Generating a physically feasible pair of motion pattern and force pattern for walking motions of a humanoid robot can be analyzed as a two point boundary value problem. The final boundary condition plays a critical ro...
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ISBN:
(纸本)9781467356404
Generating a physically feasible pair of motion pattern and force pattern for walking motions of a humanoid robot can be analyzed as a two point boundary value problem. The final boundary condition plays a critical role as the state trajectory depends on it and the remaining time to the goal. In this paper, the effect of the boundary condition is exploited to compensate disturbances during the walking motion and two strategies to modify it are proposed. The first one is based on the neutral point condition and it prioritizes stabilization in one step. The second one is based on an optimal formulation which can include future steps in the cost function. The unilateral constraint on the reaction force and the kinematic workspace are taken into account to compare both reactive control methods.
In this paper, we propose an entirely new manipulation strategy for dynamic manipulation of a ribbon with a high-speed manipulator. The manipulation strategy involves manipulating the object at a constant, high speed....
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ISBN:
(纸本)9781467356404
In this paper, we propose an entirely new manipulation strategy for dynamic manipulation of a ribbon with a high-speed manipulator. The manipulation strategy involves manipulating the object at a constant, high speed. Then, we can assume that the dynamic behavior of the ribbon can be obtained by performing algebraic calculations of the robot motion using the proposed strategy. Based on this assumption, we derive a model of the ribbon and suggest a motion planning method using the proposed model. Finally, we show experimental results of shape control of a ribbon based on the proposed method.
This paper presents development of a quad rotor tail-sitter VTOL UAV (Vertical Takeoff and Landing Unmanned Aerial Vehicle) which is composed of four rotors and a fixed wing. The conventional VTOL UAVs have a drawback...
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This paper presents development of a quad rotor tail-sitter VTOL UAV (Vertical Takeoff and Landing Unmanned Aerial Vehicle) which is composed of four rotors and a fixed wing. The conventional VTOL UAVs have a drawback in the accuracy of the attitude control in stationary hovering because they were developed based on a fixed-wing aircraft and they used the control surfaces, such as aileron, elevator, and rudder for the attitude control. To overcome such a drawback, we developed a quad rotor tail-sitter VTOL UAV. The quad rotor tail-sitter VTOL UAV realizes high accuracy in the attitude control with four rotors like a quad rotor helicopter and achieves level flight like a fixed-wing airplane. The remarkable characteristic of the developed quad rotor tail-sitter VTOL UAV is that it does not use any control surfaces even in the level flight. This paper shows the design concept of the developed UAV and experimental verification of all flight modes including hovering, transition flight and level flight.
This paper proposes a new torque sensing method, Cr-N alloy strain sensitive thin-film based torque sensors and distributed joint torque servo systems that enable human support robots to have capabilities to make phys...
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ISBN:
(纸本)9781467356404
This paper proposes a new torque sensing method, Cr-N alloy strain sensitive thin-film based torque sensors and distributed joint torque servo systems that enable human support robots to have capabilities to make physical interaction in adaptive and safe operation tasks. Stiffer torque sensing with stable and high-resolution sensing to meet practical level of the developed torque sensors have been achieved. We have developed the joint torque control based 4-DOF arm models in order to verify practical effectiveness of the proposed joint torque servo systems. We also demonstrated the joint torque control based bilateral master slave system exploring future applications.
ICIT 2013 will cover a wide range of topics, with 10 main technical tracks. These technical tracks are as follows: control systems, robotics and mechatronic; electrical machines and drives ; power electronics and ener...
ICIT 2013 will cover a wide range of topics, with 10 main technical tracks. These technical tracks are as follows: control systems, robotics and mechatronic; electrical machines and drives ; power electronics and energy conversion; renewable energy systems; power systems and the smart grid; sensors, actuators and systems integration; electronic system on chip and real time embedded control; signal and image processing and computational intelligence; industrial automation, communication and informatics; technology management.
