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Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots 39

Centroidal Aerodynamic Modeling and Control of Flying Multib...

引用

ieee international Conference on robotics and automation (ICRA)

作者： Hui, Tong Paolino, Antonello Nava, Gabriele L'Erario, Giuseppe Di Natale, Fabio Bergonti, Fabio Braghin, Francesco Pucci, Daniele Ist Italiano Tecnol Artificial & Mech Intelligence Genoa Italy Politecn Milan Dept Mech Engn Milan Italy Univ Manchester Sch Comp Sci Manchester Lancs England Univ Napoli Federico II Dept Ind Engn Naples Italy

ISBN: (纸本)9781728196817

This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aero-dynamic forces acting on the centroidal dynamics. First, aero-dynamic forces are calculated during robot flight in different operating conditions by means of computational Fluid Dynamics (CFD) analysis. Then, analytical models of the aerodynamics coefficients are generated from the dataset collected with CFD analysis. The obtained simplified aerodynamic model is also used to improve the flying robot control design. We present two control strategies: compensating for the aerodynamic effects via feedback linearization and enforcing the controller robustness with gain-scheduling. Simulation results on the jet-powered humanoid robot iRonCub validate the proposed approach.

关键词： Analytical models Shape computational fluid dynamics computational modeling Simulation Aerodynamics Robustness

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Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization

Online Non-linear Centroidal MPC for Humanoid Robots Payload...

引用

ieee international Conference on robotics and automation (ICRA)

作者： Elobaid, Mohamed Romualdi, Giulio Nava, Gabriele Rapetti, Lorenzo Mohamed, Hosameldin Awadalla Omer Pucci, Daniele Italian Insititute Technol Artificial & Mech Intelligence AMI Genoa Italy Politecn Milan Mech Engn Dept Milan Italy Univ Manchester Machine Learning & Optimisat Manchester Lancs England

ISBN: (纸本)9798350323658

In this paper we consider the problem of allowing a humanoid robot that is subject to a persistent disturbance, in the form of a payload-carrying task, to follow given planned footsteps. To solve this problem, we combine an online non-linear centroidal Model Predictive Controller - MPC with a contact stable force parametrization. The cost function of the MPC is augmented with terms handling the disturbance and regularizing the parameter. The performance of the resulting controller is validated both in simulations and on the humanoid robot iCub. Finally, the effect of using the parametrization on the computational time of the controller is briefly studied.

关键词： Anthropomorphic robots

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TASK-DIRECTED MULTISENSOR FUSION

引用

1989 ieee international CONF ON robotics AND automation : robotics IN UNSTRUCTURED ENVIRONMENTS

作者： HAGER, G MINTZ, M Univ of Pennsylvania Philadelphia PA USA

ISBN: (纸本)0818619384

The authors consider the problem of task-directed information gathering. They first develop a decision-theoretic model of task-directed sensing. In this framework, sensors are modeled as noise-contaminated, uncertain measurement systems. A a sensor task consists of a function describing the type of information required by the task, a utility function describing sensitivity to error, and a cost function describing time or resource constraints on the system. From this description, the authors develop a computational method approximating a standard Bayesian decision-making model. This algorithm, which relies on a finite-element computation, is applicable to a wide variety of sensor fusion problems. The authors describe its derivation, analyze its error properties, and indicate how it can be made robust to errors in the description of sensors and discrepancies between geometric models and sensed obects. They also present the result of applying this fusion technique to several different information gathering tasks in simulated situations and in a distributed sensing system.

关键词： robotics

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Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems

Efficient solution method based on inverse dynamics for opti...

引用

ieee international Conference on robotics and automation (ICRA)

作者： Katayama, Sotaro Ohtsuka, Toshiyuki Kyoto Univ Grad Sch Informat Dept Syst Sci Kyoto Japan

ISBN: (纸本)9781728190778

We propose an efficient way of solving optimal control problems for rigid-body systems on the basis of inverse dynamics and the multiple-shooting method. We treat all variables, including the state, acceleration, and control input torques, as optimization variables and treat the inverse dynamics as an equality constraint. We eliminate the update of the control input torques from the linear equation of Newton's method by applying condensing for inverse dynamics. The size of the resultant linear equation is the same as that of the multiple-shooting method based on forward dynamics except for the variables related to the passive joints and contacts. Compared with the conventional methods based on forward dynamics, the proposed method reduces the computational cost of the dynamics and their sensitivities by utilizing the recursive Newton-Euler algorithm (RNEA) and its partial derivatives. In addition, it increases the sparsity of the Hessian of the Karush-Kuhn-Tucker conditions, which reduces the computational cost, e.g., of Riccati recursion. Numerical experiments show that the proposed method outperforms state-of-the-art implementations of differential dynamic programming based on forward dynamics in terms of computational time and numerical robustness.

