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Rearranging the Environment to Maximize Energy with a Robotic Circuit Drawing | |
2022 | |
会议录名称 | 2022 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, ROBIO 2022 |
页码 | 2281-2286 |
发表状态 | 已发表 |
DOI | 10.1109/ROBIO55434.2022.10011990 |
摘要 | The ability of acquiring energy form environments is greatly beneficial for robot to function in uncertain environments. In this work, we present a robot capable of drawing circuits with conductive ink while also rearranging the visual world to receive maximum energy from a power source. A range of circuit drawing tasks is designed to simulate real-world scenarios, including avoiding physical obstacles and regions that would discontinue drawn circuits. We adopt the state-of-the-art Transporter networks for pick-and-place manipulation from visual observation. We conduct experiments in both simulation and real-world settings, and our results show that, with a small number of demonstrations, the robot learns to rearrange the placement of objects (removing obstacles and bridging areas unsuitable for drawing) and to connect a power source with a minimum amount of conductive ink. As autonomous robots become more and more involved in our daily lives, our proposed approach brings a novel way for machines to keep themselves functional by rearranging their surroundings to create their own electric circuits. © 2022 IEEE. |
关键词 | Robots Conductive ink Energy Energy forms Pick and place Power sources Real-world scenario State of the art Uncertain environments Visual observations Visual world |
会议名称 | 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 |
会议地点 | No.1, Yuntou Road, Gasa Town, Jinghong, China |
会议日期 | December 5, 2022 - December 9, 2022 |
URL | 查看原文 |
收录类别 | EI |
语种 | 英语 |
出版者 | Institute of Electrical and Electronics Engineers Inc. |
EI入藏号 | 20230613554875 |
EI主题词 | Timing circuits |
EI分类号 | 713.4 Pulse Circuits ; 731.5 Robotics |
原始文献类型 | Conference article (CA) |
来源库 | IEEE |
文献类型 | 会议论文 |
条目标识符 | https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/282054 |
专题 | 信息科学与技术学院 信息科学与技术学院_PI研究组_Sören Schwertfeger组 信息科学与技术学院_硕士生 |
作者单位 | 1.Hamlyn Centre, Imperial College, London, UK 2.Department of Computer Science, University of York, UK 3.School of Information Science and Technology, ShanghaiTech University, China 4.Robotics Engineering, Worcester Polytechnic Institute, USA |
推荐引用方式 GB/T 7714 | Xianglong Tan,Zhikang Liu,Chen Yu,et al. Rearranging the Environment to Maximize Energy with a Robotic Circuit Drawing[C]:Institute of Electrical and Electronics Engineers Inc.,2022:2281-2286. |
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