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

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On the Kalman Filter Approach for Localization of Mobile robots 8th

On the Kalman Filter Approach for Localization of Mobile Rob...

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ICT Innovations conference on Cognitive Functions and next generation ICT systems

作者： Petrovski, Kristijan Jovanovski, Stole Mirchev, Miroslav Basnarkov, Lasko Ss Cyril & Methodius Univ Fac Comp Sci & Engn Rudjer Boshkovikj 16PO 393 Skopje 1000 Macedonia

ISBN: (纸本)9783319688558;9783319688541

In this work we analyze robot motion given from the UTIAS Multi-Robot Dataset. The dataset contains recordings of robots wandering in a confined environment with randomly spaced static landmarks. After some preprocessing of the data, an algorithm based on the Extended Kalman Filter is developed to determine the positions of robots at every instant of time using the positions of the landmarks. The algorithm takes into account the asynchronous time steps and the sparse measurement data to develop its estimates. These estimates are then compared with the groundtruth data provided in the same dataset. Furthermore several methods of noise estimation are tested, which improve the error of the estimate for some robots.

关键词： Robot localization Extended Kalman Filter Noise estimation Real-world data

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Advances in Industrial Robotics: From Industry 3.0 Automation to Industry 4.0 Collaboration

Advances in Industrial Robotics: From Industry 3.0 Automatio...

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Technology Innovation Management and Engineering Science International conference (TIMES-iCON)

作者： Khalid Hasan Tantawi Alexandr Sokolov Omar Tantawi Department of Engineering Management and Technology University of Tennessee at Chattanooga Chattanooga Department of Career Readiness-Mechatronics Motlow College Smyrna

ISBN: (数字)9781728137551

ISBN: (纸本)9781728137568

In this paper we present recent advances, current and future market trends in industrial robotics. Artificial Intelligence has evolved as the main feature to characterize Industry 4.0, next-generation robotics utilize this feature to perform tasks collaboratively, as opposed to the currently deployed industrial robots, which were designed mainly for automation, isolated in cages, and highly-controlled environments. Current data show that China takes the lead in the industrial robotics market with 48% of the top-ten market in 2019. The electronics sector took the lead in robot-deployment in East Asia, and is continuously increasing in deploying industrial robotics in other parts of the world. Studies on the challenges associated with this technology, show that the main concern is the lack of trained labor to handle the technologies in next generation industrial robotics.

关键词： Service robots Robot sensing systems Artificial intelligence Industries next generation networking Internet of Things

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Effects of Limb Morphology on Transient Locomotion in Quadruped robots

Effects of Limb Morphology on Transient Locomotion in Quadru...

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2019 IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： Leanne Raw Callen Fisher Amir Patel Faculty of Electrical Engineering University of Cape Town Rondebosch South Africa

The natural world hosts a few mammals that display both a high degree of agility and speed. However these animals have complex leg morphologies. Robot designers are thus faced with the dilemma of which morphology to employ when designing the next generation of agile legged robots. Thus this letter presents a novel investigation into the effects of limb morphology of quadrupeds during rapid transient maneuvers such as acceleration and deceleration. Three leg configurations inspired by nature (O-, X-Type and All-Ankle) as well as All-Knee configurations are compared. Extensive large scale Monte Carlo simulations utilizing contact-implicit trajectory optimization methods were employed on 100 randomly generated robots of varying sizes to determine the optimal configuration for the task of rapid transient locomotion. After extensive analysis, the investigation revealed that an X-Type leg configuration outperformed all other configurations. Ultimately, these results will provide insight for the mechanical design of future agile quadruped robots.

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Proposal of Collaboration Safety in a Coexistence Environment of Human and robots

Proposal of Collaboration Safety in a Coexistence Environmen...

