To evaluate a neural interface, which comprises integral microelectrodes for neural recording or stimulation used for the control of human prosthetic devices, such as artificial limbs, a proto-type artificial body is ...
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ISBN:
(纸本)3540328017
To evaluate a neural interface, which comprises integral microelectrodes for neural recording or stimulation used for the control of human prosthetic devices, such as artificial limbs, a proto-type artificial body is being prepared for implantation of the interface in a rat. As a result of the first trial, new linkage mechanisms were developed, and a robot equipped with the mechanism was able to perform various walks likes an animal, including sidestep at high speed by swinging its legs.
In this article, we first introduce a new research model proposed by the Science Council of Japan in 1999[1][2]. The model was proposed based on how research is carried out and how the research is integrated with our ...
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ISBN:
(纸本)3540328017
In this article, we first introduce a new research model proposed by the Science Council of Japan in 1999[1][2]. The model was proposed based on how research is carried out and how the research is integrated with our society as a culture. We consider what the Field and Service robotics is, and introduce the Service RT Systems as a type of the field and service robots. Several examples illustrate the relation between the RT Systems and the robotics Research.
The presented contribution describes an approach to preprocessing and fusion of additional vehicle onboard sensors - the odometer and accelerometer, all targeted to serve as optional and temporary substitute for GPS-l...
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ISBN:
(纸本)3540328017
The presented contribution describes an approach to preprocessing and fusion of additional vehicle onboard sensors - the odometer and accelerometer, all targeted to serve as optional and temporary substitute for GPS-like navigation. The suggested solution explores a rule-based system for mutual substitutions and calibrations of the used sensors depending on actual conditions. The only usage of the GPS here stands in providing regular position calibrations and serves as a reference method for evaluation of the presented results. The presented solutions have been experimentally tested with real-world data as shown in the experimental part of the paper.
The problem to ensure safety of performant robot arms during task execution was previously investigated by authors in [1], [2]. The problem can be approached by studying an optimal control policy, the "Safe Brach...
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ISBN:
(纸本)3540288163
The problem to ensure safety of performant robot arms during task execution was previously investigated by authors in [1], [2]. The problem can be approached by studying an optimal control policy, the "Safe Brachistocrone", whose solutions are joint impedance trajectories coordinated with desired joint velocities. Transmission stiffness is chosen so as to achieve minimum-time task execution for the robot, while guaranteeing an intrinsic safety level in case of an unexpected collision between a link of the arm and a human operator. In this paper we extend this approach to more general classes of robot actuation systems, whereby other impedance parameters beside stiffness (such as e.g. joint damping and/or plasticity) can vary. We report on a rather extensive experimental campaign validating the proposed approach.
We present a series of experiments concerned with the inspection of regular, engineered structures carried out using swarms of five to twenty autonomous, miniature robots, solely endowed with on-board, local sensors. ...
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ISBN:
(纸本)3540288163
We present a series of experiments concerned with the inspection of regular, engineered structures carried out using swarms of five to twenty autonomous, miniature robots, solely endowed with on-board, local sensors. Individual robot controllers are behavior-based and the swarm coordination relies on a fully distributed control algorithm. The resulting collective behavior emerges from a combination of simple robot-to-robot interactions and the underlying environmental template. To estimate intrinsic advantages and limitations of the proposed control solution, we capture its characteristics at higher abstraction levels using non-spatial, microscopic and macroscopic probabilistic models. Although both types of models achieve only qualitatively correct predictions, they help us to shed light on the influence of the environmental template and control design choices on the considered non-spatial swarm metrics (inspection time and redundancy). Modeling results suggest that additional geometric details of the environmental structure should be taken into account for improving prediction accuracy and that the proposed control solution can be further optimized without changing its underlying architecture.
If mobile robots are to perform useful tasks in the real-world they will require a catalog of fundamental navigation competencies and a means to select between them. In this paper we describe our work on strongly visi...
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ISBN:
(纸本)3540288163
If mobile robots are to perform useful tasks in the real-world they will require a catalog of fundamental navigation competencies and a means to select between them. In this paper we describe our work on strongly vision-based competencies: road-following, person or vehicle following, pose and position stabilization. Results from experiments on an outdoor autonomous tractor, a car-Like vehicle, are presented.
Autonomous mobile robots navigating in the real world are facing major challenges. They are expected to adapt best to different environments, interact with them and cope with sensor noise and incomplete information. S...
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ISBN:
(纸本)3540328017
Autonomous mobile robots navigating in the real world are facing major challenges. They are expected to adapt best to different environments, interact with them and cope with sensor noise and incomplete information. Some important competencies of mobile robots, including locomotion, environment representation and navigation are discussed in this paper. Two research examples of our Lab demonstrate the application of this concepts: Innovative wheel-based locomotion concepts for rough terrain and a family of 11 tour guide robots with 5 month of operational experience.
Inherent dangers in mining operations motivate the use of robotic technology for addressing hazardous situations that prevent human access. In the context of this case study, we examine the application of a robotic to...
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ISBN:
(纸本)3540328017
Inherent dangers in mining operations motivate the use of robotic technology for addressing hazardous situations that prevent human access. In the context of this case study, we examine the application of a robotic tool for map verification and void profiling in abandoned limestone mines for analysis of cavity extent. To achieve this end, our device enables remote, highly accurate measurements of the subterranean voids to be acquired. In this paper we discuss the design of the. robotic tool, demonstrate its application in void assessment for prevention and response to subsidence, and present results from a case study performed in the limestone mines of Kansas City, Kansas.
This paper studies the integration of manipulation and locomotion by a humanoid robot. We will show that the walk and work capabilities of a humanoid robot can be enhanced by integrating manipulation and locomotion. E...
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ISBN:
(数字)9783540330141
ISBN:
(纸本)3540288163
This paper studies the integration of manipulation and locomotion by a humanoid robot. We will show that the walk and work capabilities of a humanoid robot can be enhanced by integrating manipulation and locomotion. Especially, we focus on three motions of a humanoid robot: pushing a heavy object placed on the floor, working while thrusting a hand on to a desk, and ascending large steps while holding a handrail for support. These motions are realized by experiment using the humanoid robot HRP-2.
In this paper, adaptive friction compensation and identification issues are investigated. The friction adaptation law is formulated by utilizing both observed and desired velocity information. The overall adaptive obs...
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