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A Structure Preserving Nondimensionalization of Hydraulic Rotational Joints

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A Structure Preserving Nondimensionalization of Hydraulic Rotational Joints 2017 IEEE International Conference on Robotics and Automation (ICRA 2017) Singapore 29 May - 3 June 2017 Pages 1-549 IEEE Catalog Number: CFP17RAA-POD ISBN: 978-1-5090-4634-8 1/8 Copyright © 2017 by the Institute of Electrical and Electronics Engineers, Inc. All Rights Reserved Copyright and Reprint Permissions: Abstracting is permitted with credit to the source. Libraries are permitted to photocopy beyond the limit of U.S. copyright law for private use of patrons those articles in this volume that carry a code at the bottom of the first page, provided the per-copy fee indicated in the code is paid through Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923. For other copying, reprint or republication permission, write to IEEE Copyrights Manager, IEEE Service Center, 445 Hoes Lane, Piscataway, NJ 08854. All rights reserved. *** This is a print representation of what appears in the IEEE Digital Library. Some format issues inherent in the e-media version may also appear in this print version. IEEE Catalog Number: CFP17RAA-POD ISBN (Print-On-Demand): 978-1-5090-4634-8 ISBN (Online): 978-1-5090-4633-1 ISSN: 1060-0272 Additional Copies of This Publication Are Available From: Curran Associates, Inc 57 Morehouse Lane Red Hook, NY 12571 USA Phone: (845) 758-0400 Fax: (845) 758-2633 E-mail: [email protected] Web: www.proceedings.com TABLE OF CONTENTS A STRUCTURE PRESERVING NONDIMENSIONALIZATION OF HYDRAULIC ROTATIONAL JOINTS ................................1 Satoru Sakai MECHANICAL DESIGN OF A COMPACT SERIAL VARIABLE STIFFNESS ACTUATOR (SVSA) BASED ON LEVER MECHANISM ..............................................................................................................................................................................8 Jiantao Sun, Yubing Zhang, Cong Zhang, Zhao Guo, Xiaohui Xiao TOWARD COMPLIANT, FAST, HIGH-PRECISION, AND LOW-COST MANIPULATOR WITH HYDRAULIC HYBRID SERVO BOOSTER...............................................................................................................................................14 Sang-Ho Hyon, S. Tanimoto, S. Asao DESIGN OF A STRUCTURE-CONTROLLED VARIABLE STIFFNESS ACTUATOR BASED ON ROTARY FLEXURE HINGES ........................................................................................................................................................................................20 Xiong Li, Wenjie Chen, Wei Lin INTRINSICALLY BACKDRIVABLE HYDRAULIC SERVOVALVE FOR INTERACTIVE ROBOT CONTROL.......................26 Sunkyum Yoo, Woongyong Lee, Wan Kyun Chung A RECONFIGURABLE HYBRID ACTUATOR WITH RIGID AND SOFT COMPONENTS............................................................33 Yaohui Chen, Sing Le, Qiao Chu Tan, Oscar Lau, Fang Wan, Chaoyang Song SCALABLE PNEUMATIC AND TENDON DRIVEN ROBOTIC JOINT INSPIRED BY JUMPING SPIDERS .............................39 Alexander Sprowitz, Chantal Goettler, Ayush Sinha, Corentin Caer, Mehmet Ugur Oztekin, Kirstin Petersen, Metin Sitti POSITION-BASED PD CONTROL DESIGN FOR HYDRAULIC ROBOTS USING PASSIVE SUBSYSTEMS IN MULTI-TIME SCALES..................................................................................................................................................................................46 Woongyong Lee, Wan Kyun Chung FAST SECOND-ORDER CONE PROGRAMMING FOR SAFE MISSION PLANNING....................................................................54 Kai Zhong, Prateek Jain, Ashish Kapoor EXACT AND EFFICIENT HAMILTON-JACOBI GUARANTEED SAFETY ANALYSIS VIA SYSTEM DECOMPOSITION .........................................................................................................................................................................................62 Mo Chen, Sylvia Herbert, Claire Tomlin AN EFFICIENT OPTIMAL PLANNING AND CONTROL FRAMEWORK FOR QUADRUPEDAL LOCOMOTION ...............................................................................................................................................................................................68 Farbod Farshidian, Michael Neunert, Alexander Wayne Winkler, Gonzalo Rey, Jonas Buchli A KITE IN THE WIND: SMOOTH TRAJECTORY OPTIMIZATION IN A MOVING REFERENCE FRAME............................76 Vishal Dugar, Sanjiban Choudhury, Sebastian Scherer DAP3D-NET: WHERE, WHAT AND HOW ACTIONS OCCUR IN VIDEOS?.....................................................................................84 li liu, Yi Zhou, Ling Shao LS-ELAS: LINE SEGMENT BASED EFFICIENT LARGE SCALE STEREO MATCHING .............................................................92 Radouane Ait Jellal, Manuel Lange, Benjamin Wassermann, Andreas Schilling, Andreas Zell