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Prototyping the Flexible Solenoid-Coil Artificial Muscle, for Exoskeletal Robots

Prototyping the Flexible Solenoid-Coil Artificial Muscle, fo...

引用

international conference on control, automation and Systems

作者： Asuka Takai Nouf Alanizi Kazuo Kiguchi Thrishantha Nanayakkara Mechanical Engineering Graduate School of Engineering Osaka Prefecture University Osaka 599-8531 Japan School of Natural and Mathematical Science King's College London London WC2R 2LS UK Department of Mechanical Engineering Faculty of Engineering Kyushu University Fukuoka 812-8581 Japan Center for Robotics Research Department of Informatics King's College London London WC2R 2LS UK

ISBN: (纸本)9781479905492

Design approaches to exoskeletal robots traditionally aimed to achieve mechanical forces many times larger than the level achievable by the corresponding natural musculoskeletal system. This has often obstructed the user's muscles during physical rehabilitation. Moreover, mechanisms designed for excessive force generation are heavy and rigid structures with little compliance and thus are not suitable for many mobile applications. Here, we present a novel biomimetic flexible solenoid-coil artificial muscle (FSAM) fibre with inherent mechanical compliance, a high pulling stroke, and structural flexibility that suit a lightweight wearable exoskeletal robot for rehabilitation use. FSAM consists of a chain of specially designed bobbins of solenoid coils that can slide against each other. The chain allows FSAM to form an arch shape when the coils are energized;this is reminiscent of a natural muscle that bends a joint by a combined contraction of the muscle length and bending in an arch shape. This strategy of bending a joint not only reduces the need for linear contraction but also allows the exoskeletal to be compliant with the contraction morphology of natural muscle.

关键词： Flexible Linear Actuator Lightweight Artificial Muscle Solenoid-coil Exoskeletal Robots Rehabilitation

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Game Solving for Industrial automation and control

Game Solving for Industrial Automation and Control

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IEEE international conference on robotics and automation (ICRA)

作者： Cheng, Chih-Hong Geisinger, Michael Ruess, Harald Buckl, Christian Knoll, Alois Fortiss GmbH Germany Department of Informatics TU München Germany

ISBN: (纸本)9781467314053

An ongoing effort within the community of verification and program analysis is to raise the level of abstraction in programming by automatic synthesis. In this paper, we demonstrate how our synthesis engine GAVS+ achieves this goal by automatically creating control code for the FESTO Modular Production System. The overall approach is model-driven: we reinterpret planning domain definition language (PDDL) as a design contract to model two-player games played between control and environment, such that users can describe (i) basic abilities of hardware components, including sensors (as environment moves) and actuators (as control moves), (ii) topologies how components are interconnected, and (iii) desired specification under a restricted class of linear temporal logic. The model is processed by our game-based synthesis engine, from which intermediate code is generated. By mapping each behavioral-level action to a sequence of low-level PLC control commands, we transform the intermediate code into an executable program. The efficiency of our engine enables to synthesize every scenario presented in this paper within seconds. When the specification evolves, this implies a huge time-gain compared to manual program modification.

关键词： Specifications

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Simultaneous Localization and Mapping Using Adaptive Appearance Based Loop-Closing Detection

Simultaneous Localization and Mapping Using Adaptive Appeara...

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IEEE international conference on automation, Quality and Testing, robotics

作者： Majdik, Andras Lupea, Diana Lazea, Gheorghe Vajta, Laszlo Tech Univ Cluj Napoca Robot Res Grp Cluj Napoca Romania Budapest Univ Technol & Econ Dept Control Engn & Informat Technol Budapest Hungary

ISBN: (纸本)9781467307024

Visual appearance based scene recognition has been widely studied in the past decade. However, such systems still present failures in dynamic, heterogeneous urban environments. This paper presents a methodology in order to integrate an advanced Adaptive Appearance Based Loop-Closing Detection algorithm into a graph optimization based Simultaneous Localization and Mapping algorithm. The system described uses stereo visual data, captured in discrete locations in order to detect loop-closure situations and to build, respectively update the topological map of a large, complex environment.

关键词： robotics SLAM loop-closure visual-appearance

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2012 IEEE international conference on automation, Quality and Testing, robotics, AQTR 2012 - Proceedings: Foreword

2012 IEEE International Conference on Automation, Quality an...

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2012 18th IEEE international conference on automation, Quality and Testing, robotics, AQTR 2012

作者： Miclea, Liviu Stoian, Ioan TU Cluj-Napoca Romania IPA Cluj-Napoca Romania

ISBN: (纸本)9781467307024

The conference, in its customary full name 2012 IEEE international conference on automation, Quality and Testing, robotics - THETA 18th edition, follows the tradition of the 17 automation and testing related scientific events, held in Cluj-Napoca since 1982 under the name THETA - Technologies and automation Testing. The previous editions of the AQTR conference have enjoyed great success, demonstrating the importance of automation, quality, testing and robotics domains as part of continuously advancing technologies. A large variety of papers were presented, providing good opportunities for the participants to exchange ideas and share new advancements registered in the specific fields covered by the conference topics. © 2012 IEEE.

