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Proceedings 2001 IEEE/RSJ International conference on Intelligent robots and systems. Expanding the Societal Role of Robotics in the the next Millennium (Cat. No.01CH37180)

作者： W.E. Dixon D. Moses I.D. Walker D.M. Dawson Robotics and Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical and Computer Engineering Clemson University Clemson SC USA

A Simulink robotic toolkit (SRTK) for the Puma 560 robot manipulator is developed on the MATLAB/Simulink-based platform. Through the use of the real-time Linux target and the real-time Windows target, the SRTK can be executed on the Linux or Win32-based operating systems in real-time. Moreover, the graphical user-friendly nature of Simulink allows the SRTK to be a flexible tool that can easily be customized to fit the specific needs of the user, that is, based on the layered approach of the SRTK, the user can perform operations such as calibration, joint control, Cartesian control, Cartesian PD control, impedance control, some trajectory generation tasks, and real-time simulation of the Puma 560 through a user-friendly MATLAB-based graphical user interface without writing any code. The SRTK allows a researcher to use the Puma 560 without the burden of the external issues related to the control, interface, and software issues, while providing for the flexibility for easily modifying components for increased functionality.

关键词： robots Real time systems Linux Manipulators MATLAB Operating systems Calibration PD control Impedance Computer languages

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Map generation from unknown planar motion using omni-directional vision

Map generation from unknown planar motion using omni-directi...

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IEEE International Workshop on Intelligent robots and systems (IROS)

作者： Jae-Hean Kim Myung-Jin Chung Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Taejon South Korea

Describes a method to construct a stationary environmental map and estimate the ego-motion of a mobile robot from unknown planar motion by using an omni-directional vision sensor. Most environments where a mobile robot works are limited to two-dimensional space and the environmental map which is necessary for mobile robot navigation has also two dimensions. However conventional "structure from motion (SFM)" algorithms cannot be applied to two-dimensional space in perspective projection. We propose a SFM algorithm that can be applied to two-dimensional space. The proposed SFM algorithm exploits the azimuths of features which are obtained from an omni-directional vision sensor and gives robust results against the noise of image information by taking advantage of the large field of view. A relation between observed azimuths and motion parameters of a robot are constrained by a nonlinear equation and our method obtains all the motion parameters and an environmental map through a two-step procedure of solving the equation.

关键词： Mobile robots Sensor phenomena and characterization Azimuth Nonlinear equations Motion estimation Navigation Image sensors Noise robustness Working environment noise Robot sensing systems

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Standard modular actuator test and characterization

Standard modular actuator test and characterization

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Annual conference of Industrial Electronics Society

作者： Seong-Ho Kang D.J. Cox D. Tesar Robotics Research Group University of Texas Austin Austin TX USA

Describes a state-of-the-art modular actuator and its advantages over conventional actuators, and presents the testing of the actuator using a testbed devised for the testing of next-generation robot actuators. Intelligent actuators are the fundamental units of open-architecture reconfigurable machines. Actuators for robotic application are highly complex nonlinear devices, with numerous parameters and conditions to be considered. In order to obtain the maximum performance from these machines, it is necessary to obtain all parameters, creating specifications and characterizing the actuator systems using highly advanced measurement equipment. The acquired lessons learned from a broad-based testing and evaluation effort can accelerate the development of actuator technology. Recent research activities for developing modular actuators with a comparison of conventional and recent actuator technologies are introduced. Performance testing of actuators is explained, together with their purposes and measurement parameters. The hardware and software environment of a testbed which is used for testing various parameters is then described. Test results are summarized characterizing the performance of the actuator.

