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检索条件"任意字段=International Asia Conference on Informatics in Control, Automation, and Robotics"

共 1478 条记录，以下是131-140 订阅

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Experimental Evaluation of Some Indoor Exploration Strategies 13

Experimental Evaluation of Some Indoor Exploration Strategie...

引用

13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Wettach, Jens Berns, Karsten Univ Kaiserslautern Robot Res Lab Gottlieb Daimler Str Kaiserslautern Germany

ISBN: (纸本)9789897581984

A key capability of any indoor service robot is to explore arbitrary, unknown environments in order to record a complete and correct map in minimal time. Such a map is a prerequisite of common tasks like surveillance, transportation as well as search and rescue. In recent years a series of solutions has been proposed by the authors: a dynamic enhancement of the frontier-based approach, ground plan-based exploration and a hybrid combination of both. This paper evaluates the performance of each of these strategies within an everyday office scenario in simulation and reality and discusses their pros and cons.

关键词： robotics Exploration Indoor Environments Experiments Evaluation

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Hierarchical spline path planning method for complex environments

Hierarchical spline path planning method for complex environ...

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4th international conference on informatics in control, automation and robotics

作者： Saska, Martin Hess, Martin Schilling, Klaus University of Wuerzburg Germany Informatics VII Robotics and Telematics Wuerzburg 97074 Am Hubland Germany

ISBN: (纸本)9789728865832

Path planning and obstacle avoidance algorithms are requested for robots working in more and more complicated environments. Standard methods usually reduce these tasks to the search of a path composed from lines and circles or the planning is executed only with respect to a local neighborhood of the robot. Sophisticated techniques allow to find more natural trajectories for mobile robots, but applications are often limited to the offline case. The novel hierarchical method presented in this paper is able to find a long path in a huge environment with several thousand obstacles in real time. The solution, consisting of multiple cubic splines, is optimized by Particle Swarm Optimization with respect to execution time and safeness. The generated spline paths result in smooth trajectories which can be followed effectively by nonholonomic robots. The developed algorithm was intensively tested in various simulations and statistical results were used to determine crucial parameters. Qualities of the method were verified by comparing the method with a simple PSO path planning approach.

关键词： path planning mobile robots PSO spline path hierarchical approach

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Energy-based control for Soft Manipulators using Cosserat-beam Models 18

Energy-based Control for Soft Manipulators using Cosserat-be...

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18th international conference on informatics in control, automation and robotics (ICINCO)

作者： Caasenbrood, Brandon Pogromsky, Alexander Nijmeijer, Henk Eindhoven Univ Technol Dept Mech Engn Eindhoven Netherlands St Petersburg Natl Res Univ Informat Technol Mech Dept Control Syst & Informat St Petersburg Russia

ISBN: (纸本)9789897585227

In this work, we describe an energy-based control method for under-actuated soft manipulators. The continuous dynamics of the soft robot are modeled by the differential geometry of Cosserat beams. Through a finite-dimensional truncation, a reduced port-Hamiltonian model is obtained that preserves desirable passivity conditions. Exploiting the passivity, we propose a stabilizing energy-shaping controller that ensures the potential energy is minimal at the desired end-effector configuration. Finally, the effectiveness of the energy-based controller is demonstrated through simulations of a soft manipulator inspired by the tentacle of an octopus.

关键词： Soft robotics Cosserat Beam Theory Dynamic Modeling Energy-based control

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Blending tool paths for G¹-continuity in robotic friction stir welding

Blending tool paths for <i>G</i><SUP>1</SUP>-continuity in r...

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4th international conference on informatics in control, automation and robotics

作者： Soron, Mikael Kalaykov, Ivan Univ Orebro Dept Technol Orebro Sweden

ISBN: (纸本)9789728865832

In certain robot applications, path planning has to be viewed, not only from a motion perspective, but also from a process perspective. In 3-dimensional Friction Stir Welding (FSW) a properly planned path is essential for the outcome of the process, even though different control loops compensate for various deviations. One such example is how sharp path intersection is handled, which is the emphasis in this paper. We propose a strategy based on Hermite and Bezier curves, by which G(1) continuity is obtained. The blending operation includes an optimization strategy in order to avoid high second order derivatives of the blending polynomials, yet still to cover as much as possible of the original path.

关键词： robotics friction stir welding path planning

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Methodology for learning visual reactive behaviours in robotics through reinforcement and image-based states

Methodology for learning visual reactive behaviours in robot...

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4th international conference on informatics in control, automation and robotics

作者： Quintia, Pablo Domenech, Jose E. Gamallo, Cristina Regueiro, Carlos V. Univ A Coruna Fac Informat La Coruna 15071 Spain

ISBN: (纸本)9789728865832

This article describes the development of a methodology for the learning of visual and reactive behaviours using reinforcement learning. With the use of artificial vision the environment is perceived in 3D, and it is possible to avoid obstacles that are invisible to other sensors that are more common in mobile robotics. Reinforcement learning reduces the need for intervention in behaviour design, and simplifies its adjustment to the environment, the robot and the task. The designed methodology is intended to be general;thus, in order to change the desired behaviour, only the reinforcement and the filtering of the image need to be changed. For the definition of the reinforcement a laser sensor is used, and for the definition of the states a fixed 3x3 grid is used. The behaviours learned were wall following, object following, corridor following and platform following. Results are presented with a Pioneer 2 AT. A Gazebo 3D simulator was used for the Learning and testing phase, and a test of the wall following behaviour was carried out in a real environment.

