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检索条件"任意字段=9th International Conference on Informatics in Control Automation and Robotics, ICINCO 2012"

共 366 条记录，以下是311-320 订阅

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Reliable control of a quadruped walking robot in uneven terrain environment based on noninvasive brain-computer interface

Reliable control of a quadruped walking robot in uneven terr...

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Jia, Wenchuan Pu, Huayan Luo, Xin Chen, Xuedong Huang, Dandan Bai, Ou School of Mechatronic Engineering and Automation Shanghai University Shanghai China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan China EEG and BCI Laboratory Department of Biomedical Engineering Virginia Commonwealth University Richmond VA United States

ISBN: (纸本)9781467312776

In this paper, a novel control architecture and strategies, involving noninvasive brain-computer interface (BCI), are presented, and a virtual prototype of quadruped walking robot, named QWR-I, is developed for simulation of navigation behaviors of the BCI-based robot. the BCI can provide limited patterns of user's intention based on EEG signals, following user's motor imagination. the proposed control architecture, dealing with both robot's autonomous planning and user's decision acquired from BCI, is elaborated. To achieve efficient navigation in uneven terrain environment where the robot is located, three control modes are proposed, taking trade-off between robot's autonomy and user's flexibility. Movement efficiency is priority in relatively even terrain by strolling mode, while safety is considered more in uneven terrain by terrain mode. the coding protocols, which semantically represent the same set of BCI signals with different meanings according to the situated control mode of the robot, and switching strategies between different modes are elucidated. To satisfy the user's intention of desired path to destination to greatest extent possible on the premise of walking stability, cooperative control strategy based on centroid stability margin while the robot walks is presented. © 2012 IEEE.

关键词： Brain computer interface

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Manufacturing algebra. Part II: Aggregation, control and simulation

Manufacturing algebra. Part II: Aggregation, control and sim...

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Canuto, Enrico De Maddis, Manuela Dipartimento di Automatica e Informatica Politecnico di Torino Torino 11029 Italy Dipartimento di Ingegneria Gestionale e Della Produzione Politecnico di Torino Torino 11029 Italy

ISBN: (纸本)9781467312776

A few formal entities for modeling manufacturing processes and factories have been outlined in a companion paper of this conference. the link between a manufacturing model and its implementation in a factory plant has been formulated by ordering object drawing and delivery in a sequence of events, and by scheduling their starting time. Real-time simulation is then viable by providing the production units with a sequence of operations to be performed together with their starting times: simulation may be referred to as the direct problem. Nothing has been said about the synthesis of command sequences from higher-level production orders listing quantities of finished products to be delivered at certain times. the problem, which may be referred to as the inverse problem, is treated in the paper with the help of aggregation/disaggregation concepts and procedures. they allow to formulate the order sequence as a higher-level command sequence dispatched to the higher-level production unit in charge of the whole factory. the higher level command is then real-time disaggregated into lower-level commands (push). the status of the lower-level units is in turn transmitted to higher-level units (pull) for building-up their aggregated status. Simulation results of the factory model driven by the designed real-time control are provided. © 2012 IEEE.

关键词： Production control

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Modeling and simulation of space robot visual servoing for autonomous target capturing

Modeling and simulation of space robot visual servoing for a...

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Shi, Ye Liang, Bin Wang, Xueqian Xu, Wenfu Liu, Houde Department of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China Aerospace Dongfanghong Development Ltd. Shenzhen Shenzhen 518057 China

ISBN: (纸本)9781467312776

In the past decades, autonomous on-orbit servicing has become a priority for the space industry. Visual servo of eye-in-hand type system is one of the most promising approaches to perform this task. In order to ensure that the task was implemented successfully, mathematical simulation and ground experiments are required to thoroughly explore the capabilities and limitations of the planning and control algorithms before it is launched. In this paper, we propose a hybrid 2D/3D visual servoing of space robot for target capturing. We consider the image based visual servo as the core of our scheme due to its simplicity and low sensitivity to camera calibration errors. Position based visual servoing is only used when the target is close to the end effector of space robot. Taking account of the special aspects of space environment such as lighting and available computing power, to realize a safe and reliable realtime visual servoing operation, cooperative visual marker, time delay processing, and capture strategy have been carefully designed. A 3D simulation platform for space robot visual servoing is developed to verify the corresponding algorithms. the results validate the effectiveness of our research. © 2012 IEEE.