关键词： Manipulators Service robots Costs Robotics and automation Robot sensing systems Pneumatic actuators Software testing Acceleration Prototypes Wires

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Composition of melody reflecting user's feeling

Composition of melody reflecting user's feeling

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Annual conference of Industrial Electronics Society

作者： T. Onisawa W. Takizawa M. Unehara Institute of Engineering Mechanics and Systems University of Tsukuba Tsukuba Japan College of Systems Engineering Onesawa Laboratory Institute of Engineering mechanics and Systems University of Tsukuba Tsukuba Japan Master s Program in Science and Engineering Onisawa Laboratory Institute of Engineering Machanics and Systems University of Tsukuba Tsukuba Japan

This paper mentions an approach which composes melodies reflecting user's feelings by interactive genetic algorithms. One melody corresponds to a chromosome containing the information such as tone color, tune, the number of notes and the length of notes. Melodies are composed by the use of GA operations. A user listens to presented melodies and evaluates them whether they fit with his/her image of the melody or not. This evaluation process is performed not by objective fitness functions but by humans. Therefore, this approach uses the interactive GA. The chromosome with the best evaluation is chosen as an elite. Elite characteristics are inherited to chromosomes in the next generation. These procedures are repeated until the user finds a melody fitting with the image of the melody. Experiments are carried out in order to confirm the usefulness of the presented approach. The experimental results show that the presented approach composes melodies reflecting user's feelings.

关键词： Humans systems engineering and theory Genetic engineering Biological cells Genetic algorithms Symbiosis robots Application software Performance evaluation Character generation

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Study on quadruped walking robot in Tokyo Institute of Technology-past, present and future

Study on quadruped walking robot in Tokyo Institute of Techn...

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IEEE International conference on Robotics and Automation (ICRA)

作者： S. Hirose K. Kato Departmentof Mechano-Aerospace Engineering Tokyo Institute of Technology Tokyo Japan

Though development of a practical walking robot is not easy at all, walking robots have many practical advantages resulting from moving functions peculiar to this type of robots including excellent moving characteristics and working characteristics on uneven land. It is cited as a worldwide problem that presently, many antipersonnel mines still remain buried everywhere in the world after the wars injuring many civilians. From humanitarian view points, establishment of a technology which ensures effective removal of mines with safe and inexpensive manner by civilians instead of very dangerous mine removal works done directly by hands is needed. Of specific features shared by walking machines, the authors have been developing a walking type work robot. This robot can walk freely around a buried mine area under extremely severe environments and carry out a series of works such as removal of obstacles before mine removal works, removal of shrubs, mine probing and eventual mine removal. The paper introduces the walking machines developed by the authors so far, a walking type mine removal robot being developed extensively at present and discusses themes and views of development of a practical type walking robot in the next generation which ensures stable movement and works on uneven land. The concept of development of a robot which will be engaged in probing and removal of mines from humanitarian view points is discussed too.

关键词： Legged locomotion Leg Robot sensing systems Tactile sensors Intelligent sensors Research and development Sensor systems and applications Force sensors Intelligent robots Programmable control

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Minimal energy control on trajectory generation

Minimal energy control on trajectory generation

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International conference on Information Intelligence and systems

作者： Jih-Gau Juang Institute of Maritime Technology National Taiwan Ocean University Keelung Taiwan

Minimal energy control using artificial intelligence techniques is developed in this paper. A traditional feedforward neural network is used as the controller. Through learning, the controller can generate trajectory along a pre-defined path. The learning strategy is called recurrent averaging learning. It takes the average of initial states and final states after a cycle of training and sets this value as the new initial and final states for next training cycle. By including the energy criterion in the cost function, this technique can generate a minimal-energy walking gait and still follow the reference trajectory.

关键词： Legged locomotion Leg robots Learning Cost function Artificial neural networks Artificial intelligence Nonlinear control systems Control systems Hip

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Integrated manufacturing system modeling and simulation using distributed colored timed Petri net

Integrated manufacturing system modeling and simulation usin...

