The prominent aspects of technological progress include current technologies such as artificial intelligence (AI), computer vision (CV), and the Internet of Things (IoT) that apply to many sectors, particularly survei...
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Avoiding collisions between mobile robots is a problem that can be approached in many different ways;depending on the constraints that arc imposed such as shape and manoeuvrability of the robots, the traffic density, ...
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Human jumping involves not only lower limbs but also whole-body coordination. During jumping, the effect of sinking the center of mass for recoil and arm swing are significant, and they can cause changes in the jump h...
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ISBN:
(纸本)9781728162126
Human jumping involves not only lower limbs but also whole-body coordination. During jumping, the effect of sinking the center of mass for recoil and arm swing are significant, and they can cause changes in the jump height. However, upper body movements during jumping movements of humanoid robots have not been studied adequately. When jumping involves only the lower limbs, the burden on the lower limbs increases and it is difficult to jump as high as humans do. Also, if the sole is in contact with the ground during jumping movements, we cannot make good use of the ankle joint. Humans raise their heels during jumping movements, but there are few cases where humanoid robots achieve these movements. Therefore, we thought that jumping with recoil motion by the sinking, arm swing, and changing in foot contact status could result in a higher jump height higher than that possible with only lower limb movements. Hence, in this study, we generated jumping motion using sinking, arm swing and changing foot posture. First, a center of mass trajectory was generated by planning the entire jumping motion, and at the same time, the angular momentum was determined for stability. next, the joint trajectory was calculated using these two parameters. At that time, arm trajectory and foot posture were specified in the null space. This generated a jumping motion considering arm swing. During simulations, this method provided a jump height almost four times the jump height that obtained without arm swing.
Frontier-based approach can be considered as a de facto standard method for a mobile robot exploration task. Many variants have been proposed;however, relatively little attention has been made to study the influence o...
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We are interested in the nextgeneration of industrial robots, those that are able to operate in dynamic and unstructured environments and, consequently, that are able to adapt to changing circumstances or to work on ...
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ISBN:
(纸本)9783642213441
We are interested in the nextgeneration of industrial robots, those that are able to operate in dynamic and unstructured environments and, consequently, that are able to adapt to changing circumstances or to work on different tasks in an autonomous way. In this sense, multirobot systems and, in particular, modular systems present several features like scalability, fault tolerance, low maintenance or reconfiguration capabilities that make them highly suitable for this kind of environments. The work presented here is concerned with the problem of automatically obtaining the morphology and control structure for this type of modular systems. In this line, we present the first results produced using a newly designed constructive evolutionary approach that takes into account the extreme difficulty of the tremendously deceptive and uninformative search space this type of applications are faced with. As an example, the algorithm is used to design the morphology and the distributed control parameters for a typical benchmark problem, that of moving as far as possible in a straight line, for a heterogeneous modular robotic system developed by our group.
The backdrivability of joints is a critical requirement for the robots that perform tasks in uncertain environments. While series elastic actuators are intrinsically backdrivable, their control bandwidth is limited by...
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ISBN:
(纸本)9781538672839
The backdrivability of joints is a critical requirement for the robots that perform tasks in uncertain environments. While series elastic actuators are intrinsically backdrivable, their control bandwidth is limited by the low resonant frequency of the elastic component. To simultaneously realize both of the backdrivability and high control bandwidth, Electro-Hydrostatic Actuator (EHA) is a solution. Based on this idea, we developed the fully electro-hydrostatically driven humanoid robot Hydra, while its evaluation was limited to the joint level one. In this paper, we present evaluations of its whole-body control performance, including locomotion. This is the first time to report a bipedal locomotion by an EHA driven humanoid. We first confirm that Hydra can realize a position feedback control with enough stiffness to realize a position control based locomotion. Secondly, we show that the joint backdrivability can suppress the effect of a disturbance applied to the distal part of the robot on the whole-body motion. As the result, we realized a torque control based locomotion with both a proper COM stabilization and nullspace compliance.
This paper deals with the grasping process in nature and in robotics. The concepts and the models for interpretation of the physical process require a parallel logical sequence. A wide set of parameters occurs in the ...
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This paper presents modeling and control of our second generation prototype miniature crawler robot which was targeted to applications in constrained environments. The mechanical design and the drive mechanism of the ...
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This paper presents modeling and control of our second generation prototype miniature crawler robot which was targeted to applications in constrained environments. The mechanical design and the drive mechanism of the robot are first discussed. A kinematic model is then derived and the motion planning is analyzed. A description of the Texas Instrument DSP-based embedded controller is presented next. Experimental results are finally presented for evaluation of robot performance.
KISS Institute's Botball program is a national program, designed for middle and high school students, that uses the activities of robot building and programming to engage students in science, technology, engineeri...
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KISS Institute's Botball program is a national program, designed for middle and high school students, that uses the activities of robot building and programming to engage students in science, technology, engineering and mathematics. Botball puts robotics equipment into schools, then trains students and teachers in that equipment's use. The program is organized into spring regional tournaments and a national Botball tournament held at the Annual National conference on Artificial Intelligence. This program is playing an important role in creating and inspiring the nextgeneration of AI and robotics technologists, many of whom might very well be the engineers and computer scientists who design and build sophisticated, highly autonomous rovers and other space platforms for future NASA missions of exploration. The inspiration cuts both ways.
A decentralized obstacle avoidance method for the articulated rotating arm is discussed as a simple example of Style 3 avoidance in which the robot can avoid collisions by a configuration control. Two algorithms are p...
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