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检索条件"任意字段=4th International Conference on Robotics and Control Engineering, RobCE 2024"

共 3758 条记录，以下是3621-3630 订阅

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the application of measuring robot based on the measurement dynamic measurement technology at high-pressure line patrol

The application of measuring robot based on the measurement ...

引用

4th international conference on Modelling,Identification and control(ICMIC 2012)

作者： Xi Chunmiao control and Computer engineering, North China Electric Power University, Beijing, 102206, China

Obstacle detection and identification and positioning one of the key technologies in the application of high voltage transmission line inspection *** structural characteristics of the 500kV transmission line, the robot of the obstacle detection and identification technique based on dynamic measurement *** the use of Fourier calculations, to reduce the measuring robot within the millisecond precision of the calculation, but also to improve the detection accuracy, while the structure of the robot is *** inspection robot can greatly improve the accuracy of the measurements used in high-voltage network, increase the security of the grid.

关键词： Dynamic measurement, robotics, Inspection, Tr ansmission lines

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Gait-controlled Mobility-aid Robot: Treadmill Motor Current Based Anteroposterior Force Estimation Using Frictional Model Reflects Characteristics of Ground Reaction Force

Gait-controlled Mobility-aid Robot: Treadmill Motor Current ...

引用

IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Yasutaka Nakashima Takeshi Ando Yo Kobayashi Masakatsu G. Fujie Graduate School of Advanced Science and Engineering Waseda University Dept. of Robotics & Design for Innovative Healthcare (Panasonic) Graduate School of Medicine Osaka University Faculty of Science and Engineering Waseda University

ISBN: (纸本)9781457711992

We have been developing a new mobility-aid robotic vehicle, "Tread-Walk 2 (TW-2)", which supports walking for the elderly. TW-2 is controlled by the natural walking movement, especially using ground reaction force during gait. In our previous work, we tried to estimate the user's anteroposterior force from the motor current value without a force sensor. But, a user of this vehicle experienced some discomfort both when he started walking and when he stopped walking. this problem is caused by inaccurate estimation of the user's anteroposterior force at the heel contact and the toe off. the estimation of the user's anteroposterior force is greatly related to inaccurate estimation of the vertical component of the ground reaction force, which is approximated by the square waveform in the stance phase. In this paper, we proposed the new approximation that reflects the characteristics of the ground reaction force during the human gait. this paper describes the novel method to approximate the waveforms of the vertical forces as isosceles trapezoidal waves. By comparing the estimated anteroposterior force using the new method with the measured value using the force plate, for two young subjects whose physical characteristics were different, the waveform pattern of the estimated force was found to be similar to that of the measured force. this showed that the proposed method could possibly be useful for accurate estimation of anteroposterior force. the technology to estimate the user's anteroposterior force accurately is a key to construct a control algorithm to improve the operability of TW-2.

关键词： ground reaction force Force walking motor current force plate force sensors Consumers friction force model Computer algorithms SQUARE WAVE Locomotion

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Terminal Sliding Mode control of Mobile Wheeled Inverted Pendulum

Terminal Sliding Mode Control of Mobile Wheeled Inverted Pen...

引用

4th international conference on Modelling,Identification and control(ICMIC 2012)

作者： Lifei Mao, Jian Huang, Feng Ding and Yongji Wang are with the Department of control Science & engineering, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P.R. China.

the mobile wheeled inverted pendulum is widely used in many robotic applications and also paid attention by theorists due to its essentially unstable. the equilibrium control and velocity control of a mobile wheeled inverted pendulum are discussed in this paper. Based on the three-dimensional (3D) dynamic model of this underactuated system running on the flat ground derived by Lagrange's motion equation, a terminal sliding mode control (TSMC) is proposed to ensure the underactuated system can be self-balanced and variables converge to desired states. By using the proposed controller, the system can stay at the equilibrium or track a given yaw angle. Numerical simulations are provided to verify and illustrate the effectiveness of the proposed model and controllers.

