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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161-170 订阅

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Analysis and experimental evaluation of the Intrinsically Passive controller (IPC) for multifingered hands

Analysis and experimental evaluation of the Intrinsically Pa...

引用

IEEE international conference on robotics and automation

作者： Wimboeck, Thomas Ott, Christian Hirzinger, Gerd Institute of Robotics and Mechatronics German Aerospace Center (DLR) Germany Department of Mechano-Informatics University of Tokyo Japan

ISBN: (纸本)9781424416462

The object level control of a dexterous robot hand provides an intuitive high-level interface to solve fine manipulation tasks. In the past, many algorithms were proposed based on a weighted pseudoinverse of the grasp map. In a different approach Stramigioli introduces a virtual object called "Intrinsically Passive controller (IPC)". This controller distributes the generalized object forces using coupling springs whose weighting have an intuitive physical meaning. Even though this controller has been known for several years we will present the first experimental results for a four-fingered hand. Furthermore, the term virtual grasp map is introduced and a method to parameterize the stiffness parameters in order to obtain an effective object level stiffness and a damping design is proposed. An implementation of the IPC is tested on the DLR Hand II and its performance is analyzed by manipulating soft and stiff objects.

关键词： controllers

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Autonomous Navigation with ROS for a Mobile Robot in Agricultural Fields 14

Autonomous Navigation with ROS for a Mobile Robot in Agricul...

引用

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

作者： Post, Mark A. Bianco, Alessandro Yan, Xiu T. Univ Strathclyde 75 Montrose St Glasgow Lanark Scotland

ISBN: (纸本)9789897583049

Autonomous monitoring of agricultural farms and fields has recently become feasible due to continuing advances in robotics technology, but many notable challenges remain. In this paper, we describe the state of ongoing work to create a fully autonomous ground rover platform for monitoring and intervention tasks on modern farms that is built using inexpensive and off the shelf hardware and Robot Operating System (ROS) software so as to be affordable to farmers. The hardware and software architectures used in this rover are described along with challenges and solutions in odometry and localization, object recognition and mapping, and path planning algorithms under the constraints of the current hardware. Results obtained from laboratory and field testing show both the key challenges to be overcome, and the current successes in applying a low-cost rover platform to the task of autonomously navigating the outdoor farming environment.

关键词： Field robotics Navigation Agriculture ROS

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A Domain Specific Language for Robot Programming in the Wood Industry A Practical Example 14

A Domain Specific Language for Robot Programming in the Wood...

引用

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

作者： Jimenez, Victor Juan Exposito Zeiner, Herwig JOANNEUM RES Forsch Gesell MbH DIGITAL Inst Informat & Commun Technol Steyrergasse Graz Austria

ISBN: (纸本)9789897583049

Domain Specific Languages (DSL) are being used in several fields of industry. This paper shows how a DSL can be used in the wood industry, automizing some tasks through the use of robots. In this paper we also implement a syntax to define robot instructions inside a high-level abstraction layer to simplify these instructions and to develop a reliable tool for developers in order to avoid errors and allow for faster development. This paper also covers considerations on how to choose the kind of DSL that best fulfills our requirements and provides an example described in detail.

关键词： Domain Specific Language Functional Programming F# Wood Industry robotics

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Combining reinforcement learning and genetic algorithms to learn behaviours in mobile robotics

Combining reinforcement learning and genetic algorithms to l...

引用

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

作者： Iglesias, R. Rodriguez, M. Regueiro, C. V. Correa, J. Barro, S. Univ Santiago de Compostela Santiago De Compostela Spain Univ A Coruna Dept Elect & Syst Coruna Spain

ISBN: (纸本)9728865600

Reinforcement learning is an extremely useful paradigm which is able to solve problems in those domains where it is difficult to get a set of examples of how the system should work. Nevertheless, there are important problems associated with this paradigm which make the learning process more unstable and its convergence slower. In our case, to overcome one of the main problems (exploration versus exploitation trade off), we propose a combination of reinforcement learning with genetic algorithms, where both paradigms influence each other in such a way that the drawbacks of each paradigm are balanced with the benefits of the other. The application of our proposal to solve a problem in mobile robotics shows its usefulness and high performance, as it is able to find a stable solution in a short period of time. The usefulness of our approach is highlighted through the application of the system learnt through our proposal to control the real robot.

关键词： robot control mobile robotics autonomous agents reinforcement learning genetic algorithms

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TELEOPERATION OF A MOBILE ROBOT VIA UMTS LINK

TELEOPERATION OF A MOBILE ROBOT VIA UMTS LINK

引用

6th international conference on informatics in control, automation and robotics

作者： Zeiger, Florian Sauer, Markus Stolz, Lothar Schilling, Klaus Zentrum Telemat eV Allesgrundweg 12 Gerbrunn Germany

ISBN: (纸本)9789896740009

Nowadays available broadband wireless communication technologies offer a broad spectrum of applications and the todays availability of UMTS technology has a great potential in the area of networked robotics. This work investigates teleoperation of mobile robots via UMTS communication links. First, several scenarios with artificially generated command traffic between mobile robot and operator are analyzed in order to gain knowledge of the link behavior. In a next step real mobile robot hardware is remote controlled via UMTS. Thereby, the robot transmits sensor data and a video stream of its onboard camera while receiving commands from the operator. The focus of this work is set on the measurement and analysis of the round trip time and the packet inter-arrival time of data in different scenarios like the connection of two UMTS nodes, the connection of an Internet PC and an UMTS node, or the behavior of several UMTS nodes generating a large amount of data. The results clearly show how applications for mobile robot teleoperation can efficiently use UMTS communication in order to allow seamless teleoperation between operator and hardware in distant locations.