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IEEE International conference on Robotics and Automation (ICRA)

作者： Dohi, Masao Okada, Kazuya Maeda, Ikuo Fujitani, Shigetoshi Fujita, Toshihiro IDEC COPRATION R&D Strategy HQ Yodogawa Ku 2-6-64 Nishimiyahara Osaka 5320004 Japan IDEC COPRATION CTO Yodogawa Ku 2-6-64 Nishimiyahara Osaka 5320004 Japan

ISBN: (纸本)9781538630815

Whereas various things are connected via networks thanks to IoT technology, and the era of the 4th industrial revolution which realizes optimization and efficiency by utilizing AI and big data is emerging, manufacturing systems are also significantly transforming globally. In addition to the robot revolution, along with progressing digitalization, manufacturing sites in Japan are changing, aiming at establishment of "Connected Industries" that is a solution-oriented industrial society, based on the high technological capabilities. hi order to respond timely to diversifying demands of customers, it is necessary to build a next-generation manufacturing systems that realizes flexible and high productivity, such as human-robot collaboration, and it is becoming difficult to respond to the necessity by conventional safety concept. Therefore, in order to realize the 4th industrial revolution, the robot revolution, and "Connected Industries," it is essential to establish a new safety concept corresponding to the next-generation manufacturing systems to ensure safety. This paper introduces the safety concept to be changed along with the evolution of manufacturing sites, and proposes a new safety concept, which realizes collaboration safety of humans and robots, and an outline of its safety level, for the first time in the world.

关键词： Robot Safety Industrial robots Factory Automation

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Procedurally Provisioned Access Control for Robotic systems

Procedurally Provisioned Access Control for Robotic Systems

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25th IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： White, Ruffin Christensen, Henrik I. Caiazza, Gianluca Cortesi, Agostino Univ Calif San Diego Contextual Robot Inst La Jolla CA 92093 USA Ca Foscari Univ Venice Venice VE Italy

ISBN: (纸本)9781538680940

Security of robotics systems, as well as of the related middleware infrastructures, is a critical issue for industrial and domestic IoT, and it needs to be continuously assessed throughout the whole development lifecycle. The next generation open source robotic software stack, ROS2, is now targeting support for Secure DDS, providing the community with valuable tools for secure real world robotic deployments. In this work, we introduce a framework for procedural provisioning access control policies for robotic software, as well as for verifying the compliance of generated transport artifacts and decision point implementations.

关键词： Cryptobotics Cybersecurity Networked robots Industrial robots Robot Safety Middleware ROS2 Secure DDS

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The personality of humanoid robots

The personality of humanoid robots

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IEEE International conference on Intelligent Engineering systems (INES)

作者： Péter Kádár Dept. of Power Systems Alternative Energy Research Knowledge Center Óbuda University Budapest HUNGARY

ISBN: (数字)9781728112138

ISBN: (纸本)9781728112145

Humanoid robots that can be our chat partners have recently appeared on the scene. In the first section of the paper we overview the existing techniques that bestow the robot many automatic smart skills, like image and speech recognition, speech synthesis, autonomous control functions, translation capability, sense of locality, follow up rule *** next part discusses the simulation of the peccable human individual by inaccuracy, probability, playing by the game theory. The traditional machine learning uses preprogrammed structures and the database is broadened continuously. A simple reproduction algorithm can also be programmed. The notions of beauty and art are still only statistical *** the third part the truly in grain innovation capability is treated, the generation of new structures that have not been solved, yet. We also make distinction between the sensors, senses and sensuality. We cannot talk about self-consciousness yet. The notions of transcendence, love, faith without previously stored algorithms have not emerged *** a conclusion we can say that robots look perfectly human, but without human inference they do not possess natural self-awareness.

关键词： humanoid robots algorithmic features personality

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A New Master Control Framework for the next generation Service robots Based on ROS 37

A New Master Control Framework for the Next Generation Servi...

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37th Chinese Control conference, CCC 2018

作者： Dong, Shuai Sheng Li, Wen An, Zhaohui Xie, Zheng Zhongshan Institute University of Electronic Science and Technology of China Zhongshan528402 China UBTECH ROBOTICS CORP Shenzhen518071 China

ISBN: (纸本)9789881563941

The next generation service robots will become more intelligent and have stronger kinematic and dynamic abilities. This requires a stable, flexible, and extensible master control framework. A new framework, which takes those potential abilities into consideration, is proposed based on ROS in this work. The framework is comprised of five modules. The task manager module contains a novel mechanism for task management and action learning. Other four modules integrate several toolkits of ROS and extend their functions. The new framework has been used to control Sawyer robot to finish some tasks. © 2018 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Robot programming

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Development and Evaluation of an Intuitive Flexible Interface for Teleoperating Soft Growing robots

Development and Evaluation of an Intuitive Flexible Interfac...