关键词： Terminal sliding mode control (TSMC), motion control, mobile wheeled inverted pendulum (MWIP)

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Implementation of VisionAlgorithm for SRV-1 Mobile Robot

Implementation of VisionAlgorithm for SRV-1 Mobile Robot

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4th international conference on Modelling,Identification and control(ICMIC 2012)

作者： Emam Fathy Khaled El-Metwally A.R.Hanafy Arab Academy for Science and Technology and Maritime Transport Heliopolis Cairo 2033 Egypt Dept. of Electrical Power Eng. Cairo University Giza 12211 Egypt Dept. of Electrical Power Eng. Cairo UniversityGiza 12211 Egypt

the latest research in the field of autonomous robotics is focused on the development of novel principles and approaches to address the process of adaptation and evolution in multi-robotic systems. To achieve the task, every individual robot is required to have the ability to interact with the environment, with other robots and to keep on localizing itself. In this research, an vision based obstacle avoidance approach, to provide the concrete base for localizing the individual robots in multi-robotic environment, is addressed. the development of this vision algorithm is based on the library of basic vision algorithms which is developed in this research for the vision system based on Blackfin BF537 processor. the computer vision system is also, useful in several applications of autonomous vehicles, such as map generation, obstacle avoidance tasks, positioning tasks and target tracking. Furthermore, computer vision can provide a significant gain in reliability, versatility and accuracy of robotic tasks, which are important concerns in most applications.

关键词： Optical flow, Horn–Schunck, Mobile robot, SRV-1.

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Sliding Mode control of a Cable-driven Robot via Double-Integrator Sliding Surface

Sliding Mode Control of a Cable-driven Robot via Double-Inte...

引用

2012 4th international conference on Education Technology and Computer(ICETC 2012)

作者： Alireza Alikhani Mehdi Vali Aerospace Research Institute Tehran Iran Faculty of Engineering University of Kashan Kashan Iran

In this paper, robust control of a large cable-driven robot is presented (LCDR). In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motions. the mechanism has potentials for large scale manipulation and robotics in harsh environments. In this case study, sliding mode control via double integrator sliding surface is presented for tracking control of the robot against inevitable uncertainties. Double-integral sliding mode surface (PIID) is introduced to sliding mode controller to suppress the steady stated error in comparison with traditional one. Moreover, there is a common constraint on a LCDR making control problem more challenging. Since cables can only pull the end-effector, control algorithm must ensure all cable tensions are always positive. the asymptotic stability and robustness of the derived control law is proved using direct method of Lyapunov. Finally, the effectiveness of the proposed robust control scheme is demonstrated through simulations.

关键词： Robustness, sliding mode control, PIID sliding surface, cable-driven robot.

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An Overview of the Simultaneous Localization and Mapping on Mobile Robot

An Overview of the Simultaneous Localization and Mapping on ...

引用

4th international conference on Modelling,Identification and control(ICMIC 2012)

作者： Jie Li is with the engineering Research Center of Metallurgical Automation and Measurement Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan, 430081, China Lei Cheng is with the engineering Research Center of Metallurgical Automation and Measurement Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan, 430081, China the control engineering Open Lab of Key Subjects of Henan Province, Jiaozuo, China Huaiyu Wu, Ling Xiong and Dongmei Wang are with the engineering Research Center of Metallurgical Automation and Measurement Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan, 430081, China.

Localization and map building of mobile robots is a fundamental and important problem in research on robotics. this paper comprehensively surveyed the simultaneous localization and mapping (SLAM) of robot under the unknown environment. the researches of mobile robot SLAM all of the world in recent years are summarized and analyzed. the basic idea of the SLAM and the characteristics and categories of the map representation and self-location based on probability theory are detailedly analyzed and described in this paper. At the same time, the characteristics and limitations of the various research methods for SLAM are pointed out, and two typical implementing mechanisms of the SLAM are introduced.

关键词： SLAM the mobile robot Self-localization EKF FastSLAM

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Robust Bipedal Walking with Variable Leg Stiffness

Robust Bipedal Walking with Variable Leg Stiffness

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： L. C. Visser S. Stramigioli R. Carloni MIRA Institute Department of Electrical Engineering University of Twente

ISBN: (纸本)9781457711992

the bipedal spring-mass model embodies important characteristics of human walking, and therefore serves as an important starting point in studying human-like walking for robots. In this paper, we propose to extend the bipedal spring-mass model with variable leg stiffness and exploit the potential of this model in order to mimic the human capability to continuously adapt the leg stiffness to different gaits and to overcome disturbances. In particular, we present a control strategy that uses the variable leg stiffness to stabilize the walker to a desired gait, with minimal influence on the natural gait dynamics. Using numerical simulations, it is shown that the proposed control strategy significantly improves the robustness of the walker to external disturbances.

