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Development of walking and task performing robot with bipedal configuration

Development of walking and task performing robot with bipeda...

引用

IEEE International Workshop on Intelligent robots and systems (IROS)

作者： Y. Ota K. Yoneda Y. Muramatsu S. Hirose Department of Mechanical and AeroSpace Engineering Tokyo Institute of Technology Meguro Tokyo Japan

In order to perform tasks and move using separate mechanisms, robots are required to have many degrees of freedom (DOF). As a result, robots become heavy and lose their mobility. In this paper, an effective design of robots with reduced DOF is described. An 8-DOF bipedal configuration robot with high tasking and moving performance was developed. In this robot, the DOF are reduced as much as possible without hampering the its mobility, by finding a balance between the increase in weight with additional DOF and the loss of manipulability with a reduction of DOF.

关键词： Legged locomotion Mobile robots Robotics and automation Humans US Department of Energy Actuators Aerospace engineering Humanoid robots Concrete Power generation

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Motion generation for a rover on rough terrains

Motion generation for a rover on rough terrains

引用

IEEE International Workshop on Intelligent robots and systems (IROS)

作者： D. Bonnafous S. Lacroix T. Simeon LAAS CNRS Toulouse France

This article presents an algorithm that determines safe motions for an articulated rover on rough terrains. It relies on the evaluation of a set of elementary trajectories on a digital elevation map built as the rover moves. The algorithm relies on the explicit computation of geometric constraints on the rover chassis. It has been integrated within a continuously running navigation loop on board the robot Lama, and tested under various terrain conditions.

关键词： robots Navigation Rain Trajectory Testing Rough surfaces Surface roughness Motion control Geometry Solid modeling

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A reliable feature matching method in omnidirectional views for autonomous map generation of a mobile robot

A reliable feature matching method in omnidirectional views ...

引用

IEEE International Workshop on Intelligent robots and systems (IROS)

作者： Young Jin Lee Myung Jin Chung Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Taejon South Korea

Deals with a matching problem of finding correspondences of features in two omnidirectional images. The proposed method combines the advantages of correlation-based matching and dynamic programming to yield reliable matching results. Our method works well even when some features in one image don't have corresponding features in the other. The search space of the dynamic programming can be reduced by the geometric constraints that the omnidirectional vision sensor provides. We also present a recursive scheme for position estimation of the matched features, so that on-line map generation is possible. Experimental results show that zero failure rate of matching in an indoor environment can be obtained and that a feature-drawing map can be successfully constructed by the proposed feature matching algorithm and map building method.

关键词： Mobile robots Dynamic programming Optical sensors Sensor phenomena and characterization Cameras Nonlinear optics Optical distortion Sensor systems Feature extraction Image sensors

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The development of object-oriented knowledge base and adaptive motion planning for autonomous mobile robots

The development of object-oriented knowledge base and adapti...

引用

IEEE International Workshop on Intelligent robots and systems (IROS)

作者： R.C. Luo Meng Hsien Lin Shen Hong Shen Intelligent Automation Laboratory Department of Electrical Engineering National Chung Cheng University Chiayi Taiwan

Motion planning plays an important role in the field of autonomous mobile robots. We propose a hybrid intelligent system including the object-oriented knowledge base and adaptive motion planning (AMP) algorithm. There are four major procedures in the intelligent system: a priori environment building, on-line topology map generation, candidate path searching, and behavior commands generation. The adaptive motion planning (AMP) algorithm acquires the a priori defined map and the latest or dynamic information. The algorithm then determines path and generates a sequence of motion behavior description commands for navigation. The experimental results indicate that the object-oriented knowledge base can be updated easily. The AMP algorithm can produce the suitable path and behavior commands, and fuse these behaviors to navigate the mobile robot in the dynamic environment. The proposed method is implemented on the "Chung Cheng I" autonomous mobile robot to demonstrate the reliability and flexibility.

关键词： Motion planning Mobile robots Navigation Path planning Motion control Communication system control Intelligent robots Hybrid intelligent systems Switches Robotics and automation

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Autonomous control of an engine-driven mobile platform for field robotic systems

Autonomous control of an engine-driven mobile platform for f...

引用

IEEE International Workshop on Intelligent robots and systems (IROS)

作者： E.F. Fukushima P. Debenest S. Hirose Department of Mechanical and AeroSpace Engineering Tokyo Institute of Technology Meguro Tokyo Japan

Currently, most of the robotic systems use electric actuators and depend on chemical batteries as source of energy. However, this results in severe limitations to their range and time of autonomous operation, making it difficult to employ those robotic systems in remote areas or fields. In order to solve this problem, the authors have developed a mobile platform with energy-generation capability and mechanisms to drive it automatically. In this paper, a new autonomous control for the mobile platform is proposed, including telemetry features, especially focused on hyper-tether applications Those applications may include landmine detection/removal and forestry works in environments where the currently available systems cannot operate uninterruptedly for long periods of time.

关键词： robots Actuators Chemicals Batteries Robotics and automation Automatic control Control systems Telemetry Landmine detection Forestry

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Modeling and control of an under-actuated miniature crawler robot

Modeling and control of an under-actuated miniature crawler ...

