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检索条件"任意字段=1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots"

共 61 条记录，以下是31-40 订阅

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Masters' skill explained by visualization of whole-body muscle activity

Masters' skill explained by visualization of whole-body musc...

引用

3rd international conference on simulation, modeling, and programming for autonomous robots, SIMPAR 2012

作者： Ikegami, Yosuke Ayusawa, Ko Nakamura, Yoshihiko University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo Japan

ISBN: (纸本)9783642343261

In this paper, we discuss the computation of human motion dynamics and its analysis of experts' motion skills. The computation framework of the wire-driven multi-body dynamics previously developed by the authors is applied to the whole body human musculoskeletal model. While capturing time-series of motion data, somatosensory information measured by force plate and EMG sensors simultaneously is used for the dynamics computation. For the dynamics computation, we reduced the computation cost drastically by resolving to the non-linear optimization problem using decomposed gradient computation developed recently. As examples of analysis, we measured and analyzed experts' motion patterns, such as Tai Chi motion, tap dance and drum playing. In particular, we analyzed the characteristic behavior by the motion of the center of gravity (COG), condition of the ground contact, and muscle activity of the whole body. © 2012 Springer-Verlag Berlin Heidelberg.

关键词： Gravitation

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A model-driven architecture approach for agent-based modeling and simulation

A model-driven architecture approach for agent-based modelin...

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作者： Garro, Alfredo Parisi, Francesco Russo, Wilma 87036 Cosenza Italy

ISBN: (纸本)9789898425782

It is widely agreed that a widespread adoption of the Agent-Based modeling and simulation (ABMS) approach by experts of typical ABMS domains demands for well-defined processes, modeling techniques and tools able to fully support them in modeling and simulating complex systems. To this end, the paper proposes a Model-Driven process which conforms to the OMG Model-Driven Architecture (MDA) and enables the definition of Platform-Independent simulation Models from which Platform-Dependent simulation Models and the related code can be automatically obtained with significantly reduced programming and implementation efforts.

关键词： autonomous agents

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NERD Neurodynamics and Evolutionary Robotics Development Kit

NERD Neurodynamics and Evolutionary Robotics Development Kit

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2nd international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Rempis, Christian Thomas, Verena Bachmann, Ferry Pasemann, Frank Univ Osnabruck Inst Cognit Sci D-49069 Osnabruck Germany

ISBN: (纸本)9783642173189

The aim of Evolutionary Robotics is to develop neural systems for behavior control of autonomous robots. For non-trivial behaviors or non-trivial machines the implementation effort for suitably specialized simulators and evolution environments is often very high. The Neurodynamics and Evolutionary Robotics Development Kit (NERD), presented in this article, is a free open-source framework to rapidly implement such applications. It includes separate libraries (1) for the simulation of arbitrary robots in dynamic environments, allowing the exchange of underlying physics engines, (2) the simulation, manipulation and analysis of recurrent neural networks for behavior control, and (3) an extensible evolution framework with a number of neuro-evolution algorithms. NERD comes with a set of applications that can be used directly for many evolutionary robotics experiments. simulation scenarios and specific extensions can be defined via XML, scripts and custom plug-ins. The NERD kit is available at *** under the GPL license.

关键词： simulation Evolutionary Robotics Neuro-evolution

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Simulating the C2SM 'Fast' Robot

Simulating the C2SM 'Fast' Robot

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2nd international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Codd-Downey, R. Jenkin, M. Ansell, M. Ng, H-K Jasiobedzki, P. York Univ N York ON M3J 1P3 Canada MDA Corp Brampton ON Canada

ISBN: (纸本)9783642173189

A critical problem in the deployment of commercial teleoperated robots is the development of effective training tools and methodologies. This paper describes our approach to the problem of providing such training to robot operators tasked to contaminated environments. The Vanguard MK2 and C2SMFast Sensor Simulator - a virtual reality based training system - provides an accurate simulation of the C2SM Crime Scene Modeler, an autonomous robotic system developed for the investigation of contaminated crime scenes. The training system provides a simulation of the underlying robotic platform and the C2SMFast sensor suite, and allows training on the system without physically deploying the robot or CBRNE contaminants. Here we describe the basic structure of the simulator and the software components that were used to construct it.

