JL-1 is a reconfigurable multi-robots system based on parallel mechanisms and cone-shaped docking mechanisms. To reveal how the force cooperation between robots enhances the terrain adaptability of JL-1 and to discove...
详细信息
JL-1 is a reconfigurable multi-robots system based on parallel mechanisms and cone-shaped docking mechanisms. To reveal how the force cooperation between robots enhances the terrain adaptability of JL-1 and to discover the limits of the current reconfiguration mechanism, this paper analyzes the forces arising between robots during cooperation in docking and docked state. The static analysis of the posture-adjusting mechanism yields the force amplifying feature and the valid workspace of this motorized spherical joint consisting of a parallel and serial mechanism. This paper also deduces the self-aligning conditions of the docking mechanism, which is useful to improve the mechanism and clarify the demands on the docking guidance sensors. At last, a series of onsite experiments confirm the analysis and perform two new types of locomotion according to the results of static analysis.
Since humanoid robots have similar body structures to humans, a humanoid robot is expected to perform various dynamic tasks including object manipulation. This research focuses on issues related to learning and perfor...
详细信息
Since humanoid robots have similar body structures to humans, a humanoid robot is expected to perform various dynamic tasks including object manipulation. This research focuses on issues related to learning and performing object manipulation. Basic motion primitives for tasks are learned from observation of human's behaviors. An object manipulation task is divided into two types of motion primitives, which are represented as hidden Markov models (HMMs): one for a body motion primitive and the other for the relation between the object and body parts, which manipulate the object. When performing a task, a natural whole body motion is associated from an object motion by using learned motion primitives. Furthermore, the associated body motion is reshaped in both spatial and temporal space, in a more precise way. The reshaping in spatial space is realized in two stages by a feedback control policy learned with reinforcement learning and by constrained inverse kinematics. Key features like end-effectors for manipulation and timing for a task are extracted and used for the feedback control policy learning. The reshaping in temporal space is realized by comparing a predicted and observed object motion speed.
Based on the modular concept, this paper presents two caterpillar robot prototypes which are inspired by two typical caterpillars: inchworm and pine caterpillar. The inchworm robot prototype features simplest kinemati...
详细信息
Based on the modular concept, this paper presents two caterpillar robot prototypes which are inspired by two typical caterpillars: inchworm and pine caterpillar. The inchworm robot prototype features simplest kinematics and open chain architecture. Due to the fact that there is only one attachment module supporting the inchworm robot during crawling, we apply an unsymmetrical phase method (UPM) to realize a stable crawling gait for it. A pine caterpillar robot is derived from combining two inchworm robots together. The crawling gait of it features a repetitive changing chain: open-closed-open. Besides the UPM in open chain states, a four-links kinematic model is applied to control the corresponding joints to transfer the crawling wave along the robot body in the closed chain state. These two prototypes are all constructed and, and their crawling locomotion abilities have been tested on vertical glasses respectively.
The paper describes the automation of the shoe grinding process using an industrial robot. One of the major problems of flexible automation using industrial robots is how to avoid joint limitations, singular configura...
详细信息
ISBN:
(纸本)9789898111319
The paper describes the automation of the shoe grinding process using an industrial robot. One of the major problems of flexible automation using industrial robots is how to avoid joint limitations, singular configuration and obstacles. This problem can be solved using kinematically redundant robots. Due to the circular shape of the grinding disc, the robot becomes kinematically redundant. This task redundancy was efficiently handled using Virtual mechanism approach, where the tool is described as a serial mechanism.
A collision avoidance path planning problem is considered and a simple solution which uses piecewise constant controls generated by discretizing a feasible equilibrium path is presented and investigated.
ISBN:
(纸本)9789898111326
A collision avoidance path planning problem is considered and a simple solution which uses piecewise constant controls generated by discretizing a feasible equilibrium path is presented and investigated.
In this paper we present an experimental test bed for the development and evaluation of control systems for unmanned helicopters. The test bed consists of a small unmanned helicopter, mounted on a flying stand that pe...
详细信息
ISBN:
(纸本)9789898111319
In this paper we present an experimental test bed for the development and evaluation of control systems for unmanned helicopters. The test bed consists of a small unmanned helicopter, mounted on a flying stand that permits all possible movements but prevents the helicopter from damaging or crashing. A fuzzy controller is developed in MATLAB and tested in the helicopter using the test bed. The controller is able to perform hovering and altitude control. Experimental results are presented for various test cases.
robotics is an interesting but difficult area for digital artists who generally don't have much academic background on electronics or computer programming. Digital art students normally use high-level application ...
详细信息
ISBN:
(纸本)9789898111319
robotics is an interesting but difficult area for digital artists who generally don't have much academic background on electronics or computer programming. Digital art students normally use high-level application to program their visual and sonorous installations. This paper presents LegOSC - a tool that allows the control of the Mindstorms NXT robots from any application that uses the Open Sound control protocol which is implemented by most of those high-level applications. This allows artists to create works which incorporate robotic parts using the familiar programming environment.
This paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SLL). The system, developed in Object Pascal, allows real time localization and contr...
详细信息
ISBN:
(纸本)9789898111319
This paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SLL). The system, developed in Object Pascal, allows real time localization and control of an autonomous omnidirectional mobile robot. The localization algorithm is done resorting to odometry and global vision data fusion, applying an extended Kalman filter, being this method a standard approach for reducing the error in a least squares sense, using measurements from different sources.
暂无评论