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共 1478 条记录，以下是211-220 订阅

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A neural-control system for a humanoid artificial Arm

A neural-control system for a humanoid artificial Arm

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

作者： Folgheraiter, Michele Gini, Giuseppina Cavallari, Massimo Politecn Milan Dept Elect & Informat I-20133 Milan Italy

ISBN: (纸本)9789728865825

In this paper we illustrate the architecture and the main features of a bio-inspired control system employed to govern an anthropomorphic artificial Arm. The manipulation system we developed was designed starting from a deeply study of the human limb from the anatomical, physiological and neurological point of view. In accordance with the general view of the Biorobotics field we try to replicate the structure and the functionalities of the natural limb. Thanks to this biomimetic approach we obtained a system that can perform movements similar to those of the natural limb. The control system is organized in a hierarchical way. The low level controller emulates the neural circuits located in the human spinal cord and is charged to reproduce the reflexes behaviors and to control the arm stiffness. The high level control system generates the arm trajectory performing the inverse kinematics and furnishing the instantaneous muscles reference position. In particular we implemented the Inverse kinematic using a gradient based algorithm;at each step the actuators movements are arranged in order to decrease the distance between the wrist and the target position. Simulation and experimental results shows the ability of the control system in governing the arm to follow a predefined trajectory and to perform human like reflexes behaviors.

关键词： Biorobotics artificial Arm neural controller humanoids robotics

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Nonparametric identification of nonlinearity in wiener-hammerstein systems

Nonparametric identification of nonlinearity in wiener-hamme...

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9th international conference on informatics in control, automation and robotics, ICINCO 2012

作者： Mzyk, Grzegorz Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wybrzeze Wyspianskiego 27 50-370 Wroclaw Poland

ISBN: (纸本)9789898565211

In the paper we recover the static characteristic of Wiener-Hammerstein (sandwich) system from inputoutput data. The system is excited and disturbed by random processes with arbitrary distribution. Two kernel-based estimates are proposed and compared. It is shown that they can successfully recover the system characteristic under small amount of a priori information about the static characteristic and the surrounding dynamic blocks. The identified nonlinear function is not parametrized and is not assumed to be invertible, which is common restriction in the literature. The orders of linear dynamic blocks are also unknown. The convergence of the estimates take place for the points in which the input probability density function in positive. The effectiveness of the algorithms is illustrated in simulation example. Copyright © 2012 SciTePress.

关键词： Random processes

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The Furtherance of Autonomous Engineering via Reinforcement Learning 18

The Furtherance of Autonomous Engineering via Reinforcement ...

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

作者： Antensteiner, Doris Dietrich, Vincent Fiegert, Michael Siemens Technol Siemens AILab Munich Germany

ISBN: (纸本)9789897585227

Engineering efforts are one of the major cost factors in today's industrial automation systems. We present a configuration system, which grants a reduced obligation of engineering effort. Through self-learning the configuration system can adapt to various tasks by actively learning about its environment. We validate our configuration system using a robotic perception system, specifically a picking application. Perception systems for robotic applications become increasingly essential in industrial environments. Today, such systems often require tedious configuration and design from a well trained technician. These processes have to be carried out for each application and each change in the environment. Our robotic perception system is evaluated on the BOP benchmark and consists of two elements. First, we design building blocks, which are algorithms and datasets available for our configuration algorithm. Second, we implement agents (configuration algorithms) which are designed to intelligently interact with our building blocks. On an examplary industrial robotic picking problem we show, that our autonomous engineering system can reduce engineering efforts.

关键词： Autonomous Engineering Reinforcement Learning Artificial Intelligence Industrial robotics 6D Pose Estimation Computer Vision

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An integrated approach for efficient mobile robot trajectory tracking and obstacle avoidance

An integrated approach for efficient mobile robot trajectory...

