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Design of humanoid body trunk with "multiple spine structure" and "planar-muscle-driven" system for achievement of humanlike powerful and lithe motion

Design of humanoid body trunk with "multiple spine structure...

引用

2011 IEEE international conference on robotics and Biomimetics, ROBIO 2011

作者： Osada, Masahiko Mizoguchi, Hironori Asano, Yuki Kozuki, Toyotaka Urata, Junichi Nakanishi, Yuto Okada, Kei Inaba, Masayuki Department of Mechano-Informatics University of Tokyo 7-3-1 Hongo Bunkyo-ku 113-8656 Tokyo Japan

ISBN: (纸本)9781457721373

In recent years, humanlike robots have recieved a lot of attension. For making humanlike robots, a muscu-loskeletal humanoid is an effective approach. However, many musculoskeletal humanoids have not yet been equipped with really humanlike bones and muscles, especially for the body trunk, which is the core of the robot. For making a powerful and lithe humanoid body trunk with really humanlike bones and muscles, we think an enhanced "planar-muscle- driven" system and "multiple spine" structure were keys. Planar-muscle-driven systems move several wires simultaneously by using two moving-pulley bars per motor, while the prior linear-muscle-driven system moved only one wire per motor. Using the planar-muscle-driven system, we were able to simplify prior complex composition and control systems. On the other hand, we proposed a multiple spine structure, which has an S-curve alignment like the human spine. In human, the S-curve is important for upper body stability while walking and shock relaxation of heavy human head. This paper describes the "planar muscle" unit and the "multiple spine" structures, and then the body trunk containing both elements. Using the model, we performed experiments to show the efficacy of those elements. © 2011 IEEE.

关键词： Muscle

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Linear model for canal pools

Linear model for canal pools

引用

作者： Nabais, Joao Miguel Lemos Chasqueira Botto, Miguel Ayala Department of Systems and Informatics Escola Superior de Tecnologia Setúbal Campus do IPS Estefanilha 2910-761 Setúbal Portugal Department of Mechanical Engineering IDMEC Instituto Superior Técnico Av. Rovisco Pais 1049-001 Lisboa Portugal

ISBN: (纸本)9789898425744

Water is vital for human life. Water is used widespread from agricultural to industrial as well as simple domestic activities. Mostly due to the increase on world population, water is becoming a sparse and valuable resource, pushing a high demand on the design of efficient engineering water distribution control systems. This paper presents a simple yet sufficiently rich and flexible solution to model open-channels. The hydraulic model is based on the Saint-Venant equations which are then linearized and transformed into a state space dynamic model. The resulting model is shown to be able to incorporate different boundary conditions like discharge, water depth or hydraulic structure dynamics, features that are commonly present on any water distribution system. Besides, due its computational simplicity and efficient monitoring capacity, the resulting hydraulic model is easily integrated into safety and fault tolerant control strategies. In this paper the hydraulic model is successfully validated using experimental data from a water canal setup.

关键词： Delay control systems

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Synthesis of Adaptive control System for Formation of Program Speed of Multilink Manipulator

Synthesis of Adaptive Control System for Formation of Progra...

引用

2011 3rd international asia conference on informatics in control, automation and robotics (CAR 2011 LNEE 132)

作者： Vladimir Filaretov Anton Gubankov Robotics Laboratory Institute of automation and control processes Department of automation and control Far Eastern federal university

The paper deals with adaptive control system of multilink manipulator. This system taking into account power restriction of executive elements is capable to set to the gripper the greatest possible speed at spatial trajectory. For providing necessary dynamic accuracy at high speeds of work, the self-turning correcting device has been entered into control chain of each drive. Results of simulating have completely confirmed high quality of the synthesized control system.

