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

共 419 条记录，以下是191-200 订阅

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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...

引用

IEEE/RSJ International conference on Intelligent Robotics and systems

作者： Carlos Santacruz Yoshihiko Nakamura Department of Mechano-Informatics The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-8656 Japan.

ISBN: (纸本)9781467317375

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： Trajectory Modification Footstep Replanning CoM Humanoid robots trajectory Coma Berenices Foot Pedal Pattern generation Legal Executions

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Robotics for Nuclear Power Plants — Challenges and future perspectives

Robotics for Nuclear Power Plants — Challenges and future p...

引用

International conference on Applied Robotics for the Power Industry (CARPI)

作者： Jamshed Iqbal Ahmad Mahmood Tahir Raza ul Islam Riaz-un-Nabi Robotics and Control Research (RCR) Group Department of Electrical Engineering COMSATS Institute of Information Technology Islamabad Pakistan Lahore University of Management Sciences Lahore Pakistan Department of Electrical Engineering COMSATS Institute of Information Technology Islamabad Pakistan Istituto Italiano di Tecnologia Genova Italy

Use of robotics and computerized tools in Nuclear Power Plants (NPPs) has been identified as a highly recommended practice by IAEA. The key rationale of robotics application has always been to avoid human exposure to hazardous environments and tasks ranging from scrutiny and general maintenance to decontamination and post accidental activities. To execute these activities, robots need to incorporate artificial intelligence, improved sensors capability, enhanced data fusion and compliant human like leg and hand structures for efficient motions. next generation robotic systems in NPPs are expected to work in full autonomous mode in contrast to the current semi-autonomous scenarios. Far future systems could deploy humanoid robots as well. This paper presents state-of-the-art of robotics developed for NPPs, associated challenges and finally comments on future directions.

关键词： Service robots Humans Inspection Manipulators Robot kinematics Mobile robots

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Multiagent system architecture and method for group-oriented traffic coordination

Multiagent system architecture and method for group-oriented...

引用

Inaugural IEEE-IES Digital Ecosystems and Technologies conference, DEST

作者： Jana Görmer Jörg P. Müller Department of Informatics Technical University of Clausthal-Zellerfeld Germany

next-generation traffic management systems will make use of on-board intelligence and communication capabilities of vehicles and traffic infrastructure. In this paper, we investigate a multiagent approach allowing vehicle agents to form groups in order to co-ordinate their speed and lane choices. Our hypothesis is that a decentralized approach based on a co-operative driving method can contribute to higher and smoother traffic flow, leading to higher speeds and less delays. Our focus is on automated vehicle decision models. We develop a group-oriented driving method with vehicle agents that perceive their environment and exchange information. The paper proposes decentralized dynamic vehicle grouping algorithm, a conflict detection and global coordination method, and defines individual driving strategies for vehicles. For validation, we compare our method with a driving method implemented in the commercial traffic simulation platform AIMSUN. Experimental results indicate that group formation and group coordination methods can improveme traffic network throughput.

关键词： Vehicles Delay Acceleration Mobile robots Mathematical model Multiagent systems Throughput

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Multiple Mobile Robot Path Planning for Rollover Prevention and Collision Avoidance

Multiple Mobile Robot Path Planning for Rollover Prevention ...

引用

11th International conference on Control, Automation and systems (ICCAS)/Robot World conference

作者： Park, Jae Byung Chonbuk Natl Univ Div Elect Engn Jeollabuk Do 561756 South Korea

ISBN: (纸本)9788993215038

A multiple mobile robot path planning method is proposed for both rollover prevention and collision avoidance. The proposed method consists of two steps such as rollover-free path generation and collision avoidance among multiple mobile robots. In the first step, the smooth path without rollover is generated by using the sequential Hermite curves, taking intrinsic constraints of the mobile robots into consideration. In the next step, the departure time of every mobile robot is determined for collision avoidance among mobile robots using the extended collision map. Finally, the simulation is carried out with multiple mobile robots for verifying the efficiency of the proposed method.

关键词： Rollover prevention Collision avoidance Multiple mobile robots

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Shaping Energetically Efficient Brachiation Motion for a 24-DOF Gorilla Robot

Shaping Energetically Efficient Brachiation Motion for a 24-...

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IEEE/RSJ International conference on Intelligent robots and systems

作者： Pchelkin, Stepan S. Shiriaev, Anton S. Mettin, Uwe Freidovich, Leonid B. Aoyama, Tadayoshi Lu, Zhiguo Fukuda, Toshio Norwegian Univ Sci & Technol Dept Engn Cybernet NO-7491 Trondheim Norway Umea Univ Dept Appl Phys & Elect SE-90187 Umea Sweden Nagoya Univ Dept Mech Sci & Engn Nagoya Aichi 4648601 Japan

ISBN: (纸本)9781612844558

We consider a 24-degrees-of-freedom monkey robot that is supposed to perform brachiation locomotion, i.e. swinging from one row of a horizontal ladder to the next one using the arms. The robot hand is constructed as a planar hook so that the contact point about which the robot swings is a passive hinge. We identify the 10 most relevant degrees of freedom for this underactuated mechanical system and formulate a tractable search: (a) introduce a family of coordination patterns to be enforced on the dynamics with respect to a path coordinate;(b) formulate geometric equality constraints that are necessary for periodic locomotion;(c) generate trajectories from integrable reduced dynamics associated with the passive hinge;(d) evaluate the energetic cost of transport. Moreover, we observe that a linear approximation of the reduced dynamics can be used for trajectory generation which allows us to incorporate the gradient of the cost function into the search algorithm.

