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检索条件"任意字段=5th International Conference on Informatics in Control, Automation and Robotics"

共 2300 条记录，以下是181-190 订阅

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Development of a Semi-Rigid Tendon Actuated Limb for robotics Applications 5

Development of a Semi-Rigid Tendon Actuated Limb for Robotic...

引用

5th international conference on robotics and automation Engineering, ICRAE 2020

作者： Nurtay, Bekarys Suranshy, Tomiris Folgheraiter, Michele Nazarbayev University School of Engineering and Digital Sciences Department of Robotics and Mechatronics Nur-Sultan Kazakhstan

ISBN: (纸本)9781728189819

this paper presents the design and modeling of a lightweight tendon actuated robotic limb. the mechanical structure consists of a sequence of four semi-rigid segments realized in thermoplastic polyurethane material and connected through torsional springs. this allows the limb to keep a straight position without the application of forces and facilitates the control of the limb while performing flexion and extension movements. A static model is presented to predict the tension of the tendons in order to reach a defined orientation. Simulations were conducted in a V-REP Python environment to demonstrate the controllability of the limb while performing simple movements and trajectories. © 2020 IEEE.

关键词： Tendons

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Formulations about Dynamics of Mobile Robots

引用

5th international conference on robotics and automation Systems

作者： Negrean, Iuliu Schonstein, Claudiu Kacso, Kalman Negrean, Calin Duca, Adina Tech Univ Cluj Napoca Cluj Napoca Romania

ISBN: (纸本)3908451884

In this paper the dynamics equations for a mobile robot, named PatrolBot, will be developed, using new concepts in advanced mechanics, based on important scientific researches of the main author, concerning the kinetic energy. In keeping the fact that the mathematical models of the mobile platforms are different besides the other robots types, due to nonholonomic constraints, these dynamic control functions, will be computed, according to these restrictions for robot motion.

关键词： robotics advanced mechanics dynamics modeling control

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μAUV² - Development of a Minuscule Autonomous Underwater Vehicle 13

μAUV<SUP>2</SUP> - Development of a Minuscule Autonomous Un...

引用

13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Hanff, Hendrik Schmid, Korbinian Kloss, Philipp Kroffke, Sven DFKI GmbH Robot Innovat Ctr Bremen Robert Hooke Str 1 D-28359 Bremen Germany RoboCept GmbH Kaflerstr 2 D-81241 Munich Germany

ISBN: (纸本)9789897581984

Small sized robotic systems have operational advantages compared to large systems. they can also operate in fields of application where bigger systems would fail. this paper describes the specifications and the design of the autonomous underwater vehicle mu AUV(2). Technical details of the system regarding sensor setup, motorization and computing power are given. Furthermore, we present details about the system identification process and the implemented controller structure. Possible scopes of the mu AUV(2) are underwater exploration, inspection tasks, development and evaluation of algorithms, education and competitions.

关键词： Underwater robotics System Design Miniature robotics System Parameter Identification control of Underwater Robots Robot Development

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Nonlinear Output Feedback for Autonomous U-turn Maneuvers of a Robot in Orchard Headlands 16

Nonlinear Output Feedback for Autonomous U-turn Maneuvers of...

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Le Flecher, E. Durand-Petiteville, A. Gouaisbaut, F. Cadenat, V Sentenac, T. Vougioukas, S. CNRS LAAS 7 Ave Colonel Roche F-31400 Toulouse France Univ Toulouse UPS F-31400 Toulouse France Univ Calif Davis Dept Biol & Agr Engn Davis CA 95616 USA

ISBN: (纸本)9789897583803

this paper is devoted to the navigation of a robot in orchard headlands using embedded sensors such as lasers, Lidars or cameras. the main idea is to consider a differential robot model directly in polar coordinates and not in Cartesian coordinates which makes it possible to obtain simpler expressions of the outputs. then two nonlinear output state feedback controllers are proposed to track two shapes based on spirals allowing to go from one row of fruit trees to another. these controllers are based on an input to output linearization and proved to be very efficient on simulations.

关键词： Mobile robotics Sensor-based Navigation control theory Agricultural robotics Orchards

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A New Neural Network Feature Importance Method: Application to Mobile Robots controllers Gain Tuning 17

A New Neural Network Feature Importance Method: Application ...

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17th international conference on informatics in control, automation and robotics (ICINCO)

作者： Hill, Ashley Lucet, Eric Lenain, Roland CEA LIST Interact Robot Lab F-91191 Gif Sur Yvette France Univ Clermont Auvergne Inrae UR TSCF Ctr Clermont Ferrand F-63178 Aubiere France

ISBN: (纸本)9789897584428

this paper proposes a new approach for feature importance of neural networks and subsequently a methodology using the novel feature importance to determine useful sensor information in high performance controllers, using a trained neural network that predicts the quasi-optimal gain in real time. the neural network is trained using the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) algorithm, in order to lower a given objective function. the important sensor information for robotic control are determined using the described methodology. then a proposed improvement to the tested control law is given, and compared with the neural network's gain prediction method for real time gain tuning. As a results, crucial information about the importance of a given sensory information for robotic control is determined, and shown to improve the performance of existing controllers.

