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检索条件"丛书名=Springer Tracts in Advanced Robotics"

共 918 条记录，以下是61-70 订阅

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Whole-Body Impedance Control of Wheeled Humanoid Robots 1st ed. 2016

引用

丛书名： springer tracts in advanced robotics

2016年

作者： Alexander Dietrich

ISBN: (数字)9783319405575

ISBN: (纸本)9783319405568

Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin Justin of the German Aerospace Center (DLR). The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.

关键词： Robots Robots Control. Kinematics.

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Fast Marching Trees: A Fast Marching Sampling-Based Method for Optimal Motion Planning in Many Dimensions 16th

Fast Marching Trees: A Fast Marching Sampling-Based Method f...

引用

16th International Symposium on robotics Research (ISSR)

作者： Janson, Lucas Pavone, Marco Stanford Univ Dept Stat Stanford CA 94305 USA Stanford Univ Dept Aeronaut & Astronaut Stanford CA 94305 USA

ISBN: (纸本)9783319288727;9783319288703

In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm (FMT*). The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional configuration spaces. This algorithm is proven to be asymptotically optimal and is shown to converge to an optimal solution faster than its state-of-the-art counterparts, chiefly PRM* and RRT*. An additional advantage of FMT* is that it builds and maintains paths in a tree-like structure (especially useful for planning under differential constraints). The FMT* algorithm essentially performs a "lazy" dynamic programming recursion on a set of probabilistically-drawn samples to grow a tree of paths, which moves steadily outward in cost-to-come space. As such, this algorithm combines features of both single-query algorithms (chiefly RRT) and multiple-query algorithms (chiefly PRM), and is conceptually related to the Fast Marching Method for the solution of eikonal equations. As a departure from previous analysis approaches that are based on the notion of almost sure convergence, the FMT* algorithm is analyzed under the notion of convergence in probability: the extra mathematical flexibility of this approach allows for significant algorithmic advantages and provides convergence rate bounds-a first in the field of optimal sampling-based motion planning. Numerical experiments over a range of dimensions and obstacle configurations confirm our theoretical and heuristic arguments by showing that FMT*, for a given execution time, returns substantially better solutions than either PRM* or RRT*, especially in high-dimensional configuration spaces and in scenarios where collision checking is expensive.

关键词： Geometrical optics

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Towards Planning in Generalized Belief Space 16th

Towards Planning in Generalized Belief Space

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16th International Symposium on robotics Research (ISSR)

作者： Indelman, Vadim Carlone, Luca Dellaert, Frank Georgia Inst Technol Coll Comp Atlanta GA 30332 USA

ISBN: (纸本)9783319288727;9783319288703

We investigate the problem of planning under uncertainty, which is of interest in several robotic applications, ranging from autonomous navigation to manipulation. Recent effort from the research community has been devoted to design planning approaches working in a continuous domain, relaxing the assumption that the controls belong to a finite set. In this case robot policy is computed from the current robot belief (planning in belief space), while the environment in which the robot moves is usually assumed to be known or partially known. We contribute to this branch of the literature by relaxing the assumption of known environment;for this purpose we introduce the concept of generalized belief space (GBS), in which the robot maintains a joint belief over its state and the state of the environment. We use GBS within aModel Predictive Control (MPC) scheme;our formulation is valid for general cost functions and incorporates a dual-layer optimization: the outer layer computes the best control action, while the inner layer computes the generalized belief given the action. The resulting approach does not require prior knowledge of the environment and does not assume maximum likelihood observations. We also present an application to a specific family of cost functions and we elucidate on the theoretical derivation with numerical examples.

关键词： Cost functions

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A Framework for Real-Time Multi-Contact Multi-Body Dynamic Simulation 16th

A Framework for Real-Time Multi-Contact Multi-Body Dynamic S...

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16th International Symposium on robotics Research (ISSR)

作者： Conti, Francois Khatib, Oussama Stanford Univ Artificial Intelligence Lab Stanford CA 94305 USA

ISBN: (纸本)9783319288727;9783319288703

In this paper we propose a unified framework for the real-time dynamic simulation and contact resolution of rigid articulated bodies. This work builds on previous developments in the field of dynamic simulation, collision detection, contact resolution, and operational space control. However, the key to efficiency and realtime performance is a new parallel implementation of our collision detection and contact resolution algorithm which decomposes the problem into tasks that can be concurrently executed. Finally, the results and accuracy of our simulation models are compared for the first time against recorded motions of real articulated bodies colliding on a frictionless air floating table.

