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Behavior-based map representation for a sonar-based mobile robot by statistical methods

Behavior-based map representation for a sonar-based mobile r...

1996 IEEE/RSJ International conference on Intelligent robots and systems - Robotic Intelligence Interacting with Dynamic Worlds (IROS 96)

作者： Nakamura, T Takamura, S Asada, M Osaka Univ Osaka Japan

ISBN: (纸本)0780332148

Many conventional methods for map generation by mobile robots have tried to reconstruct 3-D geometric representation of the environment which are time-consuming, error-prone and necessary to transform the map into the information available for the given task. This paper proposes a method to acquire a statistical map representation, robust to sensor noise and directly usable for navigation task. The robot is equipped with a ring of ultrasonic ranging sensors and a collision, avoidance behavior is embedded in it. First, the mobile robed explores in the environment in order to store a set of sequences of sonar data and the principle component analysis is applied to reduce the dimensionality of the sonar data. As a result, each sequence of sonar data cast be described as a score pattern of principal components. next, these patterns are classified into typical local structures of the environment in order for the robot to discriminate them. Finally, a graph representation of the environment is constructed in which nodes and arcs correspond to these local structures and the transition probabilities between them, respectively. The validity of the method is shown by computer simulations and real robot experiments.

关键词： Mobile robots

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A New Master Control Framework for the next generation Service robots Based on ROS 37

A New Master Control Framework for the Next Generation Servi...

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37th Chinese Control conference, CCC 2018

作者： Dong, Shuai Sheng Li, Wen An, Zhaohui Xie, Zheng Zhongshan Institute University of Electronic Science and Technology of China Zhongshan528402 China UBTECH ROBOTICS CORP Shenzhen518071 China

ISBN: (纸本)9789881563941

The next generation service robots will become more intelligent and have stronger kinematic and dynamic abilities. This requires a stable, flexible, and extensible master control framework. A new framework, which takes those potential abilities into consideration, is proposed based on ROS in this work. The framework is comprised of five modules. The task manager module contains a novel mechanism for task management and action learning. Other four modules integrate several toolkits of ROS and extend their functions. The new framework has been used to control Sawyer robot to finish some tasks. © 2018 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Robot programming

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AUTOMATIC ASSEMBLY SEQUENCES generation BY PATTERN-MATCHING

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IEEE TRANSACTIONS ON systems MAN AND CYBERNETICS 1991年第2期21卷 376-389页

作者： CHEN, CLP Department of Computer Science and Engineering Wright State University Dayton OH USA

The problem of automatically finding all the feasible assembly sequences for a set of n parts that construct a mechanical object is presented. A novel method proposed here is feasible and practical in generating all the feasible assembly sequences when the number of parts is greatly increased. Generally, to generate all the assembly sequences, the precedence logical forms are obtained from the answers of relation between a pair of parts (which is called a liaison) consecutively questioned by a design engineer, and the assembly sequences are deduced by logic induction. Previous work has shown that the question-answer pattern requires 2l operations (Here l is total number of the liaisons and bounded between n-1 and (n2-n)/2). An efficient method coupled with a pattern-matching operation to generate all the feasible assembly sequences is proposed. Acquisition of the precedence knowledge is derived from the terminology of the state constrained traveling saleman problem (SCTSP). The SCTSP method is to prohibit generation of next valid states during states expansion. The solution of the assembly schedule can be easily obtained by solving SCTSP as well. This approach results in only l questions to be answered. For a special case with single fixture assembly system, the question-answer format only requires n questions to be answered resulting in reducing the order of complexity. The designed precedence knowledge is able to reduce the complexity of solving the ordering problem both on the procedures of acquisition and generation. The proposed method shows feasibility and economy for a large number of parts to be assembled.