关键词： Sensitivity automation Heuristic algorithms Conferences Optimal control Robustness computational efficiency

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Real-time Simulation of Non-Deformable Continuous Tracks with Explicit Consideration of Friction and Grouser Geometry

Real-time Simulation of Non-Deformable Continuous Tracks wit...

引用

ieee international Conference on robotics and automation (ICRA)

作者： Okada, Yoshito Kojima, Shotaro Ohno, Kazunori Tadokoro, Satoshi Tohoku Univ Sendai Miyagi 9808579 Japan RIKEN Ctr Adv Intelligence Project Chuo Ku Tokyo 1030027 Japan

ISBN: (纸本)9781728173955

In this study, we developed a real-time simulation method for non-deformable continuous tracks having grousers for rough terrain by explicitly considering the collision and friction between the tracks and the ground. In the proposed simulation method, an arbitrary trajectory of a track is represented with multiple linear and circular segments, each of which is a link connected to a robot body. The proposed method sets velocity constraints between each segment link and the robot body, to simulate the track rotation around the body. To maintain the shape of a track, it also restores the positions of the segment links when required. Experimental comparisons with other existing real-time simulation methods demonstrated that while the proposed method considered the grousers and the friction with the ground, it was comparable to them in terms of the computational speed. Experimental comparison of the simulations based on the proposed method and a physical robot exhibited that the former was comparable to the precise motion of the robot on rough or uneven terrain.

关键词： Friction

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Autonomous Robotic Valve Turning: A Hierarchical Learning Approach

Autonomous Robotic Valve Turning: A Hierarchical Learning Ap...

引用

ieee international Conference on robotics and automation (ICRA)

作者： Ahmadzadeh, Seyed Reza Kormushev, Petar Caldwell, Darwin G. Ist Italiano Tecnol Dept Adv Robot I-16163 Genoa Italy

ISBN: (纸本)9781467356411;9781467356435

Autonomous valve turning is an extremely challenging task for an Autonomous Underwater Vehicle (AUV). To resolve this chellenge, this paper proposes a set of different computational techniques integrated in a three-layer hierarchical scheme. Each layer realizes specific subtasks to improve the persistent autonomy of the system. In the first layer, the robot acquires the motor skills of approaching and grasping the valve by kinesthetic teaching. A Reactive Fuzzy Decision Maker (RFDM) is devised in the second layer which reacts to the relative movement between the valve and the AUV, and alters the robot's movement accordingly. Apprenticeship learning method, implemented in the third layer, performs tuning of the RFDM based on expert knowledge. Although the long-term goal is to perform the valve turning task on a real AUV, as a first step the proposed approach is tested in a laboratory environment.

关键词： autonomous underwater vehicles decision making fuzzy control learning (artificial intelligence) manipulators motion control valves

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Dynamic Scene Models for Incremental, Long-Term, Appearance-Based Localisation

Dynamic Scene Models for Incremental, Long-Term, Appearance-...

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ieee international Conference on robotics and automation (ICRA)

作者： Johns, Edward Yang, Guang-Zhong Univ London Imperial Coll Sci Technol & Med Hamlyn Ctr London SW7 2AZ England

ISBN: (纸本)9781467356411;9781467356435

In this paper we present a new appearance-based localisation system that is able to deal with dynamic elements in the scene. By independently modelling the properties of local features observed in a scene over long periods of time, we show that feature appearances and geometric relationships can be learned more accurately than when representing a location by a single image. We also present a new dataset consisting of a 6 km outdoor path traversed once per month for a period of 5 months, which contains several challenges including short-term and long-term dynamic behaviour, lateral deviations in the path, repetitive scene appearances and strong illumination changes. We show superior performance of the dynamic mapping system compared to state-of-the-art techniques on our dataset.