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Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time 16th

Optimal Control for Viscoelastic Robots and Its Generalizati...

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16th International Symposium on robotics Research (ISSR)

作者： Haddadin, Sami Weitschat, Roman Huber, Felix Oezparpucu, Mehmet Can Mansfeld, Nico Albu-Schaeffer, Alin Leibniz Univ Hannover Inst Automat Control Appelstr 11 D-30167 Hannover Germany DLR eV RMC Munchner Str 20 D-82234 Wessling Germany

ISBN: (纸本)9783319288727;9783319288703

Inspired by the elasticity contained in human muscles and tendons, viscoelastic joints are designed with the aim of imitating human motions by exploiting their ability to mechanically store and release potential energy. This distinct feature makes elastic robots especially interesting to the application of optimal control principles, as generating such motions is not possible by data-driven paradigms. In particular, reaching peak velocities by using the stored energy in the springs is of great interest, as such capabilities might open up entirely new application domains. In this paper, we review our results on solving various optimal control problems for elastic joints and full scale robot arms, as well as the experimental validation. Clearly, solving optimal control problems for highly nonlinear full robot dynamics is feasible nowadays only numerically, i.e. offline. In turn, optimal solutions would only contribute a clear benefit for real tasks, if they would be accessible/generalizable in real-time. For this, we developed a framework for executing near-optimal motions of elastic robot arms in real-time. In contrast to existing approaches, we use dynamically optimal motions (i.e. offline solutions of optimal control problems) as given learning input and then apply generalization via Dynamic Movement Primitives (DMPs). With this approach, we intend to overcome the well-known problems of optimal control and data-driven learning with associated generalization: being offline and being suboptimal (In fact, data-driven approaches can only be applied if the solution is already quite obvious for the human teacher. In case of highly nonlinear problems these "intuitive" initial solutions are typically not available.), respectively.

关键词： Potential energy

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Distributed Communication and Localization Algorithms for Homogeneous Robotic Swarm 1

引用

12th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Jeong, Donghwa Lee, Kiju Case Western Reserve Univ Dept Mech & Aerosp Engn Cleveland OH 44106 USA

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

Swarm robotics aims to achieve physical flexibility, overall system robustness, and enhanced reliability and efficiency by employing a group of autonomous robots for collective task performance. Achieving collective performance by individual robots with limited sensing, processing, and communication capabilities, however, faces several technical challenges, such as difficulties in establishing reliable communication and decentralized control among the robots. This paper presents the following wireless communication algorithms that can be applied to homogeneous swarm robots: (1) infrared-based short-distance communication between the adjacent robots using a self-synchronization technique;and (2) long-distance communication and localization based on distance measurement using radio signals. In addition, two decentralized global shape formation algorithms for homogeneous swarm robots are presented for simulating dispersion and line formation collectively achieved by homogeneous swarm robots.

关键词： Swarm robots Wireless communication network Global shape formation Distributed sensing

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An Enzyme-Inspired Approach to Stochastic Allocation of Robotic Swarms Around Boundaries 16th

An Enzyme-Inspired Approach to Stochastic Allocation of Robo...

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16th International Symposium on robotics Research (ISSR)

作者： Pavlic, Theodore P. Wilson, Sean Kumar, Ganesh P. Berman, Spring Arizona State Univ Sch Sustainabil Sch Comp Informat & Decis Syst Engn Tempe AZ 85281 USA Arizona State Univ Sch Engn Matter Transport & Energy Tempe AZ USA Arizona State Univ Sch Comp Informat & Decis Syst Engn Tempe AZ USA

ISBN: (纸本)9783319288727;9783319288703

This work presents a novel control approach for allocating a robotic swarm among boundaries. It represents the first step toward developing a methodology for encounter-based swarm allocation that incorporates rigorously characterized spatial effects in the system without requiring analytical expressions for encounter rates. Our approach utilizes a macroscopic model of the swarm population dynamics to design stochastic robot control policies that result in target allocations of robots to the boundaries of regions of different types. The control policies use only local information and have provable guarantees on the collective swarm behavior. We analytically derive the relationship between the stochastic control policies and target allocations for a scenario in which circular robots avoid collisions with each other, bind to boundaries of disk-shaped regions, and command bound robots to unbind. We validate this relationship in simulation and show that it is robust to environmental changes, such as a change in the number or size of robots and disks.

