this paper summarizes our on-going efforts to design adaptive assist-as-needed impedance controllers for ankle rehabilitation. Two robot assistance control strategies were evaluated: the first one attempted to normali...
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ISBN:
(纸本)9781479931262
this paper summarizes our on-going efforts to design adaptive assist-as-needed impedance controllers for ankle rehabilitation. Two robot assistance control strategies were evaluated: the first one attempted to normalize the combined robot and patient impedance via a complementary robot stiffness based on the estimate of the patient's stiffness and the second one searched for an optimal solution that minimized a cost function relating the rehabilitation goal and the interaction between patient and robot. For both strategies, the robot level of assistance was adapted based on patient's performance on distinct video games (serious games). Preliminary experimental results, employing the Anklebot in one stroke patient, confirmed the feasibility of the proposed control schemes in helping the subject to complete the tasks with optimal assistance from robot.
this paper presents an approach to the formal verification of safety properties of the behaviour-based control network of the mobile outdoor robot RAYON. In particular, we consider behaviours that are used for the com...
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this paper presents an approach to the formal verification of safety properties of the behaviour-based control network of the mobile outdoor robot RAYON. In particular, we consider behaviours that are used for the computation of the projected vehicle's velocity from obstacle proximity sensor data and inclination information. We describe how this group of behaviours is implemented in the synchronous language Quartz in order to be formally verified using model checking techniques of the Averest verification framework. Moreover, by integrating the automatically generated and verified code into the behaviour network, it can be guaranteed that the robot slows down and stops as required by the given safety specifications.
In this paper, we focus on the problem of optimally placing a mixture of static and PTZ cameras based on the resolution requirement, this configuration will be useful later cameras planning. the static cameras used fo...
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ISBN:
(纸本)9789897580390
In this paper, we focus on the problem of optimally placing a mixture of static and PTZ cameras based on the resolution requirement, this configuration will be useful later cameras planning. the static cameras used for detecting an object or an event, this result is used to select the best PTZ camera within the network to identify or recognize this moving object or event. In our work the monitoring area is represented by a grid of points distributed uniformly or randomly (S. thrun, 2002), then using surface-projected monitoring area and camera sensing model we develop a binary integer programming algorithm. the results of the algorithm are applied successfully to a variety of simulated scenarios.
this article briefly summarizes the theory of chaos and its applications. Firstly, we begin by describing chaos as an aperiodic bounded deterministic motion, which is sensitive to initial states and therefore unpredic...
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Robot applied in medical area is an important research field of special type robot. this paper first introduces the development of robot applied in medical area, and proposes the architecture of Robot Assistant Micros...
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this paper presents a unified framework for online visual perception. the twin problems of visual feature extraction and representation are explicitly addressed. Simple paradigms for supervised and unsupervised featur...
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ISBN:
(纸本)9781424403417
this paper presents a unified framework for online visual perception. the twin problems of visual feature extraction and representation are explicitly addressed. Simple paradigms for supervised and unsupervised feature extraction are presented to represent the extremes in visual perception system design. Visual feature representation is addressed through a combination of Isomap, a non-linear dimensionality reduction algorithm, and Expectation Maximization (EM), a statistical learning scheme. A joint probability distribution of this representation is computed offline based on existing training data. Example applications based on real visual data from heterogenous, unstructured environments demonstrate the versatility of the generative models.
Many are the challenges that make robotic manipulation of deformable objects such a complex task. For example, to properly plan and execute a control action, a robot needs to understand how external forces will modify...
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ISBN:
(纸本)9781665408288
Many are the challenges that make robotic manipulation of deformable objects such a complex task. For example, to properly plan and execute a control action, a robot needs to understand how external forces will modify the deformation states of the object. Creating such an internal representation is even more complex in the typical situation where the robot is interacting for the first time withthe object. In this paper, we look at this challenge when controlling the deformation states of a planar and slender object. Leveraging soft robots' modelling and control, we show that the only non-geometrical information needed to perform this task is the stiffness distribution. We thus propose a strategy to learn this function from a single interaction withthe object, testing it experimentally. We then propose a closed-loop controller that exploits this learned information to perform the manipulation task and test it with simulations.
the proceedings contain 34 papers. the topics discussed include: robot human synchronization for musical ensemble: progress and challenges;optimal task allocation in human-robotic assembly processes;3-D positioning sy...
ISBN:
(纸本)9781728189819
the proceedings contain 34 papers. the topics discussed include: robot human synchronization for musical ensemble: progress and challenges;optimal task allocation in human-robotic assembly processes;3-D positioning system based QR code and monocular vision;towards closing the sim-to-real gap in collaborative multi-robot deep reinforcement learning;interactive learning of mobile robots kinematics using ARCore;radar detection rate comparison through a mobile robot platform at the ZalaZONE proving ground;efficient path planning and real-time obstacle avoidance for mobile robots;and knowledge acquisition and reasoning systems for service robots: a short review of the state of the art.
this paper introduces a tendon-driven continuum mechanism platform for research on design, modeling, state estimation, and control of this challenging robotic component envisioned as highly versatile and mechanically ...
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ISBN:
(纸本)9781665408288
this paper introduces a tendon-driven continuum mechanism platform for research on design, modeling, state estimation, and control of this challenging robotic component envisioned as highly versatile and mechanically robust joint for future robotic systems. To propel the corresponding research areas, a common platform is presented for benchmarking and transferability of results, approaches, and designs among different research groups. the proposed mechanical design including all components is open source, whereas electronics and actuation are off-the-shelf. Research groups are enabled to build up their own system as all relevant CAD-files and assembly instructions are made accessible through Github. Withthat, a fundamental goal in research is achieved and will push continuum joints towards real application scenarios for future soft robots.
the implementation of a distributed control algorithm for the safe flight of Unmanned Aerial Vehicles (UAVs) in traffic conditions in an embedded processor unit is presented. Details on the implementation are given. T...
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