The robots for autonomous manufacturing need to have abilities which support automatic reading of the drawings of the designed structures and the inspection of the final works done by the robots. This paper gives a re...
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As a basic study of an artificial robot psyche, this paper deals with a mathematical modeling of a robot psyche based on the discipline of Gestalt psychology, which offers a view to our human psyche that consists of t...
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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.
Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation ...
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ISBN:
(纸本)9798350332223
Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation modes and interactions that a soft robot can have. In this work, we present a deep-learning methodology to learn high-dimensional visual models of a soft robot combining multimodal sensorimotor information. The models are learned in an end-to-end fashion, thereby requiring no intermediate sensor processing or grounding of data. The capabilities and advantages of such a modelling approach are shown on a soft anthropomorphic finger with embedded soft sensors. We also show that how such an approach can be extended to develop higher level cognitive functions like identification of the self and the external environment and acquiring object manipulation skills. This work is a step towards the integration of soft robotics and developmental robotics architectures to create the nextgeneration of intelligent soft robots.
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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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.
Identification of functional probes for the entire human proteome using conventional microplate-based high-throughput screening (HTS) is a daunting challenge that will assuredly take decades and cost billions of dolla...
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An essential ingredient of the nextgeneration of robotic manipulators will be high-strength lightweight arms which promise high-performance characteristics. Currently, a design methodology for optimally synthesizing ...
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An essential ingredient of the nextgeneration of robotic manipulators will be high-strength lightweight arms which promise high-performance characteristics. Currently, a design methodology for optimally synthesizing these essential robotic components does not exist. Herein, an approach is developed for addressing this void in the technology-base by integrating state-of-the-art techniques in both the science of composite materials and also the science of flexible robotic systems.
The master-slave system is expected to be a key technology for the nextgeneration of robots. Indeed, in many fields of operation, a master-slave system is needed to remotely perform tasks in unknown environments. How...
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Three dynamic problems which arise in robot systems are discussed: rigid-body bandwidth;dynamically noncolocated flexible modes;and dynamically colocated flexible modes. These effects combine to set the closed-loop ba...
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Three dynamic problems which arise in robot systems are discussed: rigid-body bandwidth;dynamically noncolocated flexible modes;and dynamically colocated flexible modes. These effects combine to set the closed-loop bandwidth achievable in the individual joint control loops. Simple models of robot systems are presented to illustrate these three dynamic effects. Some laboratory data are then presented and analyzes in these terms. Finally, the implications for robot system design is discussed in the hope that these issues will be considered in the development of the nextgeneration of robot systems and machine tools.
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