Kinesthetic teaching is an established method of teaching robots new skills without requiring robotics or programming knowledge. However, the inertia and uncoordinated motions of individual joints decrease the intuiti...
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ISBN:
(纸本)9781467383707
Kinesthetic teaching is an established method of teaching robots new skills without requiring robotics or programming knowledge. However, the inertia and uncoordinated motions of individual joints decrease the intuitiveness and naturalness of interaction and impair the quality of the learned skill. This paper proposes a method to ease kinesthetic teaching by combining the idea of incremental learning through warping several demonstrations into a common frame with virtual tool dynamics to assist the user during teaching. In fact, during a sequence of demonstrations the stiffness of the robot under Cartesian impedance control is gradually increased, to provide stronger assistance to the user based on the demonstrations accumulated up to that moment. Therefore, the operator has the opportunity to progressively refine the task's model while the robot more docilely follows the learned action. Robot experiments and a user study performed on 25 novice users show that the proposed approach improves both usability as well as resulting skill quality.
This paper presents the results of optimal design and control for a Stewart-Gough Platform. An experimental system was designed for the optimization of the parallel manipulator control based on a selected optimal conf...
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The proceedings contain 213 papers. The topics discussed include: efficient in-flight transfer alignment using evolutionary strategy based particle filter algorithm;optimal feedback control for a perimeter traffic flo...
ISBN:
(纸本)9789897580406
The proceedings contain 213 papers. The topics discussed include: efficient in-flight transfer alignment using evolutionary strategy based particle filter algorithm;optimal feedback control for a perimeter traffic flow at an urban region;means for finding meaningful levels of a hierarchical sequence prior to performing a cluster analysis;reconfigurable priority ceiling protocol - under rate monotonic based real-time scheduling;genetic programming applied to biped locomotion control with sensory information;aggregated performance and qualitative modeling based smart thermal control;a hybrid metaheuristic approach to optimize the content transmission in multimedia systems;hand-projector self-calibration using structured light;preliminary tests and validation protocols for an artificial multifunctional foot;approximate distance queries for path-planning in massive point clouds;and parallel robotic manipulation via pneumatic artificial muscles.
The proceedings contain 213 papers. The topics discussed include: efficient in-flight transfer alignment using evolutionary strategy based particle filter algorithm;optimal feedback control for a perimeter traffic flo...
ISBN:
(纸本)9789897580390
The proceedings contain 213 papers. The topics discussed include: efficient in-flight transfer alignment using evolutionary strategy based particle filter algorithm;optimal feedback control for a perimeter traffic flow at an urban region;means for finding meaningful levels of a hierarchical sequence prior to performing a cluster analysis;reconfigurable priority ceiling protocol - under rate monotonic based real-time scheduling;genetic programming applied to biped locomotion control with sensory information;aggregated performance and qualitative modeling based smart thermal control;a hybrid metaheuristic approach to optimize the content transmission in multimedia systems;hand-projector self-calibration using structured light;preliminary tests and validation protocols for an artificial multifunctional foot;approximate distance queries for path-planning in massive point clouds;and parallel robotic manipulation via pneumatic artificial muscles.
The present book includes a set of selected papers from the tenth internationalconference on informatics in control automation and robotics (ICINCO 2013), held in Reykjavk, Iceland, from 29 to 31 July 2013. The confe...
ISBN:
(纸本)9783319108902
The present book includes a set of selected papers from the tenth internationalconference on informatics in control automation and robotics (ICINCO 2013), held in Reykjavk, Iceland, from 29 to 31 July 2013. The conference was organized in four simultaneous tracks: Intelligent control Systems and Optimization, robotics and automation, Signal Processing, Sensors, Systems Modeling and control and Industrial Engineering, Production and Management. The book is based on the same *** 2013 received 255 paper submissions from 50 countries, in all continents. After a double blind paper review performed by the Program Committee only 30% were published and presented orally. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO 2013.
The Climbing Robot CREA is developed to climb up flat concrete walls. Due to its big size and weight the robot uses the suction system to generate necessary adhesive force. This suction system consists of eleven chamb...
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The present book includes a set of selected papers from the eighth "internationalconference on informatics in control automation and robotics"(ICINCO 2011), held in Noordwijkerhout, The Netherlands, from 28...
ISBN:
(纸本)9783642431975
The present book includes a set of selected papers from the eighth "internationalconference on informatics in control automation and robotics"(ICINCO 2011), held in Noordwijkerhout, The Netherlands, from 28 to 31 July 2011. The conference was organized in four simultaneous tracks: "Intelligent control Systems and Optimization", "robotics and automation", "Signal Processing, Sensors, Systems Modeling and control" and "Industrial Engineering, Production and Management". The book is based on the same *** received 322 paper submissions, not including those of workshops or special sessions, from 52 countries, in all continents. After a double blind paper review performed by the Program Committee only 33 submissions were accepted as full papers and thus selected for oral presentation, leading to a full paper acceptance ratio of 10%. Additional papers were accepted as short papers and posters. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO *** to high quality standards is a major concern of ICINCO that will be maintained in the next editions of this conference, including not only the stringent paper acceptance ratios but also the quality of the program committee, keynote lectures, workshops and logistics.
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