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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131-140 订阅

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Velocity Constrained Trajectory generation for a Collinear Mecanum Wheeled Robot

Velocity Constrained Trajectory Generation for a Collinear M...

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IEEE International conference on Robotics and Automation (ICRA)

作者： Watson, Matthew T. Gladwin, Daniel T. Prescott, Tony J. Conran, Sebastian O. Univ Sheffield Dept Elect & Elect Engn Sheffield S Yorkshire England Univ Sheffield Cognit Robot Dept Comp Sci Sheffield S Yorkshire England Consequential Robot Ltd London England

ISBN: (纸本)9781538660263

While much research has been conducted into the generation of smooth trajectories for underactuated unstable aerial vehicles such as quadrotors, less attention has been paid to the application of the same techniques to ground based omnidirectional dynamically balancing robots. These systems have more control authority over their linear accelerations than aerial vehicles, meaning trajectory smoothness is less of a critical design parameter. However, when operating in indoor environments these systems must often adhere to relatively low velocity constraints, resulting in very conservative trajectories when enforced using existing trajectory optimisation methods. This paper makes two contributions;this gap is bridged by the extension of these existing methods to create a fast velocity constrained trajectory planner, with trajectory timing characteristics derived from the optimal minimum-time solution of a simplified acceleration and velocity constrained model. next, a differentially flat model of an omnidirectional balancing robot utilizing a collinear Mecanum drive is derived, which is used to allow an experimental prototype of this configuration to smoothly follow these velocity constrained trajectories.

关键词： Trajectory Planning Wheels Mobile robots Transmission line matrix methods Acceleration

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Development of a highly integrated torque sensor concept for drive units of a humanoid robot

Development of a highly integrated torque sensor concept for...

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Joint 41st International Symposium on Robotics, ISR 2010 and 6th German conference on Robotics 2010, ROBOTIK 2010

作者： Albers, Albert Frietsch, Markus Sander, Christian Ottnad, Jens IPEK - Institut für Produktentwicklung Kaiserstrabe 10 76131 Karlsruhe Germany

ISBN: (纸本)9781617387197

Humanoid robots are a prime example for complex mechatronic systems. During the development process of such systems big challenges arise from interaction between different involved domains. In this article the development of the torque sensor concept for the next generation of the humanoid robot ARMAR [1] -The demonstrator system of the collaborative research centre 588 "learning and cooperating multimodal robots" - is presented. The objectives of the development of humanoid and industrial robots strongly differ from each other. Amongst others this is due to the fact that humanoid robots are designed for safe cooperation with humans in their natural environment e.g. in the kitchen, while industrial robots still work more or less separated from their "human colleagues". Aspects like humanlike appearance and motion space are very important to provide a wide acceptance of these machines. Especially elderly people, who could benefit a lot from a robot's help, are not used to cooperate with such systems and sometimes they are even afraid. As a consequence of close cooperation between robots and humans strong safety requirements have to be considered. For example the applied forces of every joint have to be measured and controlled to prevent injuries of the human. In order to implement an efficient development and manufacturing process of the system a highly modular concept for all drive units - consisting of motor, gear box and sensor - is necessary. The similar units can then be used in different joints like the elbow or shoulder joint. To realize a humanlike appearance, which is a big challenge regarding the power density of a human, such a modular drive unit has to be extremely compact to fit into a humanlike design space. Therefore the dimensions of the torque sensor also have to be minimized. Commercial sensor systems provide excellent accuracy and sensitivity but the possibility for the integration of these sensors is strongly limited caused by their geometrical di

关键词： Anthropomorphic robots

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Advanced robot for hazardous environment. An outline of Japanese National R&D project 'Advanced robot technology'

Advanced robot for hazardous environment. An outline of Japa...

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Fifth International conference on Advanced Robotics - '91 ICAR

作者： Sagisawa, Sinobu Advanced Robot Technology Research Association: ARTA Minato Tokyo Japan

ISBN: (纸本)0780300785

A Japanese National Research and Development Project aimed at realization of next generation robots and cultivation of elementary technology for advanced robots was finished successfully in 1990. An outline of the project is given, and three robots are presented. One is for maintenance, inspection and repair in nuclear power plants; one is for similar functions in offshore oil facilities; and one is for fire-fighting, fire prevention and rescue in petrochemical facilities. All are supported by a remote operator.< >

关键词： Research and development Service robots Orbital robotics Medical robotics Mining industry Large-scale systems US Department of Transportation Aerospace industry Safety Temperature distribution

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TASKS OF INDUSTRIAL ROBOTICS IN CREATING FLEXIBLE MANUFACTURING systems.

TASKS OF INDUSTRIAL ROBOTICS IN CREATING FLEXIBLE MANUFACTUR...

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Information Control Problems in Manufacturing Technology 1986, Proceedings of the 5th IFAC/IFIP/IMACS/IFORS conference.

作者： Yurevich, E.I.

ISBN: (纸本)0080334695

Flexible manufacturing systems (FMS) represent one of the most essential directions of robotics application in the machine building industry. Integrating all of the modern complex automation facilities in such manufacturing systems also imposes new substantial requirements with respect to robotics facilities. These include: compatibility with computers which exercise control over FMS;necessity for the expansion of robot functional capabilities;enhancement of robot performance such as reliability, speed of response, and accuracy. In solving the above tasks: the transfer to modular design;the updating and improvement of component parts;the creation of next generation robots with the developed system of sensors and;the organisation of government-supervised tests and assessment of the technical level of robotics are considered.

关键词： robots, INDUSTRIAL

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Polar polynomial curve for smooth, collision-free path generation between two arbitrary configurations for nonholonomic robots

Polar polynomial curve for smooth, collision-free path gener...