关键词： Dynamic Robot Locomotion Underactuated robots Trajectory generation Virtual Holonomic Constraints

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Towards an Evolutionary Design of Modular robots for Industry

引用

4th International Work-conference on the Interplay Between Natural and Artificial Computation (IWINAC)

作者： Faina, Andres Bellas, Francisco Souto, Daniel Duro, Richard J. Univ A Coruna Integrated Grp Engn Res Ferrol 15403 Spain

ISBN: (纸本)9783642213441

We are interested in the next generation of industrial robots, those that are able to operate in dynamic and unstructured environments and, consequently, that are able to adapt to changing circumstances or to work on different tasks in an autonomous way. In this sense, multirobot systems and, in particular, modular systems present several features like scalability, fault tolerance, low maintenance or reconfiguration capabilities that make them highly suitable for this kind of environments. The work presented here is concerned with the problem of automatically obtaining the morphology and control structure for this type of modular systems. In this line, we present the first results produced using a newly designed constructive evolutionary approach that takes into account the extreme difficulty of the tremendously deceptive and uninformative search space this type of applications are faced with. As an example, the algorithm is used to design the morphology and the distributed control parameters for a typical benchmark problem, that of moving as far as possible in a straight line, for a heterogeneous modular robotic system developed by our group.

关键词： Multi-robot systems Modular robots Evolutionary Algorithms Industrial Automation

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robots: Rapid on-bead oligomer-target screening

Robots: Rapid on-bead oligomer-target screening

引用

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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Closed-loop performance of a proportional controller for visual stabilization using a fly-robot interface

Closed-loop performance of a proportional controller for vis...

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2011 IEEE International conference on Robotics and Biomimetics, ROBIO 2011

作者： Ejaz, Naveed Tanaka, Reiko J. Krapp, Holger G. Department of Bioengineering Imperial College London London SW7 2AZ United Kingdom

ISBN: (纸本)9781457721373

The blowfly Calliphora is the model of choice for studying sensori-motor control principles common in biological systems. We present a fly-robot interface where the neural activity of an identified visual interneuron is used to control the angular velocity of a rotating robot. By placing the robot on a rotating turn-table in a visual arena, we use the fly-robot interface to quantify the dynamics and performance of a proportional controller in a closed-loop visual stabilization system. The properties of the system were characterized for both step and frequency responses. We analysed the data using a performance index based on the input-output energy dissipated by the controller. Our results suggest that the optimal strategy for the fly to minimize the visual slip speed would be to tune the closed-loop gain to the angular velocity and angular acceleration of the input stimuli. The design principles discovered by reverse-engineering sensori-motor control in to develop the next generation of autonomous robots and smart sensors. © 2011 IEEE.

关键词： robots

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Multiple mobile robot path planning for rollover prevention and collision avoidance

Multiple mobile robot path planning for rollover prevention ...

引用

International conference on Control, Automation and systems ( ICCAS)

作者： Jae Byung Park Division of Electronic Engineering Chonbuk National University of Korea Jeollabuk South Korea

关键词： Collision avoidance Mobile robots Path planning Delay effects Mobile agents Joints

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12th INNS EANN-SIG International conference on Engineering Applications of Neural Networks, EANN 2011 and 7th IFIP WG 12.5 International conference on Artificial Intelligence Applications and Innovations, AIAI 2011

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12th INNS EANN-SIG International conference, EANN2011 and 7th IFIP WG 12.5 International conference, AIAI 2011

ISBN: (纸本)9783642239564

The proceedings contain 57 papers. The special focus in this conference is on Computer Vision, Robotics, Self Organizing Maps, Pattern Recognition and Management Applications of AI. The topics include: ART-based fusion of multi-modal information for mobile robots;vision-based autonomous navigation using supervised learning techniques;SOM-based clustering and optimization of production;hypercube neural network algorithm for classification;improving the classification performance of liquid state machines based on the separation property;induction of linear separability through the ranked layers of binary classifiers;subspace-based face recognition on an FPGA;neural network rule extraction to detect credit card fraud;a neuro-fuzzy hybridization approach to model weather operations in a virtual warfare analysis system;employing smart logic to spot audio in real time on deeply embedded systems;support vector machines versus artificial neural networks for wood dielectric loss factor estimation;time-frequency analysis of hot rolling using manifold learning;transferring models in hybrid reinforcement learning agents;anomaly detection from network logs using diffusion maps;a mixed method to adapt and improve their learning by neural networks used in regression contexts;evolutionary algorithm optimization of edge delivery sites in next generation multi-service content distribution networks;object segmentation using multiple neural networks for commercial offers visual search and an ensemble based approach for feature selection.

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