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检索条件"任意字段=5th International Conference on Robotics and Automation Systems, Robotics 2010"

共 1355 条记录，以下是1291-1300 订阅

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A humanoid behavior modification system by monitoring & evaluating causality between sensors & actions

A humanoid behavior modification system by monitoring & eval...

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IEEE-RAS international conference on Humanoid Robots

作者： T. Yoshikai I. Mizuuchi M. Inaba Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

the idea of automatic behavior modification that runs in parallel with the main behavior generation system is important in order to adapt to many unexpected changes that robots are exposed. Against some of the unexpected changes, robots have to decide whether they stop doing the current task and search for the changes or ignore the changes. By monitoring causality between their sensors & actions while doing the current behavior, robots can expect which sensors are to change in the current behavior. therefore, they can evaluate how unexpected the changes are. this paper proposes a method to modify robots' behaviors automatically when the unexpected sensor changes happened. For realizing such system, we developed the mechanism for learning the connection strength between sensors and actions by monitoring their synchronous changes during current behavior & evaluating how unexpected the changes of each sensors are. Furthermore, simple behavior modification experiments using real humanoid are shown for the confirmation of the feasibility of the proposed system

关键词： Sensor systems Robot sensing systems robotics and automation Computerized monitoring Data mining System identification Humanoid robots Parallel robots Humans Programming profession

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A vision/position/force control approach for performing assembly tasks with a humanoid robot

A vision/position/force control approach for performing asse...

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IEEE-RAS international conference on Humanoid Robots

作者： P. Dauchez P. Fraisse F. Pierrot LESIA/INSA Toulouse-EA 1687 du MENESR France LIRMM UMR 5506 CNRS/Université Montpellier II Montpellier France

Humanoid robots are currently widely studied because of the many future applications they could be used for. Many researchers are working on the locomotion aspects. We are more interested in dual-arm manipulation tasks, because of our long experience on this topic. In this paper, we consider the task consisting in assembling two objects, each of them being held by one of the humanoid arms, as human beings often do. In this framework, we briefly recall methods that we have developed in the past for (i) hybrid position/force control of a two-arm robot and (ii) relative positioning of the end-effectors of two manipulators. We propose to combine these approaches with a solution using the vision system of the humanoid in order to fully automatize the assembly task. Tests have successfully been performed with the OpenHRP simulator of the HRP2 humanoid but they only represent preliminary work. therefore, this short paper should be considered as an introduction to the research activities we would like to focus on in the future

关键词： Force control Robotic assembly Humanoid robots Arm Humans robotics and automation Manipulators Machine vision Assembly systems Testing

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Biped gait optimization using estimation of distribution algorithm

Biped gait optimization using estimation of distribution alg...

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IEEE-RAS international conference on Humanoid Robots

作者： Lingyun Hu Changjiu Zhou Zengqi Sun Department of Computer Science and Technology Tsinghua University Beijing China School of Electrical and Electronic Engineering Singapore polytechnics Singapore

ISBN: (纸本)0780393201

this paper proposes a new biped gait optimization method based on estimation of distribution algorithm (EDA). It is able to explicitly extract global statistical information from the selected solutions and build a posterior probability distribution model of promising solutions based on the extracted information. Biped gait for a nine-link robot is firstly formulated as a multiobjective optimization problem with consideration of multiconstraints including balance and torque. Optimization parameters are angles at transition poses. Instead of searching the joint space directly, EDA is applied to estimate the probability distribution of each joint degree. By this means, inherent mapping relationship between joint coordinates and cost function can be described in term of probability density. Compared to common intelligent learning method, the proposed optimization method can formulate a proper and feasible combination of impulses by tuning less parameters and visiting less states. the effectiveness of the proposed EDA based biped gait optimization method has been tested on a soccer-playing humanoid robot named Robo-Erectus. Experiment results demonstrate that the learned trajectory makes a good balance between stability and energy cost in short learning epochs

关键词： Optimization methods Electronic design automation and methodology Data mining Probability distribution Robot kinematics Orbital robotics Torque Cost function Intelligent robots Learning systems

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Swing leg retraction helps biped walking stability

