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

共 424 条记录，以下是181-190 订阅

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

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

引用

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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Semiautonomous Industrial Mobile Manipulation for Industrial Applications

Semiautonomous Industrial Mobile Manipulation for Industrial...

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3rd IEEE Annual International conference on Cyber Technology in Automation, Control and Intelligent System (CYBER)

作者： Chen, Heping Cheng, Hongtai Zhang, Biao Wang, Jianjun Fuhlbrigge, Tom Liu, Jian SW Texas State Univ Ingram Sch Engn San Marcos TX 78666 USA

ISBN: (纸本)9781479906109;9781479906123

The mobile industrial manipulator(MIM) which combines the advantages of both the mobile robot and industrial robot and owns powerful mobility, flexibility and functionality will be the next generation of robots. However fully autonomous MIM performing various tasks in unstructured or semi-structured environment is very challenging in autonomous localization & navigation, object identification, control and coordination. However, there is a demand in industry for MIMs to be deployed in hazardous, dangerous and/or remotely environments. Therefore, a semi-autonomous MIM is investigated to perform industrial operations. An MIM prototype using a mobile platform and an industrial robot is developed. Manual and autonomous methods are proposed and implemented to control the prototype manually and autonomously. Experiments using the prototype were performed. Experimental results demonstrate that the robot can run autonomously if there is no ambiguity and the operators can interrupt the autonomous mode at any time if needed. The developed prototype and proposed methods have big potential in industrial applications.

关键词： Semi-autonomous Mobile Industrial Manipulator Industrial robots Autonomous Navigation Progressive Bayesian Learning

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ARMAR-4: A 63 DOF torque controlled humanoid robot

ARMAR-4: A 63 DOF torque controlled humanoid robot

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IEEE-RAS International conference on Humanoid robots

作者： Tamim Asfour Julian Schill Heiner Peters Cornelius Klas Jens Bücker Christian Sander Stefan Schulz Artem Kargov Tino Werner Volker Bartenbach University of Missouri-Columbia Oklahoma State University TotalSim USA

We present the mechatronic design of the next generation of our humanoid robots, the humanoid robot ARMAR-4, a full body torque controlled humanoid robot with 63 active degrees of freedom, 63 actuators, 214 sensors, 76 microcontroller for low-level control, 3 PCs for perception, high-level control and balancing, a weight of 70 kg including batteries and total height of 170 cm. In designing the robot we follow an integrated approach towards the implementation of high performance humanoid robot systems, able to act and interact in the real world using only on-board sensors and computation power. Special attention was paid to the realization of advanced bimanual manipulation and locomotion capabilities. The paper presents the design concept of the robot and its mechatronic realization.

关键词： Joints Torque Humanoid robots Legged locomotion Robot sensing systems

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A probabilistic approach to robot trajectory generation

A probabilistic approach to robot trajectory generation

引用

IEEE-RAS International conference on Humanoid robots

作者： Alexandros Paraschos Gerhard Neumann Jan Peters Intelligent Autonomous Systems lab Technische Universitat Darmstadt Germany Robot Learning Group Max-Planck Institute for Intelligent Systems Tuebingen Germany

Motor Primitives (MPs) are a promising approach for the data-driven acquisition as well as for the modular and re-usable generation of movements. However, a modular control architecture with MPs is only effective if the MPs support co-activation as well as continuously blending the activation from one MP to the next. In addition, we need efficient mechanisms to adapt a MP to the current situation. Common approaches to movement primitives lack such capabilities or their implementation is based on heuristics. We present a probabilistic movement primitive approach that overcomes the limitations of existing approaches. We encode a primitive as a probability distribution over trajectories. The representation as distribution has several beneficial properties. It allows encoding a time-varying variance profile. Most importantly, it allows performing new operations - a product of distributions for the co-activation of MPs conditioning for generalizing the MP to different desired targets. We derive a feedback controller that reproduces a given trajectory distribution in closed form. We compare our approach to the existing state-of-the art and present real robot results for learning from demonstration.

关键词： Trajectory Mathematical model robots Equations Probabilistic logic Vectors Noise

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Semiautonomous industrial mobile manipulation for industrial applications

Semiautonomous industrial mobile manipulation for industrial...

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IEEE International conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Heping Chen Hongtai Cheng Biao Zhang Jianjun Wang Tom Fuhlbrigge Jian Liu Ingram School of Engineering Texas State University ABB Inc Windsor Department of Industrial Engineering Arizona State University

关键词： Service robots Mobile communication Robot sensing systems Robot kinematics Navigation Control systems

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The highly performant and realtime deterministic communication layer of the aRDx software framework

The highly performant and realtime deterministic communicati...

