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3rd International conference on Smart Technologies and systems for next generation Computing, ICSTSN 2024

作者： Venkatesan, C. Sathish, K. Naganwesh, Bolla Shaheen, D. Sinha, Rishant Kumar Reza, Musharraf HKBK College of Engineering Department of Electronics and Communication Engineering Karnataka Bangalore India

ISBN: (纸本)9798350391565

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 surveillance cameras, which use facial recognition in real time to enhance security. In general, security robots are the most prominent security systems that assist humans in dangerous jobs that humans cannot do. Herein, a low-cost robot prototype running on Raspberry PI 4 model B is proposed for enhanced safety and smart security. This smart robot functions to detect whether an intruder has come inside with the help of IoT and face recognition technology. The broadcasting of photos can take place with the room control through IoT. The system utilizes a facial recognition algorithm, separating authorized persons from intruders. The Multi-task Cascaded Convolutional Neural Network (MTCNN) algorithm is employed in image processing to identify and classify people with an accuracy of 90%. The IoT will notify the room control system if a stranger is detected. An interface is designed to control the robot, which is linked to Wi-Fi from a far end. If the person is recognized as a known person, then authorization is provided to them. © 2024 IEEE.

关键词： Convolutional neural networks

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Algorithms for the avoidance of coliision between autonomous mobile robots

Algorithms for the avoidance of coliision between autonomous...

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1988 IEEE International Workshop on Intelligent robots and systems: Toward the next generation Robot and System, IROS 1988

作者： Tuijnman, Frank Faculty of Mathematics and Computer Science University of Amsterdam Kruislaan 409 Amsterdam1098 SJ Netherlands

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, the set of admissible paths and the shape of static obstacles. In this paper three algorithms will be described that are based on different approaches. The first algorithm defines a repellent force for highly manoeuvrable robots on the basis of distance measurements with a short range and low angular precision. The second algorithm is similar to the rules of collision avoidance for ships. This algorithm assumes low traffic density, accurate distance and bearing measurements with a long range, but does not require a high manoeuvrability. The third algorithm extends the second for higher traffic density by introducing standard patterns of behavior if a congestion point has to be passed. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Mobile robots

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Jumping Motion generation for Humanoid Robot Using Arm Swing Effectively and Changing in Foot Contact Status

Jumping Motion Generation for Humanoid Robot Using Arm Swing...

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IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： Mineshita, H. Otani, T. Sakaguchi, M. Kawakami, Y. Lim, H. O. Takanishi, A. Waseda Univ Grad Sch Modern Mech Engn Shinjuku Ku 41-30417 Kikui Cho Tokyo 1620044 Japan Waseda Univ Res Inst Sci & Engn Tokyo Japan Waseda Univ Humanoid Robot Inst HRI Tokyo Japan ASICS Corp Inst Sport Sci Kobe Hyogo Japan Waseda Univ Fac Sport Sci Tokyo Japan Kanagawa Univ Fac Engn Yokohama Kanagawa Japan Waseda Univ Dept Modern Mech Engn Tokyo Japan

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.

关键词： Anthropomorphic robots

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On determination of goal candidates in frontier-based multi-robot exploration

On determination of goal candidates in frontier-based multi-...

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2013 6th European conference on Mobile robots, ECMR 2013

作者： Faigl, Jan Kulich, Miroslav Faculty of Electrical Engineering Czech Technical University in Prague Technická 2 166 27 Prague Czech Republic

ISBN: (纸本)9781479902637

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 of goal candidates generation to the performance of the exploration. In regular approaches, frontiers are considered as eventual goals for the next-best-view selection using a utility function combining a distance cost and expected information gain. The aim of this paper is to show that using goal candidates that are independent of the distance cost can improve the performance of exploration strategies. The found insights are supported by a statistical evaluation of thousands of trials performed for various environments. © 2013 IEEE.

关键词： mobile robots multi-robot systems statistical analysis

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Towards an Evolutionary Design of Modular robots for Industry

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4th International Work-conference on the Interplay Between Natural and Artificial Computation (IWINAC)

作者： Faina, Andres Bellas, Francisco Souto, Daniel Duro, Richard J. Univ A Coruna Integrated Grp Engn Res Ferrol 15403 Spain

ISBN: (纸本)9783642213441

We are interested in the next generation 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.

关键词： Multi-robot systems Modular robots Evolutionary Algorithms Industrial Automation

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Compliant Biped Locomotion of Hydra, an Electro-Hydrostatically Driven Humanoid 18

Compliant Biped Locomotion of Hydra, an Electro-Hydrostatica...

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18th IEEE-RAS International conference on Humanoid robots (Humanoids)

作者： Ko, Tianyi Yamamoto, Ko Murotani, Kazuya Nakamura, Yoshihiko Univ Tokyo Grad Sch Informat Sci & Technol Bunkyo Ku 7-3-1 Hongo Tokyo 1138656 Japan

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.

关键词： Actuators Legged locomotion Torque Hydraulic systems Bandwidth Humanoid robots

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Grasping in nature and in robotics: A parallel logical concept

Grasping in nature and in robotics: A parallel logical conce...

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1988 IEEE International Workshop on Intelligent robots and systems: Toward the next generation Robot and System, IROS 1988

作者： Rovetta, Alberto Tanie, Kazuo Department of Mechanics Politecnico di Milano Italy Department of Robotics Mechanical Engineering Laboratory MITI Japan

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 grasping of objects. The environment action influences the development of the grasping process. Systematic analysis of the prehension system and of the objects to be grasped is presented. Main elements for the realization of optimized grasping are indicated. The development and the results obtained with a multifinger mechanical hand with touch and grasp capabilities are described, also with reference to possible applications. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Intelligent robots

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Modeling and control of an under-actuated miniature crawler robot

Modeling and control of an under-actuated miniature crawler ...

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2001 IEEE/RSJ International conference on Intelligent robots and systems

作者： Xiao, Jizhong Minor, Mark Dulimarta, Hans Xi, Ning Mukherjee, R. Tummala, R.L. Department of Elec. and Comp. Eng. Michigan State University East Lansing MI 48824 United States

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.

关键词： Mobile robots

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Creating autonomous roboticists

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IEEE INTELLIGENT systems & THEIR APPLICATIONS 2001年第2期16卷 20-23页

作者： Miller, DP Stein, C KISS Int Pract Robot Norman OK 73069 USA

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 next generation 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.

关键词： Educational institutions Design engineering Artificial intelligence Space technology Buildings Mathematical programming Robot programming Mathematics Educational robots Springs

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On the stable avoidance of articulated rotating arm

On the stable avoidance of articulated rotating arm

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1988 IEEE International Workshop on Intelligent robots and systems: Toward the next generation Robot and System, IROS 1988

作者： Hashimoto, S. Ohteru, S. Yamamoto, T. Dept. of Physics Toho University 2-2-1 Miyama Funabashi Chiba274 Japan Dept. of Applied Physics Waseda University 3-4-1 Okubo Shinjuku-ku Tokyo160 Japan

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 proposed according to the local sensor abilities. The mathematical analyses and the computer simulations show the promising results for the dynamic obstacle avoidance. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Intelligent robots

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