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

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Jumping Motion generation for Humanoid Robot Using Arm Swing Effectively and Changing in Foot Contact Status

Jumping Motion Generation for Humanoid Robot Using Arm Swing...

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

作者： Mineshita, H. Otani, T. Sakaguchi, M. Kawakami, Y. Lim, H. O. Takanishi, A. Waseda Univ Grad Sch Modern Mech Engn Shinjuku Ku 41-30417 Kikui Cho Tokyo 1620044 Japan Waseda Univ Res Inst Sci & Engn Tokyo Japan Waseda Univ Humanoid Robot Inst HRI Tokyo Japan ASICS Corp Inst Sport Sci Kobe Hyogo Japan Waseda Univ Fac Sport Sci Tokyo Japan Kanagawa Univ Fac Engn Yokohama Kanagawa Japan Waseda Univ Dept Modern Mech Engn Tokyo Japan

ISBN: (纸本)9781728162126

Human jumping involves not only lower limbs but also whole-body coordination. During jumping, the effect of sinking the center of mass for recoil and arm swing are significant, and they can cause changes in the jump height. However, upper body movements during jumping movements of humanoid robots have not been studied adequately. When jumping involves only the lower limbs, the burden on the lower limbs increases and it is difficult to jump as high as humans do. Also, if the sole is in contact with the ground during jumping movements, we cannot make good use of the ankle joint. Humans raise their heels during jumping movements, but there are few cases where humanoid robots achieve these movements. Therefore, we thought that jumping with recoil motion by the sinking, arm swing, and changing in foot contact status could result in a higher jump height higher than that possible with only lower limb movements. Hence, in this study, we generated jumping motion using sinking, arm swing and changing foot posture. First, a center of mass trajectory was generated by planning the entire jumping motion, and at the same time, the angular momentum was determined for stability. next, the joint trajectory was calculated using these two parameters. At that time, arm trajectory and foot posture were specified in the null space. This generated a jumping motion considering arm swing. During simulations, this method provided a jump height almost four times the jump height that obtained without arm swing.

关键词： Anthropomorphic robots

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Teleoperation of an Industrial Robot using Public Networks and 5G SA Campus Networks

Teleoperation of an Industrial Robot using Public Networks a...

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IEEE International conference on Robotic Computing (IRC)

作者： Jannik Rohde Olga Meyer Quy Luu Duc Christoph Jürgenhake Talib Sankal Roman Dumitrescu Robert H. Schmitt Competence Center DigITools for Production Fraunhofer Institute for Manufacturing Engineering and Automation IPA Stuttgart Germany Systems Engineering Fraunhofer Institute for Mechatronic Systems Design IEM Paderborn Germany Digital Infrastructures Fraunhofer Institute for Production Technology IPT Aachen Germany Heinz Nixdorf Institute University of Paderborn Paderborn Germany Laboratory for Machine Tools and Production Engineering WZL of RWTH Aachen University Aachen Germany

ISBN: (纸本)9781665472616

The next generation of cellular mobile communication standard 5G is considered to have more stable and secure communication links, low latency and higher flexibility which can be enablers for various new scenarios and applications. Teleoperation is the field that can benefit greatly from 5G technology. Demanding and mission-critical use cases such as telesurgery have challenging requirements like low latency and high reliability of the communication channel, which can be possibly met by 5G in the future. This work presents a 5G architecture for the teleoperation of an industrial robot over long distance. For this purpose three Fraunhofer Institutes were connected over public internet and 5G campus networks. Furthermore, this work describes the latency performance of the investigated teleoperation use case. The measurements in the experiment are performed with two 5G standalone (SA) networks and an edge cloud.

关键词： Cloud computing 5G mobile communication Service robots Mission critical systems Computer architecture Communication channels Reliability

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Design of a Modular Robotic Workcell Platform Enabled by Plug & Produce Connectors

Design of a Modular Robotic Workcell Platform Enabled by Plu...

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International conference on Advanced Robotics (ICAR)

作者： Primož Radanovič Jaka Jereb Igor Kovač Aleš Ude Jožef Stefan Institute Ljubljana Slovenia

ISBN: (纸本)9781665436854

To respond to the increasing global demand for highly customisable production systems, we developed a new standardised component for modular robotic platforms. It supports a modular framework for building robotic workcells of the next generation. The main building blocks for the framework are the archetypical module, on which the equipment that provides the functionality of the module is mounted, and the newly developed “Plug & Produce” connector. The latter is the key enabling technology of the system as it allows us to mechanically couple and decouple different modules while also providing all the necessary signals and energy sources to the module. To demonstrate the potential of the proposed framework, we have built a fully functional robotic workcell and applied it in the context of automated recycling of electronic devices. To prove the feasibility of such a system for real-world settings, we evaluated the repeatability of the module coupling and deflections of the modules as a result of floor unevenness.