Swing leg retraction helps biped walking stability

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IEEE-RAS international conference on Humanoid Robots

作者： M. Wisse C.G. Atkeson D.K. Kloimwieder Delft University of Technnology Netherlands Carnegie Mellon University USA

In human walking, the swing leg moves backward just prior to ground contact, i.e. the relative angle between the thighs is decreasing. We hypothesized that this swing leg retraction may have a positive effect on gait stability, because similar effects have been reported in passive dynamic walking models, in running models, and in robot juggling. For this study, we use a simple inverted pendulum model for the stance leg. the swing leg is assumed to accurately follow a time-based trajectory. the model walks down a shallow slope for energy input which is balanced by the impact losses at heel strike. With this model we show that a mild retraction speed indeed improves stability, while gaits without a retraction phase (the swing leg keeps moving forward) are consistently unstable. By walking with shorter steps or on a steeper slope, the range of stable retraction speeds increases, suggesting a better robustness. the conclusions of this paper are therefore two-fold; (1) use a mild swing leg retraction speed for better stability, and (2) walking faster is easier

关键词： Leg Legged locomotion Stability Humans robotics and automation Robots thigh Robustness Foot Biomechanics

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Proposal of a viable commercial space infrastructure scenario introducing robotic vehicles in an earth orbit environment and its interfaces to the SPS-programme

Proposal of a viable commercial space infrastructure scenari...

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4th international conference on Solar Power from Space (SPS 04)/5th international conference on Wireless Power Transmission (WPT 5)

作者： Dittmann, R Sommer, B German Aerospace Centre Space Management General Technologies and Robotics Germany

ISBN: (纸本)9290928786

the German Space Programme with respect to automation and robotics (A&R) is focussing on the development of on-orbit-servicing (OOS) technologies and the demonstration of their capabilities. the utilization of OOS-technologies could gradually lead to a complete restructuring of the way how we usually do space today. the proposed future infrastructure scenario VERSICA (VERsatile Space Infrastructure Concept for Applications in space) encloses many elements which are inevitable if it comes to the mounting and the operation of huge solar power plants in space. As a consequence the realization of the vision will come along with the qualification and verification of key technologies needed for any SPS infrastructure concept. Vice versa a profound SPS scenario will be a major driver for the requirements which future OOS elements will have to meet. On that score it is recommended to start a dialog between the supporters of SPS and OOS technologies. thus the inherent synergies can be utilized to better meet the respective objectives.

关键词： Space research

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Mining telerobotics for underground and open pit: An implementation progress report

Mining telerobotics for underground and open pit: An impleme...

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2nd international Meeting on Ironmaking and 1st international Symposium on Iron Ore and Parallel Event- 5th Japan-Brazil Symposium on Dust Processing-Energy-Environment on Metallurgical Industries

作者： Baiden, Greg Ironmaking and Iron Ore Conference ABM - Associação Brasileira de Metalurgia e Materiais

ISBN: (纸本)8586778753

Telerobotics focused on mining is currently being introduced into production systems around the world. Mining companies in Canada, Sweden, South Africa and Australia have tended to lead the international charge to this form of technology for the mining of underground and open pit operations. While this introduction is taking place a few basic questions have yet to be answered. How many machines can a single operator run? How many types of machines can a single operator run? A new Canadian Research Chair in robotics and Mine automation has been established at Laurentian University. this chair will investigate these questions and many more through a series of experiments in a newly established telerobotics laboratory that connects Laurentian teleoperation workstations to model mining machines at Cambrian college's eDome. the laboratory will support many experiments allowing researchers to physically run multiple robot scenarios differing the numbers and types of machines at one/quarter scale. Further experiments are being designed to investigate the potential for managing time delays in telerobotics. this paper reviews the state-of-art in the field and describes the laboratory, experiments and some preliminary results achieved to date.

关键词： robotics

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Semi-autonomous control of the GOAT robot using levels of autonomy

Semi-autonomous control of the GOAT robot using levels of au...

