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IEEE International conference on Technologies for Practical Robot Applications (TePRA)

作者： Zeke Koziol Sabreen Lakhani Anatole Paine Zachary Dodds Harvey Mudd College Claremont CA USA

ISBN: (纸本)9781424449910

This work seeks to augment commodity robots to enable service tasks that require global spatial reasoning, e.g., delivery, surveillance, and map maintenance. In addition. We seek to do this as accessibly and inexpensively as possible. To that end we present a design and three prototype platforms that illustrate educational, service-level, and research applications atop the iRobot Create. The prototypes significantly improve the robotic capabilities broadly available at the $500 price range, particularly for pedagogical applications. This work informs a facet of the design space for next-generation commodity robots. Though the prototypes' first audience is likely to be educators, we hope they pique the interest of those who design low-cost consumer and service robots, as well.

关键词： Robot vision systems Cameras Prototypes Ethernet networks Costs Infrared image sensors Surveillance Regulators Orbital robotics Voltage control

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Mixed l2/l∞ preview control for biped walking pattern generation

Mixed l2/l∞ preview control for biped walking pattern gener...

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SICE Annual conference

作者： Sadaaki Kunimatsu Takahiro Fukuda Makoto Kumon Mitsuaki Ishitobi Graduate School of Science and Technology Kumamoto University Japan

In this paper, we propose mixed l 2 /l infin preview control for biped walking pattern generation. First, we propose the mixed l 2 /l infin preview control via BMI (bilinear matrix inequality) optimization approach for the system representing ZMP of humanoid robots. next, we derive a method optimizing the mixed l 2 /l infin preview controller by transforming the BMI condition into an iterative LMI(linear matrix inequality) condition. Finally, we show the effectiveness of our proposed method by simulation.

关键词： Legged locomotion Humanoid robots Gravity Performance analysis Control systems Linear matrix inequalities Leg Equations Acceleration State-space methods

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Biorobotics: Innovative and low cost technologies for next generation planetary rovers

Biorobotics: Innovative and low cost technologies for next g...

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International conference on Recent Advances in Space Technologies (RAST)

作者： Beatrice G. R. Smith Gregory P. Scott Chakravarthini M. Saaj Surrey Space Centre University of Surrey Guildford Surrey UK

This paper details some of the various robotics projects which have been inspired by the natural world, and which the authors believe will have an impact on the future of robotic space exploration. This includes both hardware-centric projects such as RiSE, and projects which concentrate more on software and control such as Swarm-bots. The authors outline two of the biologically inspired planetary explorer robots currently under investigation at the University of Surrey.

关键词： Costs Leg Legged locomotion Orbital robotics robots Biomimetics Biological control systems Biology computing Animals Space technology

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Control system design, prototyping and deployment with an integrated software and hardware platform

Control system design, prototyping and deployment with an in...

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American Control conference (ACC)

作者： Jeannie Sullivan Falcon Controls and Mechatronics National Instruments USA

National Instruments has introduced a number of high-level development frameworks, commonly referred to as “models of computation,” into a unified graphical system design platform. Examples include text-based math, C code, UML compatible statecharts, signal flow, and event-driven user interfaces (Event structure). This software can also be used to target multicore processors, off-the-shelf real-time and FPGA-based systems as well as custom microprocessor and microcontroller devices. This presentation will include live demonstrations of real-time control system deployment to embedded targets including the NI CompactRIO system used for the next-generation FIRST Robotics Competition (FRC) robot controller.

关键词： Control systems Software prototyping Hardware Real time systems robots Instruments Unified modeling language User interfaces Multicore processing Microprocessors

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Mobility reconfiguration for terrain exploration using passive perception

Mobility reconfiguration for terrain exploration using passi...

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IEEE International conference on Robotics and Automation (ICRA)

作者： Douglas Brooks Ayanna M. Howard School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

The ability of robotic units to autonomously navigate various terrains is critical to the advancement of robotic operation in natural environments. next generation robots will need to adapt to their environment in order to accomplish tasks that are either too hazardous, too time consuming, or physically impossible for human-beings. Such tasks may include accurate and rapid explorations of various planets or potentially dangerous areas on Earth. Furthermore, because terrain variability typically increases as the distance that a rover traverses increases, it will be beneficial for robotic units to adapt to their surroundings. As a result, this research investigates a navigation control methodology for a multi-modal locomotive robot based upon passive perception. Surface estimation for robot reconfigurability is implemented using a region growing method, which characterizes the traversability of the terrain, in conjunction with passive perception regarding motion. A mathematical approach is then implemented that inherits human psychological aspects to direct necessary navigation behavior to control robot mobility. Physical experimentations in a simulated Mars yard are presented to validate the methodology.

关键词： Mobile robots Wheels Navigation Humans Robot sensing systems Legged locomotion Leg NASA Robotics and automation Psychology

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A two-steps next-best-view algorithm for autonomous 3D object modeling by a humanoid robot

A two-steps next-best-view algorithm for autonomous 3D objec...

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IEEE International conference on Robotics and Automation (ICRA)

作者： Torea Foissotte Olivier Stasse Adrien Escande Pierre-Brice Wieber Abderrahmane Kheddar CNRS-UM2 LIRMM Montpellier France UMI3218/CRT CNRS-AIST JRL Tsukuba Japan INRIA Grenoble Rhone-Alpes France

A novel approach is presented which aims at building autonomously visual models of unknown objects, using a humanoid robot. Previous methods have been proposed for the specific problem of the next-best-view during the modeling and the recognition process. However our approach differs as it takes advantage of humanoid specificities in terms of embedded vision sensor and redundant motion capabilities. In a previous work, another approach to this specific problem was presented which relies on a derivable formulation of the visual evaluation in order to integrate it with our posture generation method. However to get rid of some limitations we propose a new method, formulated using two steps: (i) an optimization algorithm without derivatives is used to find a camera pose which maximizes the amount of unknown data visible, and (ii) a whole robot posture is generated by using a different optimization method where the computed camera pose is set as a constraint on the robot head.