关键词： Couplings Service robots Software architecture Software Recycling Floors next generation networking

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Robotics Education To and Through College 10th

Robotics Education To and Through College

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10th International conference on Robotics in Education (RiE)

作者： Page, Brian R. Ziaeefard, Saeedeh Knop, Lauren Rastgaar, Mo Mahmoudian, Nina Purdue Univ W Lafayette IN 47907 USA Ohio State Univ Columbus OH 43210 USA Michigan Technol Univ Houghton MI 49931 USA

ISBN: (纸本)9783030269456;9783030269449

Robotics education has made great strides to enable the next generation of engineers and workers with early education and outreach. This early education effort is able to engage students and promote interest, however an integrated pathway to and through college is needed. This pathway needs to build upon early experiences with opportunities to advance across age groups. This paper presents the authors experience developing robotics curriculum across age groups. Middle and high school education has been implemented in a summer camp environment utilizing two co-robotic platforms, a water sensing robot called GUPPIE and an assistive robot named Neu-pulator, engaging 201 total students between Summer 2014-2017. The university course is a senior level technical elective introducing autonomous systems through a mobile robotic platform, a smart car, with 72 total students in Spring 2017 and 2018. In this work, the survey results gathered from Summer 2017 pre-college and Spring 2018 college level activities are presented. Overall observations and lessons learned across age groups are also discussed to better create a pathway from young learners to practicing engineers. The key to success of robotics programs at any age are hands-on, exciting activities with sufficient expert support so that students are able to learn in a frustration free environment.

关键词： Project-based learning and robotics Robotics curricula Robotics education Marine robots Assistive robots Mobile robots

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Walking Control Based on Step Timing Adaptation

Walking Control Based on Step Timing Adaptation

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作者： Khadiv, Majid Herzog, Alexander Moosavian, S. Ali. A. Righetti, Ludovic Righetti, Ludovic Movement Generation and Control Group Max-Planck Institute for Intelligent Systems Tuebingen72076 Germany Google X Mountain ViewCA94043 United States Department of Mechanical Engineering K. N. Toosi University of Technology Tehran*** Iran Department of Electrical and Computer Engineering New York University BrooklynNY11201 United States

Step adjustment can improve the gait robustness of biped robots;however, the adaptation of step timing is often neglected as it gives rise to nonconvex problems when optimized over several footsteps. In this article, we argue that it is not necessary to optimize walking over several steps to ensure gait viability and show that it is sufficient to merely select the next step timing and location. Using this insight, we propose a novel walking pattern generator that optimally selects step location and timing at every control cycle. Our approach is computationally simple compared to standard approaches in the literature, yet guarantees that any viable state will remain viable in the future. We propose a swing foot adaptation strategy and integrate the pattern generator with an inverse dynamics controller that does not explicitly control the center of mass nor the foot center of pressure. This is particularly useful for biped robots with limited control authority over their foot center of pressure, such as robots with point feet or passive ankles. Extensive simulations on a humanoid robot with passive ankles demonstrate the capabilities of the approach in various walking situations, including external pushes and foot slippage, and emphasize the importance of step timing adaptation to stabilize walking. © 2004-2012 IEEE.

关键词： Anthropomorphic robots

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Risk assessment in IoT case study: Collaborative robots system 1

Risk assessment in IoT case study: Collaborative robots syst...

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1st Eclipse Research International conference on Security, Artificial Intelligence and Modeling for the next generation Internet of Things, SAM IoT 2020

作者： Chehida, Salim Baouya, Abdelhakim Brun, Paul-Emmanuel Massot, Guillemette Cantero, Miquel University of Grenoble Alpes CNRS VERIMAG GrenobleF-38000 France Airbus CyberSecurity SAS Elancourt France Robotnik Automation S.L.L Valencia Spain

Security is one of the crucial challenges in the design and development of IoT applications. This paper presents an approach that focuses on existing security standards to evaluate and analyse the potential risks faced by IoT systems. It begins by identifying system assets and their associated vulnerabilities and threats. A list of security objectives and technical requirements are then defined to mitigate the risks and build a secure and safe system. We use our approach to assess risks in the robotic system for supporting the movement of loads in a warehouse. Copyright © 2020 for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0).

关键词： Risk assessment

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Effects of Limb Morphology on Transient Locomotion in Quadruped robots

Effects of Limb Morphology on Transient Locomotion in Quadru...

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

作者： Raw, Leanne Fisher, Callen Patel, Amir Univ Cape Town Fac Elect Engn ZA-7700 Rondebosch South Africa

ISBN: (纸本)9781728140049

The natural world hosts a few mammals that display both a high degree of agility and speed. However these animals have complex leg morphologies. Robot designers are thus faced with the dilemma of which morphology to employ when designing the next generation of agile legged robots. Thus this letter presents a novel investigation into the effects of limb morphology of quadrupeds during rapid transient maneuvers such as acceleration and deceleration. Three leg configurations inspired by nature (O-, X-Type and All-Ankle) as well as All-Knee configurations are compared. Extensive large scale Monte Carlo simulations utilizing contact-implicit trajectory optimization methods were employed on 100 randomly generated robots of varying sizes to determine the optimal configuration for the task of rapid transient locomotion. After extensive analysis, the investigation revealed that an X-Type leg configuration outperformed all other configurations. Ultimately, these results will provide insight for the mechanical design of future agile quadruped robots.