关键词： Distributed robotic systems Stochastic robotics Bio-inspiration Chemical reaction networks Attachment-detachment

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Human-Robot Collaborative Topological Exploration for Search and Rescue Applications 1

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12th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Govindarajan, Vijay Bhattacharya, Subhrajit Kumar, Vijay Univ Penn Dept Elect Engn Philadelphia PA USA Univ Penn Dept Math Philadelphia PA 19104 USA Univ Penn Dept Mech Engn & Appl Mech Philadelphia PA 19104 USA

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

We address the coordination between humans and robots in tasks that involve exploration and reconnaissance with applications to search and rescue. Specifically, we consider the problem of humans and robots cooperatively searching an indoor environment in a distributed manner where we assume that each robot is equipped with sensors that are able to locate targets of interest. Rather than have humans issue explicit commands to and guide robots, we allow humans to make decisions on their own and let the robots adapt to decisions taken by the human. The main contribution of this paper is a framework in which the robots in the team respond and adapt to the behavior of the human agents in the task of exploring and clearing an indoor environment. The central idea is the assignment of robots to homotopy classes that are complementary to the classes being pursued by human agents. By the virtue of the sparse topological representation of the agent trajectories, our algorithm lends itself naturally to a distributed implementation. The framework has three advantages: it (a) ensures that robots and humans pursue different homotopy classes;(b) requires very little communication between the humans and the robots;and (c) allows robots to adapt to human movement without having to model complex human decision-making behaviors. We demonstrate the effectiveness of the proposed algorithm through a distributed implementation on a ROS (Robot Operating System) platform.

关键词： Search and rescue Path planning Homotopy Human-robot interaction

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Monocular Visual Teach and Repeat Aided by Local Ground Planarity 10th

Monocular Visual Teach and Repeat Aided by Local Ground Plan...

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10th International Conference on Field and Service robotics (FSR)

作者： Clement, Lee Kelly, Jonathan Barfoot, Timothy D. Univ Toronto Inst Aerosp Studies Toronto ON Canada

ISBN: (纸本)9783319277028;9783319277004

Visual Teach and Repeat (VT&R) allows an autonomous vehicle to repeat a previously traversed routewithout a global positioning system. Existing implementations of VT&R typically rely on 3D sensors such as stereo cameras for mapping and localization, but many mobile robots are equipped with only 2D monocular vision for tasks such as teleoperated bomb disposal. While simultaneous localization and mapping (SLAM) algorithms exist that can recover 3D structure and motion from monocular images, the scale ambiguity inherent in these methods complicates the estimation and control of lateral path-tracking error, which is essential for achieving high-accuracy path following. In this paper, we propose a monocular vision pipeline that enables kilometre-scale route repetition with centimetre-level accuracy by approximating the ground surface near the vehicle as planar (with some uncertainty) and recovering absolute scale from the known position and orientation of the camera relative to the vehicle. This system provides added value to many existing robots by allowing for high-accuracy autonomous route repetition with a simple software upgrade and no additional sensors. We validate our system over 4.3km of autonomous navigation and demonstrate accuracy on par with the conventional stereo pipeline, even in highly non-planar terrain.

关键词： Pipelines

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Cooperative Mobile Robot Control Architecture for Lifting and Transportation of Any Shape Payload 1

引用

12th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Hichri, B. Adouane, L. Fauroux, J. -C. Mezouar, Y. Doroftei, I. Inst Pascal Clermont Ferrand France Gheorghe Asachi Tech Univ Iasi Iasi Romania

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

This paper addresses cooperative manipulation and transportation of any payload shape, by assembling a group of simple mobile robots (denoted m-bots) into a modular poly-robot (p-bot). The focus is made in this paper on the chosen methodology to obtain sub-optimal positioning of the robots around the payload to lift it and to transport it while maintaining a geometric multi-robot formation. This appropriate positioning is obtained by combining the constraint to ensure Force Closure Grasping (FCG) for stable and safe lifting of the payload and the maximization of the Static Stability Margin (SSM) during the transport. A predefined control law is then used to track a virtual structure in which each elementary robot has to keep the desired position relative to the payload. Simulation results for an object of any shape, described by a parametric curve, are presented. Additional 3D simulation results with a multi-body dynamic software validate our proposal.

关键词： Cooperative mobile robots Control architecture Payload transport and co-manipulation Force closure grasping Static stability margin

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