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检索条件"任意字段=3rd International Conference on Informatics in Control, Automation and Robotics"

共 2685 条记录，以下是2311-2320 订阅

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Modeling and optimal trajectory planning of a biped robot using Newton-Euler formulation

Modeling and optimal trajectory planning of a biped robot us...

引用

4th international conference on informatics in control, automation and robotics

作者： Tlalolini, David Aoustin, Yannick Chevallereau, Christine Univ Nantes CNRS Ecole Cent Nantes Inst Rech Commun & Cybernet Nantes F-44321 Nantes France

ISBN: (纸本)9789728865832

The development of an algorithm to achieve optimal cyclic gaits in space for a thirteen-link biped and twelve actuated joints is proposed. The cyclic walking gait is composed of successive single support phases and impulsive impacts with full contact between the sole of the feet and the ground. The evolution of the joints are chosen as spline functions. The parameters to define the spline functions are determined using an optimization under constraints on the dynamic balance, on the ground reactions, on the validity of impact, on the torques and on the joints velocities. The criterion considered is represented by the integral of the torque norm. The algorithm is tested for a biped robot whose numerical walking results are presented.

关键词： 3D biped cyclic walking gait parametric optimization constraints

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Selective image diffusion for oriented pattern extraction

Selective image diffusion for oriented pattern extraction

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4th international conference on informatics in control, automation and robotics

作者： Histace, A. Courboulay, V. Menard, M. ENSEA UCP ETIS UMR CNRS 8051 6 Ave Ponceau F-95014 Cergy France Univ La Rochelle L3i Pole Sci & Technol F-17000 La Rochelle France

ISBN: (纸本)9789728865832

Anisotropic regularization PDE's (Partial Differential Equation) raised a strong interest in the field of image processing. The benefit of PDE-based regularization methods lies in the ability to smooth data in a nonlinear way, allowing the preservation of important image features (contours, corners or other discontinuities). In this article, a selective diffusion approach based on the framework of Extreme Physical Information theory is presented. It is shown that this particular framework leads to a particular regularization PDE which makes it possible integration of prior knowledge within diffusion scheme. As a proof a feasibility, results of oriented pattern extractions are presented on ad hoc images. This approach may find applicability in vision in robotics.

关键词： image diffusion extreme physical information oriented pattern extraction selectivity

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Calibration of quasi-isotropic parallel kinematic machines: Orthoglide

Calibration of quasi-isotropic parallel kinematic machines: ...

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4th international conference on informatics in control, automation and robotics

作者： Pashkevich, Anatoly Gomolitsky, Roman Wenger, Philippe Chablat, Damien Belarusian State Univ Informat & Radioelect Dept Control Syst Robot Lab Minsk 220027 BELARUS Inst Rech Commun & Cybernet Nantes F-44321 Nantes 3 France

ISBN: (纸本)9789728865832

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between the specific test postures and employs a low-cost measuring system composed of standard comparator indicators attached to the universal magnetic stands. They are sequentially used for measuring the deviation of the relevant leg location while the manipulator moves the TCP along the Cartesian axes. Using the measured differences, the developed algorithm estimates the joint offsets and the leg lengths that are treated as the most essential parameters. Validity of the proposed calibration technique is confirmed by the experimental results.

关键词： parallel robots calibration parameter identification error compensation

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X3Director - A front-end for modeling web virtual world navigation and visualization parameters

X3Director - A front-end for modeling web virtual world navi...

引用

4th international conference on informatics in control, automation and robotics

作者： Buttarazzi, Berta Pizziconi, Daniele Univ Roma Tor Vergata Rome Italy

ISBN: (纸本)9789728865832

With the advent of digital communication technologies, a huge quantity of information can be stored and transferred. However, with increased possibility comes increasing complexity. As indicated by the dissatisfaction often experienced by users of information technology, cur-rent systems of accessing, organizing and navigating information are proving insufficient. For this reason, in the Web world, besides new media contents, new technologies for implementing more dynamic and user-friendly interfaces are being developed. Currently, the last step in the evolution of digital technologies for web interface and contents is represented by virtual environments which, despite the appearances, are, in some cases, very accessible and economic. This paper will provide a panorama on the functionalities of language X3D and the identification of the cases in which is possible to use X3Director.