关键词： Morphology

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Internet of Robotic Things: Current Technologies and Applications

Internet of Robotic Things: Current Technologies and Applica...

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Information Technology (ACIT)

作者： Ghassan Samara Abla Hussein Israa Abdullah Matarneh Mohammed Alrefai Maram Y. Al-Safarini Zarqa University Zarqa Jordan

ISBN: (纸本)9781665419963

The Internet of Robotic Things (IoRT) is a new domain that aims to link the IoT environment with robotic systems and technologies. IoRT connects robotic systems, connects them to the cloud, and transfers critical information as well as knowledge exchange to conduct complicated and intricate activities that a human cannot readily perform. The pertinent notion of IoRT has been discussed in this paper, along with the issues that this area faces on a daily basis. Furthermore, technological applications have been examined in order to provide a better understanding of IoRT and its current development phenomenon. The study describes three layers of IoRT infrastructure: network and control, physical, and service and application layer. In the next section, IoRT problems have been presented, with a focus on data processing and the security and safety of IoRT technological systems. In addition to discussing the difficulties, appropriate solutions have been offered and recommended. IoRT is regarded as an essential technology with the ability to bring about a plethora of benefits in smart society upon adoption, contributing to the generation and development of smart cities and industries in the near future.

关键词： Industries Cloud computing Service robots Smart cities Data processing Safety Security

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Neuroadaptive controller for physical interaction with an omni-directional mobile nurse assistant robot

Neuroadaptive controller for physical interaction with an om...

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ASME 2020 International Design Engineering Technical conferences and Computers and Information in Engineering conference, IDETC-CIE 2020

作者： Saadatzi, Mohammad N. Abubakar, Shamsudeen Das, Sumit Kumar Saadatzi, M. Hossein Popa, Dan Next Generation Systems Electrical and Computer Engineering University of Louisville Louisville KY40208 United States

ISBN: (纸本)9780791883990

Robot-assisted healthcare could help alleviate the shortage of nursing staff in hospitals and is a potential solution to assist with safe patient handling and mobility. In an attempt to off-load some of the physically-demanding tasks and automate mundane duties of overburdened nurses, we have developed the Adaptive Robotic Nursing Assistant (ARNA), which is a custom-built omnidirectional mobile platform with a 6-DoF robotic manipulator and a force sensitive walking handlebar. In this paper, we present a robot-specific neuroadaptive controller (NAC) for ARNA’s mobile base that employs online learning to estimate the robot’s unknown dynamic model and nonlinearities. This control scheme relies on an inner-loop torque controller and features convergence with Lyapunov stability guarantees. The NAC forces the robot to emulate a mechanical system with prescribed admittance characteristics during patient walking exercises and bed moving tasks. The proposed admittance controller is implemented on a model of the robot in a Gazebo-ROS simulation environment, and its effectiveness is investigated in terms of online learning of robot dynamics as well as sensitivity to payload variations. Copyright © 2020 ASME

关键词： robots

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Enhancing Autonomy with Blockchain and Multi-Access Edge Computing in Distributed Robotic systems

Enhancing Autonomy with Blockchain and Multi-Access Edge Com...

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International conference on Fog and Mobile Edge Computing (FMEC)

作者： Jorge Peña Queralta Li Qingqing Zhuo Zou Tomi Westerlund Turku Intelligent Embedded and Robotic Systems Lab Faculty of Sciece and Engineering University of Turku Finland School of Information Science and Technology Fudan University China

ISBN: (数字)9781728172163

ISBN: (纸本)9781728172170

This conceptual paper discusses how different aspects involving the autonomous operation of robots and vehicles will change when they have access to next-generation mobile networks. 5G and beyond connectivity is bringing together a myriad of technologies and industries under its umbrella. High-bandwidth, low-latency edge computing services through network slicing have the potential to support novel application scenarios in different domains including robotics, autonomous vehicles, and the Internet of Things. In particular, multi-tenant applications at the edge of the network will boost the development of autonomous robots and vehicles offering computational resources and intelligence through reliable offloading services. The integration of more distributed network architectures with distributed robotic systems can increase the degree of intelligence and level of autonomy of connected units. We argue that the last piece to put together a services framework with third-party integration will be next-generation low-latency blockchain networks. Blockchains will enable a transparent and secure way of providing services and managing resources at the Multi-Access Edge Computing (MEC) layer. We overview the state-of-the-art in MEC slicing, distributed robotic systems and blockchain technology to define a framework for services the MEC layer that will enhance the autonomous operations of connected robots and vehicles.

关键词： robots Edge computing 5G mobile communication Autonomous vehicles Network slicing Smart cities

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