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9th international conference on informatics in control, automation and robotics, ICINCO 2012

作者： Cosic, Aleksandar Susic, Marko Katic, Dusko Institute Mihajlo Pupin Robotics Laboratory University of Belgrade Volgina 15 Belgrade Serbia

ISBN: (纸本)9789898565211

An approach for nonholonomic two-wheeled mobile robot trajectory tracking and obstacle avoiding is presented in this paper. If the desired trajectory is provided by high level planner, trajectory tracking problem can be solved in various ways. In this paper, tracking is provided using proportional-integral (PI) or fuzzy logic controller (FLC). Unfortunately, tracking is never perfect, due to uncertainties and obstacles can change their positions in time. In order to overcome these difficulties, additional correction controller must be used. Here is proposed fuzzy controller, which slightly changes control action of the tracking controller in order to prevent collision with obstacles. This approach is proved to be efficient even in dynamic environments. Simulation results are presented as illustration of the proposed approach.

关键词： Mobile robots

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Optimal 3D Kinematic Analysis for Human Lower Limb Rehabilitation 14

Optimal 3D Kinematic Analysis for Human Lower Limb Rehabilit...

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14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Faqihi, Hachmia Saad, Maarouf Benjelloun, Khalid Benbrahim, Mohammed Kabbaj, M. Nabil Mohammed V Univ LAII Ecole Mohammadia Ingnieurs Rabat Morocco Ecole Technol Suprieure Montreal PQ Canada Univ Fez LISTA Fac Sci Fes Morocco

ISBN: (纸本)9789897583049

The majority of the kinematics analysis carried out on the human body are usually available only for use in the sagittal plane. Limited studies were interested in this analysis in all three planes (sagittal, transverse, and frontal) where motions of all joints occur. The aim of this paper is to develop a new optimal kinematic analysis of human lower limbs in three-dimensional space for a rehabilitation end. The proposed approach is focused on optimizing the manipulability and the human performance of the human leg, as being a physiologically constrained three-link arm. The obtained forward kinematic model leads to define the feasible workspace of the human leg in the considered configuration. Using an effective optimization-based human performance measure that incorporates a new objective function of musculoskeletal discomfort, the optimal inverse kinematic (IK) model is obtained.

关键词： robotics Rehabilitation Inverse Kinematics Human Leg Trajectory Generation Optimization Minimum Jerk

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Formal verification of safety behaviours of the outdoor robot RAYON

Formal verification of safety behaviours of the outdoor robo...

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4th international conference on informatics in control, automation and robotics, ICINCO 2007

作者： Proetzsch, Martin Bems, Karsten Schuele, T. Schneider, K. Robotics Research Lab University of Kaiserslautern Germany Reactive Systems Group University of Kaiserslautern Germany

This paper presents an approach to the formal verification of safety properties of the behaviour-based control network of the mobile outdoor robot RAYON. In particular, we consider behaviours that are used for the computation of the projected vehicle's velocity from obstacle proximity sensor data and inclination information. We describe how this group of behaviours is implemented in the synchronous language Quartz in order to be formally verified using model checking techniques of the Averest verification framework. Moreover, by integrating the automatically generated and verified code into the behaviour network, it can be guaranteed that the robot slows down and stops as required by the given safety specifications.

关键词： Model checking

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Bio-inspired morphing caudal fin using shape memory alloy composites for a fish-like robot: Design, fabrication and analysis 12

Bio-inspired morphing caudal fin using shape memory alloy co...

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12th international conference on informatics in control, automation and robotics, ICINCO 2015

作者： Coral, William Rossi, Claudio Martin, Irene Perrino Centre for Automation and Robotics Universidad Politécnica de Madrid Madrid Spain

ISBN: (纸本)9789897581236

In this paper, we present the design and fabrication of a bio-inspired caudal fin actuator for propulsion and maneuvering purposes in a fish-like robot. Shape memory alloy (SMA) composite actuator is customized to provide the necessary work out for the caudal fin. The pocket holes guide, electrical wiring and attachment pads for SMA actuators are all embedded in a single layer of cellulose acetate film, sandwiched between two layers of silicone rubber. Instead of using joints, four SMAs are fixed along the soft structure of the caudal fin and bend this to a certain mode shape. The caudal fin actuator was inspired by Largemouth Bass, which uses sub-carangiform mode swimming and the caudal fin during steady swimming and maneuvering.