关键词： End effectors

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A memetic approach to the inverse kinematics problem

A memetic approach to the inverse kinematics problem

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： González, Carla Blanco, Dolores Moreno, Luis Systems Engineering and Automation Department University Carlos III of Madrid Leganés 28911 Spain

ISBN: (纸本)9781467312776

Solving the inverse kinematics problem is at the core of the kinematics control of any articulated mechanism. It refers to determine the joint configuration that places the end-effector in an arbitrary position and orientation in the workspace. Kinematic inversion algorithms are generally based on the (pseudo)inverse Jacobian matrix, however, these methods are local and unstable in the vicinity of singular joint configurations. Alternatively, the inverse kinematics can be formulated as a constrained minimization problem in the robot configuration space. In a previous work, Differential Evolution (DE) was used to solve this optimization problem for a non-redundant robot manipulator. Although, the algorithm was successful in finding accurate solutions it showed a low convergence speed rate. In this paper, a memetic approach is proposed to increase the convergence speed of the DE by introducing a local search mechanism, called discarding. the proposed approach is tested in a simulation environment to solve the kinematic inversion problem of a non-redundant 3DOF robot manipulator. Experimental results shows that the proposed algorithm is able to find solutions with high accuracy in less generations than the original DE approach. © 2012 IEEE.

关键词： Jacobian matrices

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Human gait recognition based on gait flow image considering walking direction

Human gait recognition based on gait flow image considering ...

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Wang, Lijia Jia, Songmin Li, Xiuzhi Wang, Shuang College of Electronic Information and Control Engineering Beijing University of Technology Beijing China Department of Information Engineering and Automation Hebei College of Industry and Technology China

ISBN: (纸本)9781467312776

To improve the human gait recognition rate, a method based on the modified gait flow image (GFI) considering the walking direction is used in this paper. the walking direction depends on the height and position at the walking beginning point and ending point in a gait cycle. GFI is generated to represent the motion characteristics of a gait without constructing any model. Lacus-Kanade's approach is used to calculate the optical flow field of GFI. In recognition phase, a database about GFIs at different walking directions of the target is established in advance. After computing the new person's walking direction and GFI, we look up the database to find GFI of the target according to the new person's walking direction. then Linear Discriminant Analysis (LDA) is used to reduce the dimension. At last we can recognize whether the new person is the target through computing the similarity between the new GFI and the target's GFI. the performance of this method was evaluated on the data in the CASIA B database and the data obtained in lab environment. the experimental results prove that the estimated walking direction is quite correct, and the GFI computed by Lacus-Kanade's approach is an efficient gait representation for gait recognition. © 2012 IEEE.

关键词： Database systems

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Registration of indoor 3D range images using virtual 2D scans

Registration of indoor 3D range images using virtual 2D scan...

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作者： Langerwisch, Marco Wagner, Bernardo Institute for Systems Engineering Real Time Systems Group Leibniz Universität Hannover Appelstraße 9A D-30167 Hannover Germany

ISBN: (纸本)9789898425010

For mapping purposes, autonomous robots have to be capable to register 3D range images taken by 3D laser sensors into a common coordinate system. One approach is the Iterative Closest Point (ICP) algorithm. Due to its high computational costs, the ICP algorithm is not suitable for registering 3D range images online. this paper presents a novel approach for registering indoor 3D range images using orthogonal virtual 2D scans, utilizing the typical structure of indoor environments. the 3D registration process is split into three 2D registration steps, and hence the computational effort is reduced. First experiments show that the approach is capable of registering 3D range images much more efficient than ICP algorithm and in real time.

关键词： Iterative methods

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Motion planning for 3D multifingered caging with object recognition using AR picture markers

Motion planning for 3D multifingered caging with object reco...

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Makita, Satoshi Okita, Kensuke Maeda, Yusuke Dept. of Control Engineering Sasebo National College of Technology 1-1 Okishinmachi Sasebo Japan Canon Inc. Japan Div. of Systems Research Faculty of Engineering Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama Japan

ISBN: (纸本)9781467312776

Caging is a method to capture an object geometrically by position-controlled robots without any force and tactile sensors. Many previous researches focused on caging constraints of objects, and those on planning are few. In this paper, we present a motion planner for caging by a multifingered hand and a manipulator to produce whole motion which includes approaching to a target object and capturing it without any collisions. We derive sufficient conditions required for the caging tasks about three caging patterns. Since the planner requires the object properties including the position and orientation of the object, we adopt an object recognition using AR picture markers. We apply the proposed method to caging about four target objects: a cylinder, a ring, a mug and a dumbbell. Some experimental results shows that each motion are successfully planned, and executed by the arm/hand system. © 2012 IEEE.

关键词： Motion planning

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Bayesian Transfer Learning Between Uniformly Modelled Bayesian Filters 16th

Bayesian Transfer Learning Between Uniformly Modelled Bayesi...