关键词： Machine Learning Neural Network robotics Mobile Robot control theory Gain Tuning Adaptive control Explainable Artificial Intelligence

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Investigation of Non-circular Scanning Trajectories in Robot-based Industrial X-ray Computed Tomography of Multi-material Objects 16

Investigation of Non-circular Scanning Trajectories in Robot...

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Landstorfer, Peter Herl, Gabriel Hiller, Jochen Fraunhofer Applicat Ctr CTMT Dieter Gorlitz Pl 2 D-94469 Deggendorf Germany Deggendorf Inst Technol Dieter Gorlitz Pl 1 D-94469 Deggendorf Germany

ISBN: (纸本)9789897583803

In this work the application of six-axis robots for robot-based industrial X-ray computed tomography (CT) imaging is investigated. In contrast to classical Cartesian manipulators with a turntable used in industrial cone-beam CT, robots offer increased flexibility regarding scanning trajectories. the increased flexibility with respect to scanning trajectories helps to gather highly informative content from alternative ray paths for a high-quality 3D reconstruction of the object to be scanned. Using numerical simulations we show that this additional informations increase the image quality of a CT scan of a multi-material measuring object, consisting of tantalum spheres and a carbon structure.

关键词： X-ray Computed Tomography X-ray Simulation robotics Robot-based Imaging Scanning Trajectory

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A Domain Specific Language for Robot Programming in the Wood Industry A Practical Example 14

A Domain Specific Language for Robot Programming in the Wood...

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14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Jimenez, Victor Juan Exposito Zeiner, Herwig JOANNEUM RES Forsch Gesell MbH DIGITAL Inst Informat & Commun Technol Steyrergasse Graz Austria

ISBN: (纸本)9789897583049

Domain Specific Languages (DSL) are being used in several fields of industry. this paper shows how a DSL can be used in the wood industry, automizing some tasks through the use of robots. In this paper we also implement a syntax to define robot instructions inside a high-level abstraction layer to simplify these instructions and to develop a reliable tool for developers in order to avoid errors and allow for faster development. this paper also covers considerations on how to choose the kind of DSL that best fulfills our requirements and provides an example described in detail.

关键词： Domain Specific Language Functional Programming F# Wood Industry robotics

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A Task Space Approach for Planar Optimal Robot Tube Following 13

A Task Space Approach for Planar Optimal Robot Tube Followin...

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13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Oberherber, Matthias Gattringer, Hubert Mueller, Andreas Schachinger, Michael Johannes Kepler Univ Linz Inst Robot Altenberger Str 69 Linz Austria

ISBN: (纸本)9789897581984

the classical optimal path following problem considers the problem of moving optimally along a predefined geometric path under technological restrictions. In contrast to optimal path following, optimal tube following allows deviations from the initial path within a predefined tube to reduce cost even more. the present paper proposes a modern approach that treats this non-convex problem in task space. this novel method also provides a simple way to derive optimal trajectories within a tube described in terms of polygonal lines. Numerical examples are presented that allow to compare the proposed method to existing joint space approaches.

关键词： robotics Optimal Path Planning Optimal Tube Following Dynamic Modeling Polygonal Paths

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Optimization for Solving Workcell Layouts using Gaussian Penalties for Escaping Local Minima 14

Optimization for Solving Workcell Layouts using Gaussian Pen...

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14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Iversen, thomas Fridolin Ellekilde, Lars-Peter Univ Southern Denmark Maersk McKinney Moller Inst Campusvej 55 DK-5230 Odense M Denmark

ISBN: (纸本)9789897583049

the main contribution of this paper is a method for optimizing the layout of workcells taking into consideration both the reachability of the robot as well as the expected cycle time. To analyse the reachability for systems using sensors to pose estimate objects, the method uses a combination of discrete samples over the space in which objects are located and a manipulability measure based on the determinant of the manipulator Jacobian. To compute the expected cycle time for the robot, the method includes a simulated controller, which is optimized to estimate the performance of the physical robot. For the optimization of the workcell layout the proposed method based on applying Gaussian penalties in local minima is compared to three existing methods for global optimization. For the optimization of the simulated controller three different local methods are compared along with one global.

关键词： Robot Workcell Optimization Optimization Algorithms Industrial robotics

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Methodology for learning visual reactive behaviours in robotics through reinforcement and image-based states

Methodology for learning visual reactive behaviours in robot...

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

作者： Quintia, Pablo Domenech, Jose E. Gamallo, Cristina Regueiro, Carlos V. Univ A Coruna Fac Informat La Coruna 15071 Spain

ISBN: (纸本)9789728865832

this article describes the development of a methodology for the learning of visual and reactive behaviours using reinforcement learning. With the use of artificial vision the environment is perceived in 3D, and it is possible to avoid obstacles that are invisible to other sensors that are more common in mobile robotics. Reinforcement learning reduces the need for intervention in behaviour design, and simplifies its adjustment to the environment, the robot and the task. the designed methodology is intended to be general;thus, in order to change the desired behaviour, only the reinforcement and the filtering of the image need to be changed. For the definition of the reinforcement a laser sensor is used, and for the definition of the states a fixed 3x3 grid is used. the behaviours learned were wall following, object following, corridor following and platform following. Results are presented with a Pioneer 2 AT. A Gazebo 3D simulator was used for the Learning and testing phase, and a test of the wall following behaviour was carried out in a real environment.

关键词： reinforcement learning mobile robotics artificial vision visual reactive behaviours motivation

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