关键词： Pattern matching Robotic assembly Assembly systems Machine intelligence Induction generators Manufacturing industries Buildings Intelligent manufacturing systems Intelligent structures Intelligent robots

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Soft robotics: The next generation of intelligent machines

Soft robotics: The next generation of intelligent machines

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23rd International Joint conference on Artificial Intelligence, IJCAI 2013

作者： Pfeifer, Rolf Marques, Hugo Gravato Iida, Fumiya Artificial Intelligence Laboratory Institute of Informatics University of Zurich Switzerland Bio-Inspired Robotics Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Switzerland

ISBN: (纸本)9781577356332

There has been an increasing interest in applying biological principles to the design and control of robots. Unlike industrial robots that are programmed to execute a rather limited number of tasks, the new generation of bio-inspired robots is expected to display a wide range of behaviours in unpredictable environments, as well as to interact safely and smoothly with human co-workers. In this article, we put forward some of the properties that will characterize these new robots: soft materials, flexible and stretchable sensors, modular and efficient actuators, self-organization and distributed control. We introduce a number of design principles;in particular, we try to comprehend the novel design space that now includes soft materials and requires a completely different way of thinking about control. We also introduce a recent case study of developing a complex humanoid robot, discuss the lessons learned and speculate about future challenges and perspectives.

关键词： Industrial robots

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From Trapezoid to Polynomial: next-generation Energy-efficient Robot Trajectories 13

From Trapezoid to Polynomial: Next-generation Energy-efficie...

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13th IEEE conference on Automation Science and Engineering (IEEE CASE)

作者： Riazi, Sarmad Bengtsson, Kristofer Lennartson, Bengt Chalmers Univ Technol Signals & Syst Dept Automat Res Grp Gothenburg Sweden

ISBN: (纸本)9781509067817

This paper evaluates some techniques for generating robot trajectories including state of the art energy-efficient trajectories, as well as more traditional trapezoidal velocity profiles used in today's robot traditional trajectory planning. In our recent publications we have demonstrated that it is possible to convert the existing velocity profiles of KUKA robots to energy-efficient ones, with impressive results in reducing energy consumption and peak-power. In this paper we give more in-depth insight as to how the proposed velocity profiles compare with their trapezoidal or polynomial counter-parts.

关键词： Trajectory Solid modeling Optimization Acceleration Mathematical model Service robots

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Development and Evaluation of an Intuitive Flexible Interface for Teleoperating Soft Growing robots

Development and Evaluation of an Intuitive Flexible Interfac...

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

作者： El-Hussieny, Haitham Mehmood, Usman Mehdi, Zain Jeong, Sang-Goo Usman, Muhammad Hawkes, Elliot W. Okamura, Allison M. Ryu, Jee-Hwan Korea Univ Technol & Educ Sch Mech Engn Cheonan Si South Korea Univ Calif Santa Barbara Dept Mech Engn Santa Barbara CA 93106 USA Stanford Univ Dept Mech Engn Stanford CA 94305 USA Benha Univ Fac Engn Shoubra Elect Engn Dept Banha Egypt

ISBN: (纸本)9781538680940

Mobility by growth is a new paradigm in robotic systems design and their applications in the real world. Soft, tip-extending, or "growing," robots have potential applications including inspection and navigation in disaster scenarios. However, due to their growing capability, such robots create unique challenges for intuitive human control. In this paper, a new flexible interface is proposed to intuitively map human bending commands into movements of the growing robot while providing shape information of the robot in order to improve situational awareness. Several command mappings are proposed, and a subjective study was conducted to assess the intuitiveness of the developed interface and mappings compared with other commercially available interfaces. The interfaces were evaluated using four metrics in two virtual task scenarios. The proposed interface with shape mapping performed better than the other interfaces, especially when the vine robot rolls over unintentionally during complex tasks.