Robots are meanwhile able to perform several tasks. But what happens, if one or multiple of the robot's joints fail? Is the robot still able to perform the required tasks? Which capabilities of the robot get limit...
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ISBN:
(纸本)9781467356404
Robots are meanwhile able to perform several tasks. But what happens, if one or multiple of the robot's joints fail? Is the robot still able to perform the required tasks? Which capabilities of the robot get limited and which ones are lost? We propose an analysis of manipulator structures for the comparison of a robot's capabilities with respect to efficient control. The comparison is processed (1) within a robot in the case of joint failures and (2) between robots with or without joint failures. It is important, that the analysis can be processed independently of the structure of the manipulator. The results have to be comparable between different manipulator structures. Therefore, an abstract representation of the robot's dynamic capabilities is necessary. We introduce the Maneuverability Volume and the Spinning Pencil for this purpose. The Maneuverability Volume shows, how efficiently the end-effector can be moved to any other position. The Spinning Pencil reflects the robot's capability to change its end-effector orientation efficiently. Our experiments show not only the different capabilities of two manipulator structures, but also the change of the capabilities if one or multiple joints fail.
Octopus arms, as well as elephant trunks, squid tentacles, and vertebrate tongues are termed muscular-hydrostats. In such structures, the volume of the organ remains constant during their motions, enabling diverse, co...
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ISBN:
(纸本)9781467356404
Octopus arms, as well as elephant trunks, squid tentacles, and vertebrate tongues are termed muscular-hydrostats. In such structures, the volume of the organ remains constant during their motions, enabling diverse, complex, and highly controlled movements without the support of a skeleton. Such flexible structures show major advantages over articulated arms that have a rigid skeleton and joints. These advantages have been attracting roboticists aiming to apply these material properties to soft robot controls. In this paper, we show that the muscular-hydrostat system itself has the computational capacity to achieve a complex nonlinear computation. By using a 3D dynamic simulator of the system inspired by the octopus, we actually demonstrate that the system is capable of emulating complex nonlinear dynamical systems by exploiting its elastic body dynamics as a computational resource. In addition, we systematically analyze its computational power in terms of memory capacity, and show that the system has an intrinsic and characteristic short term memory profile. Finally, the implications for soft robot control and future application scenarios are discussed.
A processes composed of sequences of local cyclic The theoretical prediction of the behavioral properties of periodic structures is less difficult than in the case of nonperiodic ones. That is because all the informat...
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A processes composed of sequences of local cyclic The theoretical prediction of the behavioral properties of periodic structures is less difficult than in the case of nonperiodic ones. That is because all the information needed to describe the entire structure is given by the elementary substructure itself and by the manner it repeats in the whole periodic structure. So, only a small portion of the structure (which includes the repeating substructure) needs to be considered to obtain the properties of the whole periodic structure. In that context, the contribution provides the discussion of some system periodicity issues, and is aimed at modeling and evaluation of relationships linking the system structure features with required system's functioning.
Session 2 includes 110 papers selected from 2011 3rd international asia conference on informatics in control, automation and robotics (CAR 2011), held on December 24-25, 2011, Shenzhen, China. As we all know, the ever...
ISBN:
(数字)9783642259920
ISBN:
(纸本)9783642259913
Session 2 includes 110 papers selected from 2011 3rd international asia conference on informatics in control, automation and robotics (CAR 2011), held on December 24-25, 2011, Shenzhen, China. As we all know, the ever growing technology in robotics and automation will help build a better human society. This session will provide a unique opportunity for the academic and industrial communities to address new challenges, share solutions, and discuss research directions for the future. robotics research emphasizes intelligence and adaptability to cope with unstructured environments. automation research emphasizes efficiency, productivity, quality, and reliability, focusing on systems that operate autonomously. The main focus of this session is on the autonomous acquisition of semantic information in intelligent robots and systems, as well as the use of semantic knowledge to guide further acquisition of information.
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