关键词： multilink manipulator,control system,maximum speed,high accuracy

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Grasping spatial integrity in distributed unmanned systems 1

引用

6th international conference on informatics in control automation and robotics, ICINCO 2009

作者： Sapaty, Peter Simon Institute of Mathematical Machines and Systems National Academy of Sciences Glushkova Ave 42 03187 Kiev Ukraine

ISBN: (数字)9783642197307

ISBN: (纸本)9783642197291

Due to the increased complexity of tasks delegated to unmanned systems their collective use is becoming of paramount importance for performing any reasonable jobs. An approach is offered where integral group behaviors are achieved automatically rather than set up manually. Missions in a high-level Distributed Scenario Language can be executed jointly by communicating interpreters embedded in key system units. Robotic scenarios like reconnaissance, camp security, convoy, mule and explosive ordnance disposal oriented on different numbers of cooperating units are demonstrated. The approach allows us to effectively manage any teams, from manned to purely unmanned, regardless of the number of components in them. Other researched applications of the technology are outlined as well as its relation to gestalt philosophy, where the whole dominates over parts, defining their sense and even existence. The paradigm discussed may also be considered as a universal globally programmable distributed super-machine operating with both information and physical matter, ruling the world covered by it at runtime. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： robotics

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Using behaviour activity sequences for motion generation and situation recognition

Using behaviour activity sequences for motion generation and...

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作者： Armbrust, Christopher Kiekbusch, Lisa Berns, Karsten Robotics Research Lab. Department of Computer Science University of Kaiserslautern P.O. Box 3049 67653 Kaiserslautern Germany

ISBN: (纸本)9789898425751

In this paper, the problem of employing behaviour-based approaches to realise complex, deliberative functionalities on high navigation layers is addressed. Behaviour-based architectures typically target at the lower, more reactive aspects of robot navigation. Hence, it is usually not possible to profit from the advantages of behaviours at higher layers. The authors believe that this limitation is not necessary and suggest the use of behaviour activity sequences as a solution. As central element for the realisation of these sequences, a special generic coordination behaviour is introduced in this paper. It is explained how behaviour activity sequences can be used to generate robot motions as well as to recognise certain situations which a robot may encounter. As examples, the behaviour-based generation of turning manoeuvres and the recognition of dead ends with behaviour activity sequences are shown. The developed concepts demonstrate how to benefit from the typical properties of behaviour-based approaches without limiting the developer to mainly reactive systems.

关键词： Robots

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Waypoint guidance based planar path following and obstacle avoidance of autonomous underwater vehicle

Waypoint guidance based planar path following and obstacle a...

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作者： Saravanakumar, S. Asokan, T. Robotics Laboratory Department of Engineering Design IIT Madras Chennai India

ISBN: (纸本)9789898425751

This paper presents waypoint guidance based planar path following and obstacle avoidance for Autonomous Underwater Vehicles (AUV). Guidance through waypoints by line-of-sight (LOS) method and artificial potential field method (APFM) are used to develop the algorithm. Both LOS and PFM are simple and computationally inexpensive and can be used for real-time implementation. The basic LOS method has been modified for reference heading correction with a distance threshold in order to achieve minimal calculation for heading correction and smoother vehicle turn during course change at waypoints. An improved potential field method is also proposed for better obstacle avoidance for the AUV. Few points are taken from the path generated by the waypoint guidance and given as via points for the obstacle avoidance algorithm. The proposed algorithm basically follows the improved LOS method when there is no obstacle along the vehicle's path and switches to APFM when any obstacle is detected. The details of the algorithm and simulation results are presented.

关键词： Motion planning

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Forecast error reduction by preprocessed high-performance structural break detection

Forecast error reduction by preprocessed high-performance st...

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作者： Pauli, Dirk Feller, Jens Mauersberg, Bernhard Timm, Ingo J. FCE Frankfurt Consulting Engineers GmbH Frankfurter Str. 5 65239 Hochheim/Main Germany Department IV Institute of Business Information Systems Business Informatics I University of Trier 54286 Trier Germany

ISBN: (纸本)9789898425744

In this paper a new method for detecting multiple structural breaks, i.e. undesired changes of signal behavior, is presented and applied to real-world data. It will be shown how Chernoff Bounds can be used for highperformance hypothesis testing after preprocessing arbitrary time series to binary random variables using k-means-clustering. Theoretical results from part one of this paper have been applied to real-world time series from a pharmaceutical wholesaler and show striking improvement in terms of forecast error reduction, thereby greatly improving forecast quality. In order to test the effect of structural break detection on forecast quality, state of the art forecast algorithms have been applied to time series with and without previous application of structural break detection methods.