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International conference on Advanced Robotics (ICAR)

作者： Tobias Hammer Berthold Bäuml DLR Institute of Robotics and Mechatronics Wessling Germany

Communication between software components is one of the most important functionalities a software framework for modern complex robotic systems has to provide. Here, we present the highly performant realtime communication layer of our new robotic software framework aRDx (agile robot development - next generation), with, e.g., zero-copy semantics, realtime determinism and detailed control of the QoS (quality of service). In addition, we give an in-depth performance comparison to other popular robotic frameworks, namely ROS, YARP, Orocos and aRD.

关键词： robots Software Ports (Computers) Semantics Bandwidth Benchmark testing Stress

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Quantifying anthropomorphism of robot hands

Quantifying anthropomorphism of robot hands

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IEEE International conference on Robotics and Automation (ICRA)

作者： Minas V. Liarokapis Panagiotis K. Artemiadis Kostas J. Kyriakopoulos Control Systems Laboratory School of Mechanical Engineering National Technical University of Athens Athens Greece ASU Human-Oriented Robotics and Control (HORC) Laboratory School for Engineering of Matter Transport andEnergy Ira A. Fulton Schools of Engineering Arizona State University Tempe AZ USA

ISBN: (纸本)9781467356404

In this paper a comparative analysis between the human and three robotic hands is conducted. A series of metrics are introduced to quantify anthropomorphism and assess robot's ability to mimic the human hand. In order to quantify anthropomorphism we choose to compare human and robot hands in two different levels: comparing finger phalanges workspaces and comparing workspaces of the fingers base frames. The final score of anthropomorphism uses a set of weighting factors that can be adjusted according to the specifications of each study, providing always a normalized score between 0 (non-anthropomorphic) and 1 (human-identical). The proposed methodology can be used in order to grade the human-likeness of existing and new robotic hands, as well as to provide specifications for the design of the next generation of anthropomorphic hands. Those hands can be used for human robot interaction applications, humanoids or even prostheses.

关键词： robots Anthropomorphism Thumb Indexes Kinematics Joints

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Designing public safety mobile applications for disconnected, interrupted, and low bandwidth communication environments

Designing public safety mobile applications for disconnected...

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IEEE conference on Technologies for Homeland Security

作者： Peter Erickson Andrew Weinert Paul Breimyer Matt Samperi Jason Huff Carlos Parra Scarlett Miller MIT Lincoln Laboratory Lexington MA Pennsylvania State University PA

Public Safety emergency communication systems are crucial to effective incident and disaster response. Lack of situational awareness and communications are of the most cited factors that hamper Public Safety's ability to make critical decisions. In partnership with the Department of Homeland Security Science and Technology Directorate (DHS S&T), MIT Lincoln Laboratory (MIT LL) developed the next-generation Incident Command System (NICS) to improve collaborative situational awareness. NICS is a reliable, distributed, and scalable architecture that enables a common situational awareness picture to enhance collaboration. The NICS user interface is web-based and Public Safety is increasingly adopting mobile devices, which are likely to operate in disconnected, interrupted, low-bandwidth environments. To address these issues, this paper will describe a Public Safety mobile application based upon feedback from Public Safety personal. Due to the strong open-source development community and API flexibility, the Android operating system was selected for development. Development of the native Android application was driven by popular NICS features and Public Safety feedback. Foremost, the application was required to provide and display geolocation information, enabling basic situational awareness. In addition to geolocation, the application enables users to report incidents, broadcast messages, and transmit images. These functions and their designs were driven by interviews with Public Safety personnel from different organizations (law enforcement, fire, etc.). Usability testing with Public Safety personal was conducted. Users envision that the application will enhance the situational awareness capability for mobile Public Safety personnel while laying the foundation for future work leveraging mobile technologies. Based on this testing and lessons learned from development, a set of Public Safety mobile application design considerations were developed.

关键词： Androids Humanoid robots Safety Mobile communication Operating systems User interfaces Mobile handsets

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Analytical Real-time Pattern generation for Trajectory Modification and Footstep Replanning of Humanoid robots

Analytical Real-time Pattern Generation for Trajectory Modif...

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

作者： Santacruz, Carlos Nakamura, Yoshihiko Univ Tokyo Dept Mechanoinformat Bunkyo Ku Tokyo 1138656 Japan

ISBN: (纸本)9781467317368

In this paper we present a framework for generating walking motions for a humanoid robot and how to adapt the trajectory to handle disturbances during the execution of the trajectory. Based on the simplified dynamics of a mass concentrated model, we generate a physically consistent motion that depends on the current CoM state space of the robot. If the disturbance is low, it is possible to adapt the trajectory in order to reach the desired next step position. In the case of strong disturbances, we show how to modify the final goal under a reactive stepping framework. Simulations and hardware experiments with the full-size humanoid HRP-4 show the validity of the proposed scheme.

关键词： Anthropomorphic robots

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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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