关键词： computational geometry image recognition learning (artificial intelligence) lighting natural scenes

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ASPIRe: An Informative Trajectory Planner with Mutual Information Approximation for Target Search and Tracking

ASPIRe: An Informative Trajectory Planner with Mutual Inform...

引用

ieee international Conference on robotics and automation (ICRA)

作者： Zhou, Kangjie Wu, Pengying Su, Yao Gao, Hao Ma, Ji Liu, Hangxin Liu, Chang Peking Univ Coll Engn Dept Adv Mfg & Robot Beijing Peoples R China Beijing Inst Gen Artificial Intelligence BIGAI Natl Key Lab Gen Artificial Intelligence Beijing Peoples R China

ISBN: (纸本)9798350384581;9798350384574

This paper proposes an informative trajectory planning approach, namely, adaptive particle filter tree with sigma point-based mutual information reward approximation (ASPIRe), for mobile target search and tracking (SAT) in cluttered environments with limited sensing field of view. We develop a novel sigma point-based approximation to accurately estimate mutual information (MI) for general, non-Gaussian distributions utilizing particle representation of the belief state, while simultaneously maintaining high computational efficiency. Building upon the MI approximation, we develop the Adaptive Particle Filter Tree (APFT) approach with MI as the reward, which features belief state tree nodes for informative trajectory planning in continuous state and measurement spaces. An adaptive criterion is proposed in APFT to adjust the planning horizon based on the expected information gain. Simulations and physical experiments demonstrate that ASPIRe achieves real-time computation and outperforms benchmark methods in terms of both search efficiency and estimation accuracy.

关键词： Adaptive filters

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computational intelligence in robotics and automation

引用

1997 ieee international Conference on Intelligent Engineering Systems (INES 97)

作者： Fukuda, T Arakawa, T Nagoya Univ Nagoya Japan

ISBN: (纸本)0780336275

Robots have been used in many fiels of industry. Robots are regarded to be important for the automation in factory, laboratory, office as well as in space. These robots must have intelligent capability such as adaptation, learning and evolution This paper deals with these kind of intelligent robot systems. Recently, computational intelligence including neural network, fuzzy system and genetic algorithm, has been discussed for realizing human intelligence. Human can get a lot of information from their sensors by hearing, seeing and so on. And Humans can adapt to their external environments by using the information effectively. Furthermore, human can improve the environments to be useful for them In order to realize these kind of hunan intelligence, each functions such as perception, inference, decision making, and learning, should be integrated effectively, ?he intelligence of a robotic system depends on the architecture of hardware and software as a whole system This paper introduces a robotic system with structured intelligence.

关键词： Intelligent robots

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Potentially distributable energy: Towards energy autonomy in large population of mobile robots

Potentially distributable energy: Towards energy autonomy in...

引用

2007 ieee international symposium on computational intelligence in robotics and automation, CIRA 2007

作者： Ngo, Trung Dung Raposo, Hector Schiøler, Henrik IEEE Center for Embedded Software Systems Aalborg University 9220 Aalborg Denmark Control and Automation Section Electronics Institute 9220 Aalborg Denmark

ISBN: (纸本)1424407907

We propose a new concept, potentially distributable energy, in the field of autonomous mobile robots. Considering a system of multiple robots powered by batteries, each robot no longer works since its energy capacity is expired. To extend operating time, the robot needs to replenish energy through recharging energy. To date, except research on vaccum cleaning robots that are able to recharge battery when docking with the fixed station has been achieved, there does not exist any research of energy distribution to prolong operating time in a large population of mobile robots. This could be caused by the lack of using rechargeable battery in the fact that the robot has to normally spend the charging-time much longer than the operating time. This paper presents simulation results of mobile robots that are capable of not only self-recharging energy but also exchanging batteries to the other robots. Initially, we describe a simulation of multiple mobile robots, and then issue rules of battery exchange, which is formulated under constraints of workload, distance and remaining capacity. The simulation shows that: (a) a robot is able to be energetically autonomous if its energy can be replenished by the other robots or it is able to come back to the main charging station to replenish itself;(b) energy of a robot is always under constraints of energy distribution of the mother charging station and the other robots;(c) distributed energy balance is the main elements to decide a number of robots in a specific area and an ideal location of the repository when one wants to deploy a large population of autonomous mobile robots. Finally, based on results of the simulation we adjust rules for our real multirobot system. © 2007 ieee.

关键词： Mobile robots

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