关键词： virtual reality virtual environment interactivity fully immersive viewing systems post-production phase digital technologies

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Concurrent path following and obstacle avoidance control of a unicycle-type robot

Concurrent path following and obstacle avoidance control of ...

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3rd international conference on Advances in Vehicle control and Safety 2007, AVCS 2007 and 3rd international conference on Integrated Modeling and Analysis in Applied control and automation, IMAACA 2007, Held at the IMSM 2007

作者： Lapierre, Lionel Zapata, Rene Jouvencel, Bruno Laboratory for Computer Science Microelectronics and Robotics 161 Rue Ada 34392 Montpellier Cedex 5 France

ISBN: (纸本)9781629934716

This paper proposes an algorithm that drives a unicycle type robot to a desired path, including obstacle avoidance capabilities. The path following control design relies on Lyapunov theory, backstepping technics and deals explicitly with vehicle dynamics. Furthermore, it overcomes initial condition constraint present in a number of path following control strategies described in the literature. This is done by controlling explicitly the rate of progression of a "virtual target" to be tracked along the path;thus bypassing the problems that arise when the position of the path target point is simply defined as the closest point on the path. The obstacle avoidance part is using the Deformable Virtual Zone principle, that defines a safety zone around the vehicle, in which the presence of an obstacle induces an "intrusion of information" that drives the vehicle reaction. The overall algorithm is combined with a guidance solution that embeds the path following requirements in a desired intrusion information function, that steers the vehicle to the desired path while the DVZ is virtually keeping a minimal contact with the obstacle, implicitly bypassing it. Simulation and experimental results illustrate the performance of the control system proposed.

关键词： Vehicles

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Inner and outer approximation of capture basin using interval analysis

Inner and outer approximation of capture basin using interva...

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4th international conference on informatics in control, automation and robotics

作者： Lhommeau, Mehdi Jaulin, Luc Hardouin, Laurent Univ Angers Lab Ingn Syst Automatises 62 Av Notre Dame Lac F-49000 Angers France ENSIETA E3I2 F-29806 Brest 09 France

ISBN: (纸本)9789728865849

This paper proposes a new approach to solve the problem of computing the capture basin C of a target T. The capture basin corresponds to the set of initial states such that the target is reached in finite time before possibly leaving of constrained set. We present an algorithm, based on interval analysis, able to characterize an inner and an outer approximation C- subset of C subset of C+ of the capture basin. The resulting algorithm is illustrated on the Zermelo problem.

关键词： interval analysis viability theory capture basin

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Evolutionary path planning for unmanned aerial vehicles cooperation

Evolutionary path planning for unmanned aerial vehicles coop...

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4th international conference on informatics in control, automation and robotics

作者： Nikolos, Loannis K. Tsourveloudis, Nikos Tech Univ Crete Intelligent Syst & Robot Lab Khania Greece

ISBN: (纸本)9789728865832

We suggest an evolutionary based off-line/on-line path planner for cooperating Unmanned Aerial Vehicles (UAVs) that takes into account the environment characteristics and the flight envelope and mission constraints of the cooperating UAVs. The scenario under consideration is the following: a number of UAVs are launched from the same or different known initial locations. The main issue is to produce 3-D trajectories that ensure a collision free operation with respect to mission constraints. The path planner produces curved routes that are represented by 3-D B-Spline curves. Two types of planner are discussed: The off-line planner generates collision free paths in environments with known characteristics and flight restrictions. The on-line planner, which is based on the off-line one, generates collision free paths in unknown static environments, by using acquired information from the UAV's on-board sensors. This information is exchanged between the cooperating UAVs in order to maximize the knowledge of the environment. Both off-line and on-line path planning problems are formulated as optimization problems, with a Differential Evolution algorithm to serve as the optimizer.