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IEEE International conference on systems, Man and Cybernetics

作者： Chung-Hsien Kuo Han-Pang Huang Robotics Laboratory Department of Mechanical Engineering National Taiwan University Taipei Taiwan

In this paper, an integrated and distributed modeling and simulation environment is developed for the next generation manufacturing systems. A distributed colored timed Petri net (DCTPN) is the modeling technique for the proposed environment. Based on the DCTPN, the shop floor process and the manufacturing execution system (MES) can be integrated horizontally and vertically. In addition, a component-based three-tier application architecture is developed to achieve the distributed transparency, fault tolerance and load balance. Finally, an order release server is integrated to the shop floor process DCTPN model to provide the wafer release orders based on different order releasing control policies.

关键词： Integrated manufacturing systems Manufacturing systems Flexible manufacturing systems Virtual manufacturing Semiconductor device modeling Petri nets Integrated circuit modeling Performance analysis robots Mechanical engineering

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Study on casting manipulation (experiment of swing control and throwing)

Study on casting manipulation (experiment of swing control a...

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IEEE International Workshop on Intelligent robots and systems (IROS)

作者： H. Arisumi T. Kotoku K. Komoriya Mechanical Engineering Laboratory AIST MITI Tsukuba Ibaraki Japan

We have been developing a casting manipulator which includes a flexible string in the link mechanism in order to enlarge the work space of the manipulator. Like the casting motion of fly fishing, the necessary motion of the gripper, which is attached at the end of the string, is generated by swinging a rigid link. The gripper is thrown to the target by releasing the string at the suitable time. We deal with the swing motion and throwing motion of the casting manipulation. First, we describe a method of oscillating the casting manipulator by considering it as a two degrees of freedom nonholonomic system. The method of the swing motion generation is investigated through experiments. next we propose a method of planning of throwing the gripper considering the time delay of releasing the gripper and frictional force which disturbs the flying motion of the gripper. The evaluation by comparing the results of numerical simulation with those of experiments using the casting manipulator hardware has shown the effectiveness of the proposed methods.

关键词： Casting Grippers Manipulator dynamics Motion control robots Delay effects Numerical simulation Force control Mechanical engineering Laboratories

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Development of a remote-brained humanoid for research on whole body action

Development of a remote-brained humanoid for research on who...

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IEEE International conference on Robotics and Automation (ICRA)

作者： F. Kanehiro I. Mizuuchi K. Koyasako Y. Kakiuchi M. Inaba H. Inoue Department of Mechano Informatics University of Tokyo Bunkyo Tokyo Japan

In this paper, a second generation remote-brained humanoid robot is presented which is developed for research on whole body action. Humanoid robots are important as a platform for the integration of techniques and algorithms acquired from research on manipulators, legged robots and so on. And they have new problems such as how to acquire, memorize, select and carry out various motions which use their whole bodies efficiently. In order to do research on these problems, a good robot body, which has whole body and enough performance for walking and getting up when it falls down is necessary. At the same time, a powerful brain is necessary which can be evolved through the body. As a solution to these demands, remote-brained approach was proposed and several humanoid robots was developed. Using these robots, several researches were done. For example, a brain framework called BeNet, an action acquisition using GA and NN and so on. They were done using a simple wireless connection. Interface between robot brain and its body to concentrate on a high-level problem. However this interface limited actions the robot can do simultaneously. In this paper, this old interface is taken to the next step. New interface has multiple actuator control methods which are switched on demand, and an onbody microprocessor network which controls actuators, measures sensors and interacts with a brain. Finally a new humanoid robot is developed on this interface.

关键词： Humanoid robots Legged locomotion Robot sensing systems Manipulators Actuators Leg Open loop systems Switches Process control Human robot interaction

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Rocky 7: a next generation Mars rover prototype

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ADVANCED ROBOTICS 1997年第4期11卷 341-358页

作者： Volpe, R Balaram, J Ohm, T Ivlev, R CALTECH Jet Prop Lab Pasadena CA 91109 USA

This paper provides a system overview of a new Mars rover prototype, Rocky 7. We describe all system aspects: mechanical and electrical design, computer and software infrastructure, algorithms for navigation and manipulation, science data acquisition, and outdoor rover testing. In each area, the improved or added functionality is explained in a context of its path to flight and within the constraints of desired science missions.

关键词： Mobile robots

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