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25th IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： El-Hussieny, Haitham Mehmood, Usman Mehdi, Zain Jeong, Sang-Goo Usman, Muhammad Hawkes, Elliot W. Okamura, Allison M. Ryu, Jee-Hwan Korea Univ Technol & Educ Sch Mech Engn Cheonan Si South Korea Univ Calif Santa Barbara Dept Mech Engn Santa Barbara CA 93106 USA Stanford Univ Dept Mech Engn Stanford CA 94305 USA Benha Univ Fac Engn Shoubra Elect Engn Dept Banha Egypt

ISBN: (纸本)9781538680940

Mobility by growth is a new paradigm in robotic systems design and their applications in the real world. Soft, tip-extending, or "growing," robots have potential applications including inspection and navigation in disaster scenarios. However, due to their growing capability, such robots create unique challenges for intuitive human control. In this paper, a new flexible interface is proposed to intuitively map human bending commands into movements of the growing robot while providing shape information of the robot in order to improve situational awareness. Several command mappings are proposed, and a subjective study was conducted to assess the intuitiveness of the developed interface and mappings compared with other commercially available interfaces. The interfaces were evaluated using four metrics in two virtual task scenarios. The proposed interface with shape mapping performed better than the other interfaces, especially when the vine robot rolls over unintentionally during complex tasks.

关键词： Shape Robot sensing systems Robot kinematics Three-dimensional displays Kinematics Current measurement

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Kinodynamic Comfort Trajectory Planning for Car-like robots

Kinodynamic Comfort Trajectory Planning for Car-like Robots

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25th IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： Shin, Heechan Kim, Donghyuk Yoon, Sung-Eui Korea Adv Inst Sci & Technol Sch Comp Daejeon South Korea

ISBN: (纸本)9781538680940

As personal autonomous mobility is getting to be more widely adopted, it is more important to consider comfortability of stuffs and persons carried by such mobility. In this work, we define the comfort of a trajectory as forces, specifically, translational force, received to objects carried by a robot while following the trajectory by measuring impulse. To maximize such a comfort, we propose a novel, kinodynamic comfort path planning method based on our definition of comfort. Our work is based on direct collocation method for handling our non-convex objective function. We also introduce Bidirectional Obstacle Detection( BOD) that identifies the distances along the perpendicular directions to the trajectory. This is mainly designed for avoiding obstacles while minimizing forces causing discomfort. Our experimental results show that our method can compute trajectories whose comfort measures can be up to 18 times higher than those computed by prior related objectives, e.g., squared velocity used for generating smooth trajectory.

关键词： robots Acceleration Planning Trajectory optimization System dynamics Linear programming

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Integrated virtual commissioning of a ROS2-based collaborative and intelligent automation system

Integrated virtual commissioning of a ROS2-based collaborati...

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International conference on Emerging Technologies and Factory Automation (ETFA)

作者： Endre Erős Martin Dahl Atieh Hanna Anton Albo Petter Falkman Kristofer Bengtsson Department of Electrical Engineering Chalmers University of Technology Gothenburg Sweden Research & Technology Development Volvo Group Trucks Operation Gothenburg Sweden

In order to adapt to stricter system delivery and integration requirements, virtual commissioning (VC) has become a well adopted practice in industry. VC is getting increasingly integrated into the overall engineering process, where the control software is continuously tested with the virtual plant model. At the same time, collaborative and intelligent automation systems are becoming an important part of modern industries. In these complex systems, humans perform operations together with collaborative robots, intelligent machines and smart tools. However, performing VC of such complex, distributed and heterogeneous systems demands new ways of interfacing different hardware and software components. This paper discusses the requirements, process and results of integrated virtual commissioning of an industrial collaborative and intelligent automation system use-case. Moreover, this industrial use-case illustrates challenges and exemplifies the need to use the next generation Robot Operating System (ROS2) due to its robust communication layer as well as easy integration with smart devices and algorithms.

关键词： robots Collaboration Control systems Automation Engines Solid modeling Tools

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