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10th international conference on robotics and Remote systems for Hazardous Environments

作者： Moorehead, Stewart J. Pac. Northwest National Laboratory MS K5-22 902 Battelle Blvd Richland WA 99353

Current autonomous control techniques are not robust enough to allow successful robot operation, at all times, in challenging environments. Teleoperation can help with many tasks but causes operator fatigue and negates much of the economic advantages of using robots by requiring one person per robot. this paper presents a semi-autonomous control scheme called Levels of Autonomy which allows control to be shared between robot and remote user in different amounts throughout a mission. the Levels of Autonomy controller is implemented on the mobile robot GOAT and the results of demonstration tests both indoors and out are presented. A discussion of how Levels of Autonomy can be applied to problems of nuclear inspection and cleanup is also provided.

关键词： robotics

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Development of a remotely controllable parallel robotic end-effector

Development of a remotely controllable parallel robotic end-...

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10th international conference on robotics and Remote systems for Hazardous Environments

作者： Xi, Fengfeng Wang, Lihui Department of Aerospace Engineering Ryerson University Toronto Ont. M5B 2K3 Canada Intgd. Mfg. Technologies Institute National Research Council of Canada London Ont. N6G 4X8 Canada

this paper presents the work on the development of a remotely controllable parallel end-effector. this end-effector is designed as a tripod that can be attached to a variety of machines for different applications. A web-based remote monitoring and control system has been developed for this tripod. the main difference of this system from the existing web-based or internet-based remote systems is the way to view the motion of the machine from a remote site. Instead of using a camera for monitoring, the tripod is modeled using Java 3D with behavioral control nodes embedded. Compared with the camera-based solution, network traffic is largely reduced, thereby making real-time monitoring and control practical on the web. Once downloaded from its server, the 3D model at client-side behaves in the same way as the counterpart. It remains alive by connecting to the tripod through message passing, e.g. sensor signals and control commands transmissions.

关键词： robotics

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A distributed route planning method for multiple mobile robots using Lagrangian decomposition technique

A distributed route planning method for multiple mobile robo...

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20th IEEE international conference on robotics and automation (ICRA)

作者： Nishi, T Ando, M Konishi, M Imai, J Okayama Univ Dept Elect & Elect Engn Okayama Japan

ISBN: (纸本)0780377362

For the transportation in semiconductor fabricating bay, route planning of multiple AGVs(Automated Guided Vehicles) is expected to minimize the total transportation time without collision and deadlock among AGVs. In this paper, we propose a distributed route planning method for multiple mobile robots using Lagrangian decomposition technique. the proposed method has a characteristic that each mobile robot individually creates a near optimal route through the repetitive data exchange among the AGVs and the local optimization of its route using Dijkstra's algorithm. the proposed method is successively applied to transportation route planning problem in semiconductor fabricating bay. the optimality of the solution generated by the proposed method is evaluated by using the duality gap derived by using Lagrangian relaxation method. A near optimal solution within 5% of duality gap for a large scale transportation system consisting of 143 nodes and 15 AGVs can be obtained only within five seconds of computation time. the proposed method is implemented on 3 AGVs system and the route plan is derived taking the size of AGV into account. It is experimentally shown that the proposed method can be found to be effective for various types of problems despite the fact that each route for AGV is created without considering the entire objective function.

关键词： distributed autonomous robotics systems multiple mobile robots route planning semiconductor fabricating bay

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A random loop generator for planning the motions of closed kinematic chains using PRM methods

A random loop generator for planning the motions of closed k...

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19th IEEE international conference on robotics and automation (ICRA)

作者： Cortés, J Siméon, T Laumond, JP CNRS LAAS F-31077 Toulouse France

ISBN: (纸本)0780372727

Closed kinematic chains in mechanical systems represent a challenge for their motion analysis, and therefore, for path planning. Closed mechanisms appear in different areas where path planning algorithms am applied. We propose a method to handle them within Probabilistic RoadMap (PRM) techniques. this method is an extension of the approach proposed in [5]. Our main contribution concerns the generation of random configurations. the structure of the mechanism is analyzed in a preprocessing step. then, in the roadmap construction phase, an algorithm called Random Loop Generator uses data from this analysis. this algorithm increases the probability of randomly generating valid configurations of the closed mechanism. Experimental results demonstrate the efficiency of the approach.

关键词： robotics

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