关键词： robots

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OpenGRASP: A Toolkit for Robot Grasping simulation

OpenGRASP: A Toolkit for Robot Grasping Simulation

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2nd international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Leon, Beatriz Ulbrich, stefan Diankov, Rosen Puche, Gustavo Przybylski, Markus Morales, Antonio Asfour, Tamim Moisio, Sami Bohg, Jeannette Kuffner, James Dillmann, Ruediger Univ Jaume 1 Robot Intelligence Lab Castellon de La Plana Spain Inst Anthropol Karlsruhe Inst Technol Karlsruhe Germany Lappeenranta Univ Technol Ctr Comp Engn & Integrated Design Lappeenranta Finland Royal Inst Technol Comp Vis & Act Vis Lab Stockholm Sweden Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)9783642173189

simulation is essential for different robotic research fields such as mobile robotics, motion planning and grasp planning. For grasping in particular, there are no software simulation packages, which provide a holistic environment that can deal with the variety of aspects associated with this problem. These aspects include development and testing of new algorithms, modeling of the environments and robots, including the modeling of actuators, sensors and contacts. In this paper, we present a new simulation toolkit for grasping and dexterous manipulation called OpenGRASP addressing those aspects in addition to extensibility, interoperability and public availability. OpenGRASP is based on a modular architecture, that supports the creation and addition of new functionality and the integration of existing and widely-used technologies and standards. In addition, a designated editor has been created for the generation and migration of such models. We demonstrate the current state of OpenGRASP's development and its application in a grasp evaluation environment.

关键词： software toolkit grasping simulation robot modeling

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Simulating Vehicle Kinematics with SimVis3D and Newton

Simulating Vehicle Kinematics with SimVis3D and Newton

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2nd international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Wettach, Jens Schmidt, Daniel Berns, Karsten Robot Res Lab D-67663 Kaiserslautern Germany

ISBN: (纸本)9783642173189

This paper discusses the simulation of vehicle kinematics with SimVis3D and the Newton Game Dynamics Engine. As running example a Pioneer([1]) like robot is used. First its differential drive is simulated manually, without physical effects. Then the dynamics engine is applied to simulate this drive mechanism based on rolling friction between wheels and ground. Comparing the effort of application code for both approaches shows the benefit of delegating the calculation of rigid body motions. This fact is further stressed by simulating a trailer as a passive vehicle without any code extensions. Finally, a standard vehicle kinematic system consisting of Ackermann steering and rear wheel drive is realized([2]). The paper concludes with an application of this model for simulating the drive system of a bucket excavator as real world scenario.

关键词： 3d robot simulation simulated sensors and actuators

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Analysing Mixed Reality simulation for Industrial Applications: A Case study in the Development of a Robotic Screw Remover System

Analysing Mixed Reality Simulation for Industrial Applicatio...

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2nd international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Chen, Ian Yen-Hung MacDonald, Bruce Wuensche, Burkhard Biggs, Geoffrey Kotoku, Tetsuo Univ Auckland Auckland 1 New Zealand Intelligent Syst Res Inst Natl Inst Adv Ind Sci & Technol AIST Tsukuba Ibaraki Japan

ISBN: (纸本)9783642173189

A Mixed Reality (MR) simulation aims to enable robot developers to create safe and close-to-real world environments from a mixture of real and virtual components for experimenting with robot systems. However, the reliability of the simulation results and its usefulness in solving practical problems remain to be validated. This paper presents an evaluation of an MR simulator by examining its use for the development of a robotic screw remover system. Quantitative evaluation compares the robot's trajectories produced in our MR simulation with those from a real world experiment, yielding results that indicate the MR simulation reliably represents the real world. A user study was conducted and the results demonstrate that the MR simulator gives users a stronger confidence of accurate results in comparison to a virtual simulator.

