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检索条件"任意字段=Conference on Next-Generation Robots and Systems"

共 421 条记录，以下是101-110 订阅

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Tile placement and inspection by the visually instructed robots

Tile placement and inspection by the visually instructed rob...

引用

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

作者： Kurosu, K. Furuya, T. Takenouchi, K. Kyushu Institute of Technology 1-1 Sensui Tobata Kitakyushu Japan

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 report about a robot who can formulate the necessary instruction for arranging tiles on a plane to accomplish the placement. The drawing of the tile placement is inputted by the visual unit, followed by the computation where the characteristic patterns are stored as the convenient forms for the robot specific procedures. Thus the robot, which works as a tile placing machine, produces its own job orders and instructs itself. After completion of the placement, the robot gets the images of the finished tile arrangement to inspect the results. The aims on this study are to develop a maintenance robot for the tile attaching and inspection works. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Inspection

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Linear Gestalt Model Of Robot Psyche And Its Expression Using Colored Face Graphs

Linear Gestalt Model Of Robot Psyche And Its Expression Usin...

引用

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

作者： Hara, Fumio Department of Mechanical Engineering Science University of Tokyo 1-3 Kagurazaka Shinjuku-ku Tokyo162 Japan

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 three fundamental ego-components, i.e., "Parent", "Adult" and "Child". Second we develop colored face graphs to express the robot psyche through emotions, and finally a demonstration of the robot psyche using the colored face graphs is performed for typical situations occurring between a care-take robot and human beings. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Intelligent robots

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

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

引用

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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Multi-modal Sensor Fusion for Learning Rich Models for Interacting Soft robots

Multi-modal Sensor Fusion for Learning Rich Models for Inter...

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IEEE International conference on Soft Robotics (RoboSoft)

作者： Thuruthel, Thomas George Iida, Fumiya Univ Cambridge Dept Engn Bioinspired Robot Lab Cambridge England UCL Dept Comp Sci Gower St London WC1E 6BT England

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 next generation of intelligent soft robots.

关键词： Deep learning

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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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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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robots: Rapid on-bead oligomer-target screening

Robots: Rapid on-bead oligomer-target screening

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15th International conference on Miniaturized systems for Chemistry and Life Sciences 2011, MicroTAS 2011

作者： Price, A.K. Paegel, B.M. Scripps Research Institute United States

ISBN: (纸本)9781618395955

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 dollars. In order to accelerate the pace of discovery and decrease its cost, miniaturized systems borne out of "next-generation" technology development need to be implemented. To this end, a microfluidic system designed to rapidly screen one-bead-one-compound (OBOC) libraries has been developed. The fluidic circuit integrates components for bead introduction, droplet generation, droplet incubation and droplet sorting that can handle OBOC libraries with > 200,000 members in a matter of hours. Copyright © (2011) by the Chemical and Biological Microsystems Society.

关键词： Drops

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METHODOLOGY FOR SYNTHESIZING HIGH-PERFORMANCE robots FABRICATED WITH OPTIMALLY TAILORED COMPOSITE LAMINATES.

METHODOLOGY FOR SYNTHESIZING HIGH-PERFORMANCE ROBOTS FABRICA...

引用

Design Engineering Technical conference.

作者： Sung, C.K. Thompson, B.S. Michigan State Univ East Lansing MI USA Michigan State Univ East Lansing MI USA

An essential ingredient of the next generation 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.

关键词： robots, INDUSTRIAL

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An approach to expansion of workspace motion in master-slave control system

An approach to expansion of workspace motion in master-slave...

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38th Annual conference on IEEE Industrial Electronics Society, IECON 2012

作者： Komuta, Kiyotoshi Murakami, Toshiyuki Department of System Design Engineering Keio University Yokohama Japan

ISBN: (纸本)9781467324212

The master-slave system is expected to be a key technology for the next generation of robots. Indeed, in many fields of operation, a master-slave system is needed to remotely perform tasks in unknown environments. However, in past researches, master-slave systems consisted of the ground based devices with limited workspaces. In this paper, the teleoperation system consists of a 3 DOF haptic device and a two-wheel driven mobile manipulator. In this system, the working areas of these robots are different. To realize the expansion of the working area of this system, in this paper, a master-slave control by force feedback based virtual impedance controller with scaling ratio and the algorithm extending the working area of the slave robot were proposed. In this paper, the effect of the scaling ratio in the master-slave controller is analyzed by using 'Reproducibility' and 'Operationality'. Furthermore, experimental results show the efficiency of the proposed method. © 2012 IEEE.

关键词： Slave robots

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Three dynamic problems in robot force control

Three dynamic problems in robot force control

引用

1989 IEEE International conference on Robotics and Automation, ICRA 1989

作者： Eppinger, Steven D. Seering, Warren P. MIT Cambridge MA USA

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 next generation of robot systems and machine tools.

关键词： robots, Industrial

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