关键词： Humanoid robots Cameras Robot sensing systems Robot vision systems Orbital robotics Stereo vision Object detection Context modeling Robotics and automation Cathode ray tubes

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Microrobots for a capsule endoscope

Microrobots for a capsule endoscope

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IEEE/ASME (AIM) International conference on Advanced Intelligent Mechatronics

作者： Byungkyu Kim Sukho Park Jong-Oh Park School of AeroSpace & Mechanical Engineering Korea AeroSpace University South Korea School of Mechanical Systems Engineering Chonnam National University Gwangju South Korea

Various actuators have been studied to develop micro robots for a capsule endoscope. In particular, some locomotive mechanisms based on the SMA (shape memory alloy) actuator, the PZT actuator, the Polymer actuator, and the micro motor have been actively studied to fabricate a microrobot for a capsule endoscope. Before we fabricate microrobots, smart material-based actuators such as SMA, PZT, Polymer, and a micro motor are evaluated from the viewpoint of power consumption, response time, and generative force. Based on the evaluation results, some microrobots are developed properly to diagnose the digestive organ. The earthworm-like robot based on the SMA and PZT actuators is fabricated and tested in the colon of a swine in order to demonstrate the performance of locomotion. However, the smart actuator-based micro robot does not supply enough driving force to locomote in the digestive organ. Therefore, a paddling-based locomotive mechanism is constructed and tested in order to diagnose diseases in the small intestine. Based on these research efforts, we expect to develop the next generation microrobot that can diagnose diseases in human digestive organs.

关键词： Endoscopes robots Polymers Micromotors Testing Diseases Shape memory alloys Intelligent actuators Energy consumption Delay

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Iterative design of advanced mobile robots

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Journal of Computing and Information Technology 2009年第1期17卷 1-16页

作者： Michaud, François Létourneau, Dominic Beaudry, Eric Fréchette, Maxime Kabanza, Froduald Lauria, Michel Department of Electrical Engineering and Computer Engineering Université de Sherbrooke Québec Canada Department of Computer Science Université de Sherbrooke Québec Canada

Integration of hardware, software and decisional components is fundamental in the design of advanced mobile robotic systems capable of performing challenging tasks in unstructured and unpredictable environments. We address such integration challenges following an iterative design strategy, centered on a decisional architecture based on the notion of motivated selection of behaviorproducing modules. This architecture evolved over the years from the integration of obstacle avoidance, message reading and touch screen graphical interfaces, to localization and mapping, planning and scheduling, sound source localization, tracking and separation, speech recognition and generation on a custom-made interactive robot. Designed to be a scientific robot reporter, the robot provides understandable and configurable interaction, intention and information in a conference setting, reporting its experiences for on-line and off-line analysis. This paper presents the integration of these capabilities on this robot, revealing interesting new issues in terms of planning and scheduling, coordination of audio/visual/graphical capabilities, and monitoring the uses and impacts of the robot's decisional capabilities in unconstrained operating conditions. This paper also outlines new design requirements for our next design iteration, adding compliance to the locomotion and manipulation capabilities of the platform, and natural interaction through gestures using arms, facial expressions and the robot's pose.

关键词： Human robot interaction

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Using NEWUOA to drive the autonomous visual modeling of an object by a Humanoid Robot

Using NEWUOA to drive the autonomous visual modeling of an o...

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2009 IEEE International conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)

作者： Abderrahmane Kheddar Torea Foissotte Olivier Stasse Pierre-Brice Wieber CNRS-LIRMM France CNRS/AIST JRLJapan CNRS/AIST JRL Japan INRIA France

A significant amelioration of our previous work is presented aiming at building autonomously visual models of unknown objects, with a humanoid robot. Previously we introduced a next-Best-View solution using two stages: (I) an optimization algorithm without derivatives finds a camera pose maximizing the amount of unknown data visible, and (ii) a whole robot posture is generated with a different optimization method where the computed camera pose is set as a constraint on the robot head. The original algorithm is modified in order to improve the robustness while broadening the cases that can be handeld. More specifically, the visibility constraint on the object's landmarks and the unknown quantification is improved while a new constraint is introduced to avoid specific poses.

关键词： Humanoid robots Optimization methods Cameras Constraint optimization Robot vision systems Robustness Biological system modeling Robotics and automation Character generation Context modeling

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A Pattern Generator of Humanoid robots Walking on a Rough Terrain using a Handrail

A Pattern Generator of Humanoid Robots Walking on a Rough Te...

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IEEE/RSJ International conference on Intelligent robots and systems

作者： Koyanagi, Ken'ichi Hirukawa, Hirohisa Hattori, Shizuko Morisawa, Mitsuharu Nakaoka, Shin'ichiro Univ Tsukuba 1-1-1 Tenohdai Tsukuba Ibaraki 3058571 Japan Natl Inst Advanced Indu Sci Tsukuba Ibaraki 3058568 Japan

ISBN: (纸本)9781424420575

This paper presents a biped humanoid robot that is able to walk on a rough terrain while touching a handrail. The contact wrench sum (CWS for short) is used as the criterion to judge if the contact between the robot and the environment is strongly stable under the sufficient friction assumption, where the contact points are not coplanar and the normal vectors at the points are not identical. It is confirmed that the proposed pattern generator can make the robot walk as desired in dynamics simulations and experiments, and the motions can be improved by a hand position control and using waist joints.

关键词： Anthropomorphic robots

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