
    Mert Kaya, Enes Senel, Awais Ahmad, Ozkan Bebek
    Ozyegin University

    ---

    This robotic system is able to perform autonomous steering of cardiac ultrasound-imaging catheters. The system builds 3D and 4D ultrasound volumes from a series of 2D images that are collected from within the heart.

    * "Compensation for Unconstrained Catheter Shaft Motion in Cardiac Catheters"
    Paul M. Loschak, Alperen Degirmenci, Cory M. Tschabrunn, Elad Anter, Robert D. Howe
    Harvard University

    ---

    This catheter with electromagnetic coils is used inside a machine for magnetic resonance imaging, where it is tracked by a stereo catadioptric system. The catheter is able to generate enough force to knock a rubber duck off of a platform and save the day for the second duck.

    * "Catadioptric Stereo Tracking for Three Dimensional Shape Measurement of MRI Guided Catheters"
    Russell C. Jackson, Taoming Liu, and M. Cenk Cavusoglu
    Case Western Reserve University

    ---

    The ice capsule held by the duckie contains an origami-based robot which one day could be used to deliver drugs inside our bodies. When immersed in water, the capsule dissolves and the robot unfolds and is able to move controlled by magnetic fields.


    * "Ingestible, Controllable, and Degradable Origami Robot for Patching Stomach Wounds"
    Shuhei Miyashita, Steven Guitron, Kazuhiro Yoshida, Shuguang Li, Dana D. Damian, and Daniela Rus
    MIT, Tokyo Institute of Technology, University of Sheffield

  9. #19


    ICRA 2016 – exhibition floor clips

    Published on May 30, 2016

  10. #20


    ICRA 2016 Robotic Exhibition video compilation

    Published on Jun 14, 2016

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