关键词： Mixed reality

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Automatic Trajectory Generation for Robotic Painting Application

Automatic Trajectory Generation for Robotic Painting Applica...

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ISR 2010 (41st international Symposium on Robotics) and ROBOTIK 2010 (6th German conference on Robotics)

作者： Xiongzi Li Oeyvind A. Landsnes Heping Chen - Sudarshan M-V Thomas A. Fuhlbrigge Mary-Ann Rege ABB / USCRC Windsor CT USA ABB / NOATM Bryne Norway ABB / INCRC Bangalore India

ISBN: (纸本)9783800732739

Spray Painting is an important application in industrial robotics. Today’s programming for spray gun’s trajectory is mainly done by manually teaching and touching-up. In order to minimize the cycle time and paint waste, it is critical to automate and optimize the trajectory generation. The paper presents the project that ABB has recently accomplished to achieve the goal of automatic path generation. The tasks in the project are: 1. Given the CAD model of the part to be painted, typically a car body, separate the surface into several panels. 2. Generate trajectory on each panel. CAD model processing includes the following steps: mesh CAD model, separate the part by data structure and natural gaps in CAD data, filter smaller parts, partition parts using clipping planes or by user defined poly-line curves, group small parts into panels. CAD model could have several layers, could have many details that are not important for painting - such as door knob, lights, gas tank cover, license plate, etc. these all need to be considered in the CAD model process. One of the critical techniques to handle the CAD model is to calculate the minimum volume bounding box of the part to be painted. steps in trajectory generation are: select a panel, define the parameters, generate path. There may be holes in the surface which need to be considered. The parameters include: path direction, starting corner, path offset, path pitch size, acceleration distance, deceleration distance, trigger on distance, trigger off distance, etc. Regular style and special painting style (stay-On) are handled in the project. The project will handle the CAD model and generate the trajectory in ABB’s offline programming and simulation software robotstudio. Easy-to-use aspect for user interaction is also addressed in this project. Some of the screens are captured and showed below.

关键词： Solid modeling Design automation Painting Trajectory robots Computational modeling

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Grammatical Evolution of a Robot Controller

Grammatical Evolution of a Robot Controller

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IEEE RSJ international conference on Intelligent robots and Systems

作者： Burbidge, Robert Walker, Joanne H. Wilson, Myra S. Aberystwyth Univ Dept Comp Sci Aberystwyth SY23 3DB Dyfed Wales

ISBN: (纸本)9781424438037

An autonomous mobile robot requires an onboard controller that allows it to perform its tasks for long periods in isolation. One possibility is for the robot to adapt to its environment using some form of artificial intelligence. Evolutionary techniques such as genetic programming (GP) offer the possibility of automatically programming the controller based on the robot's experience of the world. Grammatical evolution (GE) is a recent evolutionary algorithm that has been successfully applied to various problems, particularly those for which GP has been successful. We present a method for applying GE to autonomous robot control and evaluate it in simulation for the Khepera robot.

关键词： Genetic programming

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TRAINING PRACTICAL CONTROL SKILLS IN ROBOT DESIGN PROJECT

TRAINING PRACTICAL CONTROL SKILLS IN ROBOT DESIGN PROJECT

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international IEEE conference Devoted to the 150-Anniversary of Alexander S Popov

作者： Friesel, Anna Univ Copenhagen Coll Engn Dept Elect Ballerup Denmark

ISBN: (纸本)9781424439676

In today's industry and trade, there is an increasing demand for engineers who don't just have excellent competence in their field of specialization but also a good understanding and practical experience in working with engineering projects, and working as members of a team. These subjects are usually not adequately addressed in engineering degree programs. This paper describes our experience in teaching Control Theory as part of a robot design project. The disciplines like microprocessors, programming, digital and analogue electronics, mathematical modeling and simulation are also the elements of this course. Designing and building a small autonomous robot is also the motivating factor to learn mathematical control theory. The pass rate compared to the classical control theory courses increased from 60-70% to 85-95%.

关键词： Mobile robots Control Theory Undergraduate Education Projects Teamwork

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