GROWTH MEASUREMENT OF TOMATO FRUIT BASED ON WHOLE IMAGE PROCESSING................................................99 Rui Fukui, Julien Schneider, Tsurugi Nishioka, Shinichi Warisawa, Ichiro Yamada DEVELOPMENT OF PRECISE MOBILE GAZE TRACKING SYSTEM BASED ON ONLINE SPARSE GAUSSIAN PROCESS REGRESSION AND SMOOTH-PURSUIT IDENTIFICATION...................................................................105 Dan Su, You-Fu Li A COMPARATIVE ANALYSIS OF TIGHTLY-COUPLED MONOCULAR, BINOCULAR, AND STEREO VINS.................................................................................................................................................................................................................111 Mrinal Kanti Paul, Kejian Wu, Joel A. Hesch, Esha Nerurkar, Stergios Roumeliotis SE3-NETS: LEARNING RIGID BODY MOTION USING DEEP NEURAL NETWORKS...............................................................119 Arunkumar Byravan, Dieter Fox EVALUATION OF AUTOMATED VEHICLES IN THE FRONTAL CUT-IN SCENARIO - AN ENHANCED APPROACH USING PIECEWISE MIXTURE MODELS.......................................................................................................................127 Zhiyuan Huang, Ding Zhao, Henry Lam, Dave LeBlanc, Huei Peng FIND YOUR OWN WAY: WEAKLY-SUPERVISED SEGMENTATION OF PATH PROPOSALS FOR URBAN AUTONOMY..................................................................................................................................................................................................133 Dan Barnes, Will Maddern, Ingmar Posner EGO-CENTRIC TRAFFIC BEHAVIOR UNDERSTANDING THROUGH MULTI-LEVEL VEHICLE TRAJECTORY ANALYSIS .........................................................................................................................................................................141 Donghao Xu, Xu He, Huijing Zhao, Jinshi Cui, Hongbin Zha, Franck Guillemard, Stephane Geronimi, Francois Aioun EMBEDDING STRUCTURED CONTOUR AND LOCATION PRIOR IN SIAMESED FULLY CONVOLUTIONAL NETWORKS FOR ROAD DETECTION .............................................................................................................149 Junyu Gao, Qi Wang, Yuan Yuan A MODEL-PREDICTIVE MOTION PLANNER FOR THE IARA AUTONOMOUS CAR...............................................................155 Vinicius Cardoso, Josias Oliveira, Thomas Teixeira, Claudine Badue, Filipe Wall Mutz, Thiago Oliveira-Santos, Lucas Veronese, Alberto F. De Souza VEHICLE TRACKING USING EXTENDED OBJECT METHODS: AN APPROACH FOR FUSING RADAR AND LASER ...................................................................................................................................................................................................161 Alexander Scheel, Stephan Reuter, Klaus Dietmayer AN ONLINE PROBABILISTIC ROAD INTERSECTION DETECTOR..............................................................................................169 Augusto Luis Ballardini, Daniele Cattaneo, Simone Fontana, Domenico G. Sorrenti RISK ASSESSMENT FOR AUTOMATIC LANE CHANGE MANEUVERS ON HIGHWAYS .......................................................177 Samyeul Noh, Kyounghwan An DETACHABLE MODULAR ROBOT CAPABLE OF COOPERATIVE CLIMBING AND MULTI AGENT EXPLORATION ............................................................................................................................................................................................185 Sri Harsha Turlapati, Ankur Srivastava, Madhava Krishna, Suril Vijaykumar Shah FORMATION OF DIFFERENTIAL-DRIVE VEHICLES WITH FIELD-OF-VIEW CONSTRAINTS FOR ENCLOSING A MOVING TARGET..........................................................................................................................................................191 Gonzalo Lopez-Nicolas, Miguel Aranda, Youcef Mezouar SAFE DECENTRALIZED AND RECONFIGURABLE MULTI-AGENT CONTROL WITH GUARANTEED CONVERGENCE...........................................................................................................................................................................................197 Constantinos Vrohidis, Charalampos Bechlioulis, Kostas Kyriakopoulos DISTRIBUTED MULTI-ROBOT COORDINATION FOR DYNAMIC PERIMETER SURVEILLANCE IN UNCERTAIN ENVIRONMENTS ...............................................................................................................................................................203 Alexander Jahn, Reza Javanmard Alitappeh, David Julian Saldana, Luciano Pimenta, A. G. Santos, Mario Montenegro Campos DISTRIBUTED DATA GATHERING WITH BUFFER CONSTRAINTS AND INTERMITTENT COMMUNICATION .....................................................................................................................................................................................209 Meng Guo, Michael M. Zavlanos DECENTRALIZED
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