关键词： Fabrication

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Receding-Constraint Model Predictive control using a Learned Approximate control-Invariant Set

Receding-Constraint Model Predictive Control using a Learned...

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IEEE international conference on robotics and automation (ICRA)

作者： Lunardi, Gianni La Rocca, asia Saveriano, Matteo Del Prete, Andrea Univ Trento Ind Engn Dept Via Sommarive 11 I-38123 Trento Italy

ISBN: (纸本)9798350384581;9798350384574

In recent years, advanced model-based and data-driven control methods are unlocking the potential of complex robotics systems, and we can expect this trend to continue at an exponential rate in the near future. However, ensuring safety with these advanced control methods remains a challenge. A well-known tool to make controllers (either Model Predictive controllers or Reinforcement Learning policies) safe, is the so-called control-invariant set (a.k.a. safe set). Unfortunately, for nonlinear systems, such a set cannot be exactly computed in general. Numerical algorithms exist for computing approximate control-invariant sets, but classic theoretic control methods break down if the set is not exact. This paper presents our recent efforts to address this issue. We present a novel Model Predictive control scheme that can guarantee recursive feasibility and/or safety under weaker assumptions than classic methods. In particular, recursive feasibility is guaranteed by making the safe-set constraint move backward over the horizon, and assuming that such set satisfies a condition that is weaker than control invariance. Safety is instead guaranteed under an even weaker assumption on the safe set, triggering a safe task-abortion strategy whenever a risk of constraint violation is detected. We evaluated our approach on a simulated robot manipulator, empirically demonstrating that it leads to less constraint violations than state-of-the-art approaches, while retaining reasonable performance in terms of tracking cost, number of completed tasks, and computation time.

关键词： Predictive control systems

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Numerical investigation of Newton's method for solving continuous-time algebraic riccati equations 11

Numerical investigation of Newton's method for solving conti...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Sima, Vasile Benner, Peter Advanced Research National Institute for Research and Development in Informatics Bd. Mareşal Averescu Nr. 8-10 Bucharest Romania Max Planck Institute for Dynamics of Complex Technical Systems Sandtorstraße 1 Magdeburg39106 Germany

ISBN: (纸本)9789897580390

Refined algorithms for solving continuous-time algebraic Riccati equations using Newton's method with or without line search are discussed. Their main properties are briefly presented. Algorithmic details incorporated in the developed solver are described. The results of an extensive performance investigation on a large collection of examples are summarized. Several numerical difficulties and observed unexpected behavior are reported. These algorithms are strongly recommended for improving the solutions computed by other solvers.

关键词： Numerical methods

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Redundancy Resolution in Minimum-time Path Tracking of Robotic Manipulators 13

Redundancy Resolution in Minimum-time Path Tracking of Robot...

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

作者： Reiter, Alexander Gattringer, Hubert Mueller, Andreas Johannes Kepler Univ Linz Inst Robot Altenberger Str 69 Linz Austria

ISBN: (纸本)9789897581984

Minimum-time trajectories for applications where a geometric path is followed by a kinematically redundant robot's end-effector may yield economical improvements in many cases compared to conventional manipulators. While for non-redundant robots the problem of finding such trajectories has been solved, the redundant case has not been treated exhaustively. In this contribution, the problem is split into two interlaced parts: inverse kinematics and trajectory optimization. In a direct optimization approach, the inverse kinematics problem is solved numerically at each time point. Therein, the manupulator's kinematic redundancy is exploited by introducing scaled nullspace basis vectors of the Jacobian of differential velocities. The scaling factors for each time point are decision variables, thus the inverse kinematics is solved optimally w.r.t. the trajectory optimization goal, i.e. minimizing end time. The effectiveness of the presented method is shown by means of the example of a planar 4R manipulator with two redundant degrees of freedom.

关键词： robotics Optimal control Trajectory Planning Redundant Robots Inverse Kinematics

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