关键词： control strategy Walkers Leg walking stiffness spring mass Gait external disturbance Robot

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Effect of Force Feedback on Performance of robotics-Assisted Suturing

Effect of Force Feedback on Performance of Robotics-Assisted...

引用

IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Ali Talasaz Ana Luisa Trejos Rajni V. Patel CSTAR Lawson Health Research Institute Department of Electrical and Computer Engineering CSTAR the Department of Electrical and Computer Engineering and the Department of Surgery

ISBN: (纸本)9781457711992

this paper is aimed at exploring the effect of force feedback on the performance of a knot-tightening task in robotics-assisted minimally invasive surgery (RAMIS). In this work, we evaluate performance during the knot-tightening task in three scenarios: without force feedback, with visual force feedback and with direct force reflection on the subject's hand. Different performance measures have been implemented: quality of the knot, amount and consistency of the tightening force applied on the suture, user's control of the instrument, tissue damage, and task completion time. Seven subjects participated in this study and were asked to tighten the second throw of surgical knots using a dual arm teleoperation system that is capable of force reflection in 7 Degrees of Freedom (DOFs), 6-DOF rigid body motion plus the gripper. the results show that visual force feedback allows superior performance in the quality of the suture knots with high consistency in the tightening force, while direct force feedback can significantly improve the user's control of the instrument.

关键词： force feedback Force reflection TIGHTENING FORCE Tightening Knots

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Index Finger Rehabilitation/Assistive Device

Index Finger Rehabilitation/Assistive Device

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Andrea Polotto Francesco Modulo Fabio Flumian Zhen Gang Xiao Paolo Boscariol Carlo Menon MENRVA Group School of Engineering Science Simon Fraser University Dipartimento di Ingegneria Elettrica Gestionale e Meccanica Universita degli Studi di Udine

ISBN: (纸本)9781457711992

In this paper, a novel exoskeleton for the index finger is introduced. Such a device is intended to be used for the rehabilitation of post-stroke patients. the target of the design is to produce a device with low weight and reduced space occupation, so that it can be worn without interfering with everyday use of the hand. the actuation is provided using low-cost lightweight miniature DC motors, and position feedback is obtained trough potentiometers. A working prototype has been built and tested. A closed-loop position control with friction compensation has been implemented and experimental results are presented and discussed.

关键词： Index Finger friction compensation position feedback Underweight Position control Rehabilitation potentiometers DC motors

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Implementation of a Human Model for Head Stabilization on a Humanoid Platform

Implementation of a Human Model for Head Stabilization on a ...

引用

IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： P. Kryczka E. Falotico K. Hashimoto H. Lim A. Takanishi C. Laschi P. Dario A. Berthoz Graduate School of Science and Engineering Waseda University Biorobotics Institute Scuola Superiore Sant'Anna Faculty of Science and Engineering Waseda University Faculty of Engineering Kanagawa University Department of Modern Mechanical Engineering Waseda University Humanoid Robotics Institute (HRI) Waseda University LPPA UMR7152 CNRS-College de France

ISBN: (纸本)9781457711992

the neuroscientific research shows that humans tend to stabilize their head orientation, while accomplishing a locomotor task. In order to replicate head movement behaviors found in human walk it is necessary and sufficient to be able to control the orientation (roll, pitch and yaw) of the head in space. the described behaviors can be replicated by giving suitable references to the head orientation. Based on these principles, a model based on an inverse kinematics controller has been designed. In this paper we introduce implementation of the model on a humanoid platform. Along we present results of two sets of experiments performed to verify two aspects of the proposed model. the results prove that the model can be used to efficiently stabilize the head's orientation.

关键词： HEAD ON ORIENTATION Humanoid Head Human YAW Platform

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