关键词： Shape Robot sensing systems Robot kinematics Three-dimensional displays Kinematics Current measurement

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A running experiment of humanoid biped

A running experiment of humanoid biped

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2004 IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： Nagasaki, Takashi Kajita, Shuuji Kaneko, Kenji Yokoi, Kazuhito Tanie, Kazuo Grad. Sch. of Syst. and Info. Eng. University of Tsukuba 1-1-1 Tennodai Tsukuba Ibaraki 305-0047 Japan Intelligent Systems Institute Natl. Inst. Adv. Indust. Sci./T. Tsukuba Central 2 1-1-1 Umezono Tsukuba Ibaraki 305-8568 Japan

ISBN: (纸本)0780384636

Aiming for a humanoid robot of the next generation, we have been developing a biped which can jump and run. This paper introduces a method of running pattern generation and running experiment of biped robot HRP-2LR. Based on the physical parameters of HRP-2LR, running patterns are pre-calculated so that it follows the desired profiles of the total linear and angular momentum. For this purpose we used Resolved Momentum Control [16]. The vertical momentum is calculated considering the compliant elements in order to realize accurate flight duration. The horizontal momentum is calculated to satisfy the ZMP patterns given in advance. Using our pattern, HRP-2LR could successfully run with average speed of 0.16[m/s] with repeat flight phase 0.06 [s] and support phase 0.3 [s].

关键词： Mobile robots

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A Magnetically levitated actuator for advanced linear motion in robots

A Magnetically levitated actuator for advanced linear motion...

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1988 IEEE International Workshop on Intelligent robots and systems: Toward the next generation Robot and System, IROS 1988

作者： Fujita, M. Shimizu, M. Takahashi, H. Matsuraura, F. Dept. of Electrical and Computer Eng. Kanazawa University 2-40-20 Kodatsuno Kanazawa920 Japan

This paper proposes a magnetically levitated one-axis linear actuator for the advanced motion in robots. The structure of the linear actuator is shown, which will provide several remarkable features. In particular, the actuator can be used in the special circumstances;such as in clean room or in space. The microprocessor based magnetic levitation control system is also discussed in detail. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Magnetic levitation

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Hybrid Multi-Robot System for Drilling and Blasting Automation 16

Hybrid Multi-Robot System for Drilling and Blasting Automati...

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16th IEEE International conference on Control, Automation, Robotics and Vision (ICARCV)

作者： Dac Dang Khoa Nguyen Lai, Yujun Sutjipto, Sheila Paul, Gavin Univ Technol Sydney UTS Fac Engn & Informat Technol Ctr Autonomous Syst CAS Sydney NSW Australia

ISBN: (纸本)9781728177090

Multi-robot systems possess the potential of becoming the next generation of robots in the mining industry due to their robustness and scalability. However, they present challenges for the system to efficiently allocate tasks to each robot and allow them to navigate toward their targets safely. This paper introduces a hybrid approach method for a multi-robot system, alongside with a case study in drilling and blasting automation. A Centralized Control Unit delegates tasks and information among the robots in the system, each equipped with a decentralized motion planner that supports cooperative inter-robot collision avoidance. The proposed system inherits the advantage of a centralized multi-robot system in providing a time-wise optimal solution;while also possessing the computational benefit and scalability of a decentralized system. Simulations were conducted to validate the proposed method and discuss insights into the efficacy and performance of the proposed method.

关键词： Multipurpose robots

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Mobile mini-robots for space application

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8th International conference on Climbing and Walking robots (CLAWAR 2005)

作者： Han, Man-Wook Vienna Univ Technol Div Intelligent Handling & Robot Inst Mech & Mechatron A-1040 Vienna Austria

ISBN: (纸本)3540264132

The concept of solar power from space (SPS) was proposed in 1968. The basic idea of this concept is the generation of emission-free solar energy by means of solar cells in outer space and the transmission of the energy to the earth using microwave or laser beams. Because of high launch costs the structure - consisting of solar cells as well as microwave transmitters should be light weight. Instead, of the conventional rigid structure a concept (Furoshiki Concept) of a large membrane or a mesh structure where the corners held by satellites was proposed. The next step to be realized is the transportation of solar panels and microwave transmitters on this mesh structure. This paper deals with the development of low cost mobile mini robots able to move and place the solar cells as well as transmitter on a mesh structure in outer space.

关键词： solar power from space crawling robot space application

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