关键词： Time series

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GPGPU implementation of On-Line point to plane 3D data registration

GPGPU implementation of On-Line point to plane 3D data regis...

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2011 international conference on Electrical Engineering and informatics, ICEEI 2011

作者： Bȩdkowski, Janusz Maslowski, Andrzej Institute of Automation and Robotics Warsaw University of Technology ul. w. A. Boboli 8 02-525 Warsaw Poland Institute of Mathematical Machines ul. Ludwika Krzywickiego 34 Warsaw Poland

ISBN: (纸本)9781457707520

The paper concerns the result of the implementation of classic point to plane 3D data registration method with an improvement based on GPGPU parallel computation. 3D data is delivered by mobile robot equipped with 3D laser measurement system for INDOOR and OUTDOOR environments. Presented empirical analysis of the implementation shows the On-Line computation capability using modern graphic processor unit NVIDIA GF 580. The implementation is a part of a project Semantic simulation engine composed of following modules: data registration module, semantic entities identification module, semantic simulation. The goal of the project is to deliver software tools capable to create virtual model of the environment based on robot observations and perform semantic simulation, where all virtual entities correspond to real one. Possible practical application of the project are supervision and control of robotic system and mobile robot operator training using Augmented Reality techniques. Data registration module is composed of the implementation of point to point and point to plane classic methods improved by the usage of parallel computation. In this paper it has been shown that the implementation of GPGPU point to plane registration method is accurate in INDOOR structured environment but it has some difficulties in accurate alignment in OUTDOOR environment. © 2011 IEEE.

关键词： Mobile robots

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Design parametrization for dynamically similar delayed teleoperation systems 1

引用

6th international conference on informatics in control automation and robotics, ICINCO 2009

作者： Olguín-Díaz, Ernesto Parra-Vega, Vicente García-Valdovinos, Luis G. De Paul García-Alvizu, Vicente Robotics and Advanced Manufacturing Division CINVESTAV Saltillo Mexico Centro de Ingenieŕia y Desarrollo Industrial CIDESI Queŕetaro Mexico

ISBN: (数字)9783642197307

ISBN: (纸本)9783642197291

Bilateral teleoperation system are prone to instability coming out from the time-delay introduced by the indeterministic communication channel. This problem has been subject of intensive research under the assumption of non-equal master-slave teleoperators, however, dynamical similarity of master-slave robots can always be induced by proper tuning of feedback gains in the controllers, based on the physical ratio of both robots When we consider a linear Dynamically Similar Teleoperation System (DSTS), there arises advantages, observed heuristically in several experiments [1] or analytically in [10]. In this paper, a simple yet important parametrization trade-off of feedback control gains and performance teleoperation parameters is presented that allows an easy way to achieve stability or even also passivity. The analysis is based on an an impedance control scheme reported in [2] when the time-delay in the communication channel is considered constant but unknown. Stability and passivity limits are obtained based on Llewellyn's and Raisbeck's criteria. This result explicitly suggests clearly guidelines among key factors, such as time delay, desired velocities and feedback gains in terms of the scaling parameters, arises a clear advantage when dealing with dynamically similar systems. This explains why the transparency of the teleoperation system, also studied under the same control law in [10] is improved by augmenting/reducing the dynamic/kinematic scaling factor, for given desired frequency, time delay and feedback gains. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Time delay

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Nonlinear identi#cation of a Continuous Stirred-Tank Reactor using WSDP models

Nonlinear identi#cation of a Continuous Stirred-Tank Reactor...

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international conference on control, automation and Systems ( ICCAS)

作者： Truong Nguyen-Vu Intelligent Robotics and Automation Laboratory (IRAL) Institute of Applied Mechanics and Informatics Vietnam Academy of Science and Technology Vietnam

This paper presents the application of Wavelet based State Dependent Parameter (WSDP) models to the identification of a Continuous Stirred-Tank Reactor (CSTR). Here, in order to characterize the process dynamics which is highly nonlinear and multi-variable dependent, 2-D WSDP model is used. The simulation results demonstrate the effectiveness and advantages of the identified model.

关键词： Adaptation models Indexes Heating

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