引用

IEEE International Workshop on Intelligent robots and systems (IROS)

作者： Jizhong Xiao M. Minor H. Dulimarta Ning Xi R. Mukherjee R.L. Tummala Department of Electrical and Computer Engineering Michigan State University MI USA Department of Mechanical Engineering Michigan State University MI USA

This paper presents the modeling and control of our second generation prototype miniature crawler robot which was targeted to applications in constrained environments. The mechanical design and the drive mechanism of the robot are first discussed A kinematic model is then derived and the motion planning is analyzed. A description of the Texas Instrument DSP-based embedded controller is presented. Finally, experimental results are presented for evaluation of the robot performance.

关键词： Crawlers robots Orbital robotics Legged locomotion Motion planning Reconnaissance Energy consumption Foot Prototypes Kinematics

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Guiding attention for grasping tasks by gestural instruction: the GRAVIS-robot architecture

Guiding attention for grasping tasks by gestural instruction...

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IEEE International Workshop on Intelligent robots and systems (IROS)

作者： J.J. Steil G. Heidemann J. Jockusch R. Rae N. Jungclaus H. Ritter Faculty of Technology Neuroinformatics Group University of Bielefeld Bielefeld Germany

A major goal for the realization of a new generation of intelligent robots is the capability of instructing work tasks by interactive demonstration. To make such a process efficient and convenient for the human user requires that both the robot and the user can establish and maintain a common focus of attention. We describe a hybrid architecture that combines neural networks and finite stale machines into a flexible framework for controlling the behaviour of a vision based robot called GRAVIS-robot (Gestural Recognition Active Vision System robot). It consists of a binocular camera head, a 6 DOF robot arm and a 9 DOF multifingered hand. We focus primarily on nonverbal communication based on gestural commands of a human instructor which will at a later stage be complemented by spoken instructions.

关键词： Robot kinematics Robot vision systems Cognitive robotics Intelligent robots Robot programming Human robot interaction Neural networks Automata Control systems Machine vision

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A miniature hybrid robot propelled by legs

A miniature hybrid robot propelled by legs

引用

IEEE International Workshop on Intelligent robots and systems (IROS)

作者： M.C. Birch R.D. Quinn G. Hahm S.M. Phillips B. Drennan R.D. Beer Xinyu Yu S.L. Garverick S. Laksanacharoen A.J. Pollack R.E. Ritzmann Case Western Reserve University Cleveland OH USA

Describes the development of an autonomous hybrid micro-robot that uses legs for propulsion and support of the rear half of the body and uses a pair of wheels for support of the front half. McKibben artificial muscles actuate the legs and the compressed air that activates the actuators is generated by an on-board power plant comprising a pair of lithium batteries powering a gear motor driven air compressor. The control is also onboard in the form of a PIC that controls the actuators through four three-way valves that each consists of a pair of MEMS devices.

关键词： Legged locomotion Propulsion Leg Actuators Power generation Mobile robots Wheels Muscles Lithium Batteries

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Periodic stabilizing control of systems with collisions-application to walking robots

Periodic stabilizing control of systems with collisions-appl...

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IEEE International Workshop on Intelligent robots and systems (IROS)

作者： H. Ohta M. Yamakita Department of Control Engineering Tokyo Institute of Technology Meguro Tokyo Japan Department of Mechanical and Control Systems Engineering Tokyo Institute of Technology Japan

The focus of this work is to generate and realize automatically an ideal periodic gait of walking robots which depends on properties of the system and an environment. In conventional works, a robot walking are realized by a tracking control for a predetermined desired trajectory. A necessary control for walking robots is not to track a desired trajectory but to generate a suitable trajectory according to changes of the environment. In order to realize this function, two methods will be discussed in this paper. The first one is the control method to realize a suitable steady periodic motion. The method will be called 'phase synchronous control,' which creates a stable limit cycle for the system which has an unstable one. The second one is the algorithm which is called 'desired state optimization' and modifies the motion to an optimal one, that a criterion function is optimized. Using this algorithm, if the environment of the system is changed, an ideal motion for the environment is automatically realized. The validity of the proposed method will be examined by numerical simulations.

关键词： Control systems Legged locomotion Robotics and automation Trajectory Automatic control Automatic generation control Robot control Motion control Limit-cycles Numerical simulation

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Real-time visual system for interaction with a humanoid robot

Real-time visual system for interaction with a humanoid robo...

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IEEE International Workshop on Intelligent robots and systems (IROS)

作者： A. Ude C.G. Atkeson Department of Autom. Biocyb. and Robotics Jožef Stefan Institute Ljubljana Slovenia Information Sciences Division ATR-I Soraku-gun Japan Robotics Institute Carnegie Mellon University Pittsburgh PA USA

We describe a real-time visual system that enables a humanoid robot to learn from and interact with humans. The core of the visual system is a probabilistic tracker that uses shape and color information to find relevant objects in the scene. Multiscale representations, windowing and masking are employed to accelerate the data processing. The perception system is directly coupled with the motor control system of our humanoid robot DB. We present an example of on-line interaction with a humanoid robot: mimicking of human hand motion. The generation of humanoid robot motion based on the human motion is accomplished in real-time. The study is supported by experimental results on DB.

关键词： Real time systems Visual system Humanoid robots Humans Shape Layout Acceleration Data processing Couplings Motor drives

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