关键词： robotics

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Evaluation of a joint hysteresis model in a robot actuated by pneumatic muscles

Evaluation of a joint hysteresis model in a robot actuated b...

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

作者： Kastner, Michael Gattringer, Hubert Naderer, Ronald Institute for Robotics Johannes Kepler University Linz Altenberger Strasse 69 4040 Linz Austria FerRobotics Compliant Robot Technology GmbH Altenberger Strasse 69 4040 Linz Austria

ISBN: (纸本)9789898565211

Passively compliant drives are interesting alternatives to classical stiff actuators in emerging fields like human- robot cooperation, service and rehabilitation robotics. Pneumatic muscles have been found to be interesting low-cost actuators for such purposes. To fully realize the (desired) higher sensitivity and at the same time maintain a good control quality, detailed models of the robot's own components are required. For pneumatic muscles, their hysteresis characteristic is a challenging property. In this paper we present a hysteresis model based on a Prandtl-Ishlinskii operator approach and evaluate the resulting performance when the inverse model is used for compensation in the position controller. The evaluation is done on a real multi-axes robot arm.

关键词： Hysteresis

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Hardware on-board implementation of a possible solution to introduce UAVs into non segregated areas

Hardware on-board implementation of a possible solution to i...

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

作者： Taraglio, Sergio Nanni, Vincenzo Taurino, Damiano Robotics Lab ENEA Via Anguillarese 301 Rome Italy Deep Blue Piazza Buenos Aires 20 Rome Italy Facoltà di Ingegneria University of Florence Via di Santa Marta 3 Florence Italy

ISBN: (纸本)9789898565211

The implementation of a distributed control algorithm for the safe flight of Unmanned Aerial Vehicles (UAVs) in traffic conditions in an embedded processor unit is presented. Details on the implementation are given. The control algorithm is designed in order to avoid separation infringements with aircraft in the neighbourhood. The algorithm is grounded on Satisficing Game Theory and supplies manoeuvres aimed at providing separation distance among aircraft. Some results of simulated flight trials of UAVs in segregated and non segregated areas are reviewed. Some experiments on the capability of the embedded algorithm to pilot a simulated UAV in different traffic condition are presented. Copyright © 2012 SciTePress.

关键词： Game theory

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Risk prediction of a behavior-based adhesion control network for online safety analysis of wall-climbing robots

Risk prediction of a behavior-based adhesion control network...

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

作者： Schmidt, Daniel Berns, Karsten Department of Computer Sciences Robotics Research Lab University of Kaiserslautern 67663 Kaiserslautern Germany

ISBN: (纸本)9789898565211

Risk analysis in combination with terrain classification is a common approach in mobile robotics to adapt robot control to surface conditions. But for climbing robots it is hard to specify, how the robotic system and especially the adhesion is affected by different surfaces and environmental features. This paper will introduce the climbing robot CROMSCI using negative pressure adhesion via multiple chambers, adaptive inflatable sealings and an omnidirectional drive system. It presents the used behavior-based control network which allows the balancing of adhesion force, but fails in extreme situations. Therefore, a risk prediction has been developed which evaluates behavioral meta-data and allows an estimation of current hazards caused by the environment. This prediction is used to perform evasive actions to prevent the robot from falling down. Copyright © 2012 SciTePress.

关键词： Adhesion

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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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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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Large Scale Mapping Using Submaps

Large Scale Mapping Using Submaps

引用

IEEE international conference on automation, Quality and Testing, robotics

作者： Lupea, Diana Majdik, Andras Lazea, Gheorghe Tech Univ Cluj Napoca Dept Automat Cluj Napoca Romania

ISBN: (纸本)9781467307024

The main contribution of this article the implementation of a new method for the usage of submaping algorithms, which surpasses the limitations arising from the need of statistical independence between the submaps, when mapping large scale areas. This method relies on the commonly used structure of SLAM (Simultaneous Localization and Mapping) mandatory for building submaps which share information, but stay conditionally independent. This approach is able to recover the final map, without introducing other approximations ignoring the ones already introduced by the EKF (Extended Kalman Filter), all this in a linear time. The algorithm has been tested for the case of local submaps because the effects of linearization errors are smaller in this way. The obtained maps are more accurate and consistent compared with ones obtained by EKF or EIF (Extended Information Filter) methods, which are not using local coordinates.

关键词： robotics SLAM submaps loop-closure

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