关键词： Networked robotics Teleoperation UMTS Wireless teleoperation Wireless networks of robots

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HUMANOID ROBOT UPPER LIMB control USING MICROSOFT KINECT

HUMANOID ROBOT UPPER LIMB CONTROL USING MICROSOFT KINECT

引用

international conference on robotics, automation and Sciences (ICORAS)

作者： Gobee, Suresh Muller, Martin Durairajah, Vickneswari Kassoo, Raheel Asia Pacific Univ Technol & Innovat FCET Mechatron APU Kuala Lumpur Malaysia Mawea Ind Sdn Bhd Kuala Lumpur Malaysia

ISBN: (纸本)9781538619087

This research describes novel approaches of controlling a Humanoid Robot's upper limbs by implementing a mimicry system. In the robotics arena, keyboard, joysticks and controllers are expended as the principal admix, for transmission data and instructions to the various types of robots accessible. These measures are time consuming and tend to be multifaceted. The use of visual stimuli is considered as one of the utmost solution to this problem. The system will be used to control a humanoid robot's upper limb. The Humanoid robot's upper limbs were connected to a Arduino microcontroller and driven by standard servos. The Mimicry system encompassed a Microsoft Kinect as a visual sensor to capture all the user's upper limb movements. which were processed to map the robot's upper limbs. The system achieved a mapping accuracy of 90% was attained during the testing phase under optimum conditions.

关键词： Micmicry Microsoft kinect Humanoid Robot

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Visual Predictive control of Robotic Arms with Overlapping Workspace 16

Visual Predictive Control of Robotic Arms with Overlapping W...

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

作者： Le Flecher, E. Durand-Petiteville, A. Cadenat, V Sentenac, T. CNRS LAAS 7 Ave Colonel Roche F-31400 Toulouse France Univ Toulouse UPS F-31400 Toulouse France Fed Univ Pernambuco UFPE Mech Dept Recife PE Brazil

ISBN: (纸本)9789897583803

This paper deals with multi-arms fruits picking in orchards. More specifically, the goal is to control the arms to approach the fruits position. To achieve this task a VPC strategy has been designed to take into account the dynamic of the environment as well as the various constraints inherent to the mechanical system, visual servoing manipulation and shared workspace. Our solution has been evaluated in simulation using on PR2 arms model. Different models of visual features prediction have been tested and the entire VPC strategy has been run on various cases. The obtained results show the interest and the efficiency of this strategy to perform a fruit picking task.

关键词： Agricultural robotics Multi-arms Non-linear Model Predictive control Image based Visual Servoing

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Initial development of HABLA (Hardware Abstraction Layer) -: A middleware software tool

Initial development of HABLA (Hardware Abstraction Layer) -:...

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

作者： Faina, Andres Bellas, Francisco Duro, Richard J. Univ A Coruna Integrated Grp Engn Res Ferrol Spain

ISBN: (纸本)9789728865832

In this work we present the initial implementation of a middleware software tool called the Hardware Abstraction Layer (HABLA). This tool isolates the control architecture of an autonomous computational system, like a robot, from its particular hardware implementation. It is provided with a set of general sensors and typical sensorial processing mechanisms of this kind of autonomous systems allowing for its application to different commercial platforms. This way, the HABLA permits the control designer to focus its work on higher-level tasks minimizing the time spent on the adaptation of the control architecture to different hardware configurations. Another important feature of the HABLA is that both hardware-HABLA and HABLA-control communications take place through standard TCP sockets, permitting the distribution of the computational cost over different computers. In addition, it has been developed in JAVA, so it is platform independent. After presenting the general HABLA diagram and operation structure, we consider a real application using the same deliberative control architecture on two different autonomous robots: an Aibo legged robot and a Pioneer 2Dx wheeled robot.

关键词： middleware software tool control system abstraction autonomous robotics

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Optimized eigenstructure assignment

Optimized eigenstructure assignment

引用

10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Dao, Ngoc Minh Noll, Dominikus Apkarian, Pierre Institut de Mathématiques Université de Toulouse Toulouse France Department of Mathematics and Informatics Hanoi National University of Education Hanoi Viet Nam ONERA Department of System Dynamics Toulouse France

ISBN: (纸本)9789898565709

This paper considers the problem of eigenstructure assignment for output feedback control. We introduce a new method for partial eigenstructure assignment, which allows to place the eigenelements (λi,v i,wi) simultaneously. This is possible by a combination of linear algebra and nonlinear optimization techniques. The advantage of the new approach is illustrated through the control of a launcher in atmospheric flight.

关键词： Linear algebra

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Smoothing and Time Parametrization of Motion Trajectories for Industrial Machining and Motion control 16

Smoothing and Time Parametrization of Motion Trajectories fo...

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

作者： Belda, Kvetoslav Czech Acad Sci Inst Informat Theory & Automat Dept Adapt Syst Pod Vodarenskou Vezi 4 Prague 18208 8 Czech Republic

ISBN: (纸本)9789897583803

The paper deals with path smoothing and time parametrization procedures intended for motion control of industrial machine tools and robots. Path smoothing, considered in this paper, is based on the application of Bezier curves. A possible straightforward solution ensuring compliance with given admissible positional tolerances is introduced. Consequent time parametrization considered here employs arc length and specific construction of acceleration polynomials. It describes the motion along the obtained smoothed curve geometry. It is given by timing the arc length, thus the construction of the feed rate profile. The key parts of the time parametrization comprise: computation of path length;time parametrization with respect to arc length;and decomposition to the individual Cartesian components describing individual curve coordinates. The theoretical results are presented by representative examples in 2D and 3D spaces.

关键词： Path Model G-Code Path Smoothing Time Parametrization Bezier Curves Industrial robotics

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