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2007 IEEE 22nd International Symposium on Intelligent Control, ISIC 2007

作者： Lai, Xue Cheng Mamun, Abdullah Al Ge, Shuzhi Sam Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)142440441X

This paper studies a geometric-based method for smooth path generation for nonholonomic mobile robots, which are subject to dynamic and curvature constraints. It first studies polar polynomial curve and its properties for it to be used in curvature-smooth transition. In the design of such a path, it is examinable whether the robot constraints and curvature requirement are satisfied. Then, connection using such a curve is extended to the case that the robot is performing rotation at its start position. next, a computationally efficient way is proposed for collision test of the curve in order to achieve real-time path planning. Finally, extensive simulation experiments are carried out to verify the proposed method. © 2007 IEEE.

关键词： Curve fitting

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Visual Navigation of a Mobile Robot: Recent Steps

Visual Navigation of a Mobile Robot: Recent Steps

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

作者： Ayaclie, N. Faugeras, O.D. Lustman, F. Zhang, Z. INRIA Dornaine de Voluceau-Rocquencourt BP Le Chesnay Cedex105 - 78153 France

We try to give, with a unified presentation, an overview of the techniques we have developped to demonstrate the visual navigation of a mobile robot. They include trinocular stereovision, 3D local maps building, ego-motion computation, local maps fusion and global map updating Uncertainty is taken into account at all these stages. We isisi on tin? general scheme of the algorithms and on some new technical det ails. We present our latest experiments, which show for the'irsi time in our laboratory, the use of trinocular stereovision in a rlowd control loop for navigation. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Mobile robots

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Sensor data integration based on the border distance model

Sensor data integration based on the border distance model

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1989 IEEE/RSJ International Workshop on Intelligent robots and systems, IROS 1989

作者： Ikegami, T. Kato, J. Ozono, S. Department of Precision Machinery Engineering University of Tokyo 7-3-1 Bongo Bunkyo-ku Tokyo113 Japan

This paper proposes a new data processing model suitable for an autonomous mobile robot, and shows an application for sensor data integration. First, the Border Distance Model is proposed and the concept of the model is introduced. next, the representation methods of sensor data and their integration in the model are studied. Finally, a map generation by a mobile robot with range sensors is investigated. In the Border Distance Model, an arbitrary point in the model is represented by a distance value which shows the minimum distance from the point to the border between the occupied area and the free area. This model can deal with various kinds of sensor data or geometric information quantitatively, and can integrate these data without inconsistency. © 1989 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Mobile robots

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A flexible robots programming environment with simulation capabilities

A flexible robots programming environment with simulation ca...

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

作者： Interesse, M. Distente, A. Istituto Elaborazioni Segnali Ed Immagini-C.N.R. C/o Dip di Fisica-via Amendola173 Bari Italy

Industrial automation, spreading over the most of manufacturing fields, is raising the requirement of ever-increasing flexibility in the design of production systems. In addition, the complexity enhancement of tasks to be automatically performed inside a manufacturing cell encourages the development of practicable tools, to easy their programming and their performance analysis. In this paper we present a robots programming environment which allows the user an off-line specification, at object-level, of assembling shop applications and to describe the work-cell layout. The run-time system provides the operator with powerful means to analyze and to check the program against the virtual cell and to graphically simulate the task, before activating real cell actors. The packages collection constituting the whole software system are distributed on several computers. The host computer is embodied by a VAXSTATI0N-3200, which runs the system main part and stores its knowledge base. It communicates, through a multiplexer, with cell actors' specific controllers, implemented on different computers (PC and LSI-11 in our experimental setup). © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Robot programming

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A role for immunology in "next generation" robot controllers

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2nd International conference on Artificial Immune Sysyems

作者： Hart, E Ross, P Webb, A Lawson, A Napier Univ Edinburgh EH14 1DJ Midlothian Scotland

ISBN: (纸本)3540407669

Much of current robot research is about learning tasks in which the task to be achieved is pre-specified, a suitable technology for the task is chosen and the learning process is then experimentally investigated. A more interesting research question is how can robot be provided with an architecture that would enable it to developmentally 'grow-up' and accomplish complex tasks by building on basic built-in capabilities. Previous work by the authors defined the requirements of a robot architecture that would enable this to happen - in this paper, we describe how some components of such an architecture can be achieved using an immune network model, and present preliminary results that show the plausibility of the suggested approach.

关键词： robots

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Optimal trajectory generation for a biped robot walking a staircase based on genetic algorithms

Optimal trajectory generation for a biped robot walking a st...

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2004 IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： Jeon, Kweon Soo Kwon, Ohung Park, Jong Hyeon Dept. of Prec. Mech. Engineering Hanyang University Seoul 133-791 Korea Republic of School of Mechanical Engineering Hanyang University Seoul 133-791 Korea Republic of

ISBN: (纸本)0780384636

In this paper, we propose optimal trajectories of biped robots to move a staircase up and down using genetic algorithms and computed-torque controller to be dynamically stable. Firstly, in order to minimize the total energy efficiency, the Real-Coded Genetic Algorithm (RCGA)which of Operators are composed of the reproduction, crossover and mutation is used. Constraints are divided into equalities and inequalities: Equality constraints consist of position conditions at the start and end of stride period and repeatability conditions related to each joint angle and angular velocity. next, inequality constraints include the collision avoidance conditions of swing leg at the face and edge of a stair, the knee joint conditions with respect to the singular avoidance, and the zero moment point condition with respect to the stability into the going direction. Finally, in order to approximate the walking gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. In the computer simulation used 6 degree of freedom biped robot model that consists of seven links, we analyze the energy efficiency of proposed optimal trajectories about the following cases:walking a ground, ascending stairs, and descending stairs.

关键词： Mobile robots

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