引用

16th international conference on informatics in control, automation and robotics, icinco 2019

作者： Jirsa, Ladislav Kuklišová Pavelková, Lenka Quinn, Anthony The Czech Academy of Sciences Institute of Information Theory and Automation Prague Czech Republic Trinity College Dublin the University of Dublin Dublin Ireland

ISBN: (纸本)9783030631925

We investigate sensor network nodes that sequentially infer states with bounded values, and affected by noise that is also bounded. the transfer of knowledge between such nodes is the principal focus of this chapter. A fully Bayesian framework is adopted, in which the source knowledge is represented by a bounded data predictor, the specification of a formal conditioning mechanism between the filtering nodes is avoided, and the optimal knowledge-conditioned target state predictor is designed via optimal Bayesian decision-making (fully probabilistic design). We call this framework Bayesian transfer learning, and derive a sequential algorithm for pairs of interacting, bounded filters. To achieve a tractable, finite-dimensional flow, the outputs of the time step, transfer step and data step are locally projected onto parallelotopic supports. An informal variant of the transfer algorithm demonstrates both strongly positive transfer of high-quality (low variance) source knowledge—improving on a former orthotopically supported variant—as well as rejection of low-quality (high variance) source knowledge, which we call robust transfer. © 2021, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Decision making

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Voice quality manipulation for humanoid robots consistent with their head movements

Voice quality manipulation for humanoid robots consistent wi...

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9th IEEE-RAS international conference on Humanoid Robots, HUMANOIDS09

作者： Otsuka, Takuma Nakadai, Kazuhiro Takahashi, Toru Komatani, Kazunori Ogata, Tetsuya Okuno, Hiroshi G. Graduate School of Informatics Kyoto University Kyoto 606-8501 Japan Honda Research Institute Japan Co. Ltd. Wako Saitama 351-0114 Japan Graduate School of Information Science and Engineering Tokyo Institute of Technology Japan

ISBN: (纸本)9781424445882

this paper presents voice-quality control of humanoid robots based on a new model of spectral envelope modification corresponding to the vertical head motions, and left-right sound-pressure modulation corresponding to the horizontal head motions. We assume that a pitch-axis rotation, or a vertical head motion, and a yaw-axis rotation, or a horizontal head motion, affect the voice quality independently. Spectral envelope modification model is constructed based on the analysis of human vocalizations. Left-right sound-pressure modulation model is established through the measurements of impulse responses using a pair of microphones. the experiments are carried out using two humanoid robots HRP-2 and Robovie-R2. Experimental results show that our method presents the change in the voice quality derived from pitch-axis head movement in a robot-to-robot dialogue situation when the interval between the robots are 50 cm. It is also confirmed that an observable modulation in the voice quality declines as the distance between the robots becomes large. the voice-cast directionality caused by yaw-axis rotation is observable using our model even when the robots stand as far as 150 cm away. ©2009 IEEE.

关键词： Anthropomorphic robots

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Robust stability anaylsis of the system with disturbance observer: the real parametric uncertainity approach I

Robust stability anaylsis of the system with disturbance obs...

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Sariyildiz, Emre Ohnishi, Kouhei Department of System Design Engineering Keio University Yokohama Japan

ISBN: (纸本)9781467312776

the Disturbance Observer (DOB) guarantees the robustness of the system if the disturbances stay within the bandwidth of the DOB. thus, high bandwidth is demanded to compensate the disturbances in a wide frequency range. the bandwidth of the DOB is limited by the noise and robustness of the system. the noise limitation depends on the measurement plant and sampling rate. the robustness limitation depends on the robustness analysis method. Conventionally, the robustness of the system with DOB is analyzed using the unstructured uncertainty and Small Gain theorem. Due to the nature of the Small Gain theorem, the conventional analysis includes conservatism. the conservatism unnecessarily limits the bandwidth of the DOB to obtain robust stability. However, the bandwidth of the DOB is demanded to be as high as possible to increase the performance of the system. In this paper the robust stability of the system with DOB is analyzed in the presence of the real parametric uncertainties. this analysis is not conservative and it gives a lower bound on the bandwidth of the DOB to obtain robust stability. the lower bound on the bandwidth of the DOB is derived for the interval and affinely linear polynomials and it shows us that the system with DOB is robustly stable if its bandwidth is higher than the lower bound in the presence of the real parametric uncertainties. the proposed method is applied to a general second order system model with the real parametric uncertainties and the simulation results are given to show the validity of the proposed method. © 2012 IEEE.

关键词： Robust control

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