关键词： 3-D path planning evolutionary algorithms navigation UAV cooperation B-splines

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Estimation of camera 3D-position to minimize occlusions

Estimation of camera 3D-position to minimize occlusions

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4th international conference on informatics in control, automation and robotics

作者： Gil, Pablo Torres, Fernando Reinoso, Oscar Univ Alicante Dept Phys Syst Engn & Signal Theory Crta San Vicente S-N E-03080 Alicante Spain Miguel Hernandez Univ Dept Ind Syst Engn Elche Spain

ISBN: (纸本)9789728865832

Occlusions are almost always seen as undesirable singularities that pose difficult challenges to recognition processes of objects which have to be manipulated by a robot. Often, the occlusions are perceived because the viewpoint with which a scene is observed is not adapted. In this paper, a strategy to determine the location, orientation and position, more suitable so that a camera has the best viewpoint to capture a scene composed by several objects is presented. The estimation for the best location of the camera is based on minimizing the zones of occlusion by the analysis of a virtual image sequence in which is represented the virtual projection of the objects. These virtual projections represent the images as if they were captured by a camera with different viewpoints without moving it.

关键词： occlusions camera viewpoint camera pose segmentation

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Teleoperation of collaborative mobile robots with force feedback over internet

Teleoperation of collaborative mobile robots with force feed...

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4th international conference on informatics in control, automation and robotics

作者： Petrovic, Ivan Babic, Josip Budisic, Marko Univ Zagreb Fac Elect Engn & Comp Unska 3 Zagreb Croatia Koncar Inst Elect Engn Zagreb Croatia Univ Calif Santa Barbara Dept Mech Engn Santa Barbara CA 93106 USA

ISBN: (纸本)9789728865832

A teleoperation system has been developed that enables two human operators to safely control two collaborative mobile robots in unknown and dynamic environments from any two PCs connected to the Internet by installing developed client program on them and by using simple force feedback joysticks. On the graphical user interfaces, the operators receive images forwarded by the cameras mounted on the robots, and on the the joysticks they feet forces forwarded by developed obstacle prevention algorithm based on the dynamic window approach. The amount and direction of the forces they feel on their hands depend on the distance and direction to the robot's closest obstacle, which can also be the collaborating robot. To overcome the instability caused by the unknown and varying time delay an event-based teleoperation method is employed to synchronize actions of each robot with commands from its operator. Through experimental investigation it is confirmed that developed teleoperation system enables the operators to successfully accomplish collaborative tasks in complex environments.

关键词： teleoperation mobile robots force feedback

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Active 3D recognition system based on Fourier descriptors

Active 3D recognition system based on Fourier descriptors

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4th international conference on informatics in control, automation and robotics

作者： Gonzalez, E. Feliu, V. Adan, A. Sanchez, Luis Univ Castilla La Mancha HTS Ind Engn Ave Camilo Jose Cela S-N E-13071 Ciudad Real Spain Univ Castilla La Mancha Higher Sch Informat E-13071 Ciudad Real Spain Univ Castilla La Mancha UE Tech Ind Engn Toledo 45071 Spain

ISBN: (纸本)9789728865832

This paper presents a new 3D object recognition/pose strategy based on reduced sets of Fourier descriptors on silhouettes. The method consists of two parts. First, an off-line process calculates and stores a clustered Fourier descriptors database corresponding to the silhouettes of the synthetic model of the object viewed from multiple viewpoints. Next, an on-line process solves the recognition/pose problem for an object that is sensed by a real camera placed at the end of a robotic arm. The method avoids ambiguity problems (object symmetries or similar projections belonging to different objects) and erroneous results by taking additional views which are selected through an original next best view (NBV) algorithm. The method provides, in very reduced computation time, the object identification and pose of the object. A validation test of this method has been carried out in our lab yielding excellent results.

关键词： active recognition system next best view silhouette shape Fourier descriptors

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