关键词： reinforcement learning mobile robotics artificial vision visual reactive behaviours motivation

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Exploiting Physical Contacts for Robustness Improvement of a Dot-painting Mission by a Micro Air Vehicle 16

Exploiting Physical Contacts for Robustness Improvement of a...

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Chaffre, Thomas Tudal, Kevin Bertrand, Sylvain Prevost, Lionel ESIEA Learning Data & Robot Lab Paris France ONERA French Aerosp Lab Palaiseau France

ISBN: (纸本)9789897583803

In this paper we address the problem of dot painting on a wall by a quadrotor Micro Air Vehicle (MAV), using on-board low cost sensors (monocular camera and IMU) for localization. A method is proposed to cope with uncertainties on the initial positioning of the MAV with respect to the wall and to deal with walls composed of multiple segments. This method is based on an online estimation algorithm that makes use of information of physical contacts detected by the drone during the flight to improve the positioning accuracy of the painted dots. Simulation results are presented to assess quantitatively the efficiency of the proposed approaches.

关键词： Aerial robotics Contact based Navigation Dot-painting

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Synthesis of adaptive control system for formation of program speed of multilink manipulator

Synthesis of adaptive control system for formation of progra...

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2011 3rd international asia conference on informatics in control, automation and robotics, CAR 2011

作者： Filaretov, Vladimir Gubankov, Anton Robotics Laboratory Institute of Automation and Control Processes Radio 5 Vladivostok Russia Department of Automation and Control Far Eastern Federal University Sukhanova 8 Vladivostok Russia

ISBN: (纸本)9783642258985

The paper deals with adaptive control system of multilink manipulator. This system taking into account power restriction of executive elements is capable to set to the gripper the greatest possible speed at spatial trajectory. For providing necessary dynamic accuracy at high speeds of work, the self-turning correcting device has been entered into control chain of each drive. Results of simulating have completely confirmed high quality of the synthesized control system. © 2011 Springer-Verlag.

关键词： Manipulators

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Human arm-like mechanical manipulator - The design and development of a multi-arm mobile robot for nuclear decommissioning

Human arm-like mechanical manipulator - The design and devel...

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3rd international conference on informatics in control, automation and robotics

作者： Bakari, Mohamed J. Seward, Derek W. Univ Lancaster Dept Engn Lancaster LA1 4YR England

ISBN: (纸本)9728865600

This paper reviews the design and development of a human arm-like mechanical manipulator, which is the basis of research currently being undertaken at Lancaster University, in order to address the complex tasks found in the rapidly expanding field of nuclear decommissioning. The requirements of multi-arm robot architecture for use in decommissioning tasks are discussed. The manipulators are integrated to work cooperatively and perform similar functions to humans in both scale and dexterity. The role that automation and robotics can play in enabling quicker demolition and at the same time reducing the exposure of workers to harmful radiation is examined. The key issues surrounding radioactive materials and safe dose levels are explained. The different stages of a particular system engineering process are outlined together with the essential physical steps. The paper will conclude by identifying the compliance of the system engineering used here with the requirements of designing a multi-arm robot.

关键词： robotics system engineering nuclear decommissioning

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(A) vision for 2050 - The road towards image understanding for a human-robot soccer match

(A) vision for 2050 - The road towards image understanding f...

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5th international conference on informatics in control, automation and robotics

作者： Frese, Udo Laue, Tim DFKI D-28359 Bremen Germany Univ Bremen Fac Math & Comp Sci 3 SFB TR Spatial Cognit 8 D-28359 Bremen Germany

ISBN: (纸本)9789898111319

We believe it is possible to create the visual subsystem needed for the RoboCup 2050 challenge - a soccer match between humans and robots - within the next decade. In this position paper, we argue, that the basic techniques are available, but the main challenge will be to achieve the necessary robustness. We propose to address this challenge through the use of probabilistically modeled context, so for instance a visually indistinct circle is accepted as the ball, if it fits well with the ball's motion model and vice versa. Our vision is accompanied by a sequence of (partially already conducted) experiments for its verification. In these experiments, a human soccer player carries a helmet with a camera and an inertial sensor and the vision system has to extract all information from that data, a humanoid robot would need to take the human's place.

关键词： vision recognition image processing state estimation sensor fusion robot soccer sport robotics

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Useful computer vision techniques for a robotic head

Useful computer vision techniques for a robotic head

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4th international conference on informatics in control, automation and robotics

作者： Deniz, O. Castrillon, M. Lorenzo, J. Canalis, L. A. Univ Las Palmas Gran Canaria Inst Univ Sistemas Inteligentes & Aplicac Numer I Las Palmas Gran Canaria 35017 Spain

ISBN: (纸本)9789728865832

This paper describes some simple but useful computer vision techniques for human-robot interaction. First, an omnidirectional camera setting is described that can detect people in the surroundings of the robot, giving their angular positions and a rough estimate of the distance. The device can be easily built with inexpensive components. Second, we comment on a color-based face detection technique that can alleviate skin-color false positives. Third, a person tracking and recognition system is described. Finally, a simple head nod and shake detector is described, suitable for detecting affirmative/negative, approval/disapproval, understanding/disbelief head gestures.

关键词： social robotics sociable robot person detection omnidirectional vision

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