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Realization by biped leg-wheeled robot of biped walking and wheel-driven locomotion

Realization by biped leg-wheeled robot of biped walking and ...

引用

2005 IEEE international conference on robotics and automation

作者： Hashimoto, Kenji Hosobata, Takuya Sugahara, Yusuke Mikuriya, Yutaka Sunazuka, Hiroyuki Kawase, Masamiki Lim, Hun-Ok Takanishi, Atsuo Graduate School of Science and Engineering Waseda University Tokyo Japan Department of Mechanical Engineering Kanagawa University Kanagawa Japan Humanoid Robotics Institute Waseda University School of Science and Engineering Waseda University Tokyo Japan

ISBN: (纸本)078038914X

Biped walking is easily adaptable to rough terrain such as stairs and stony paths, but the walk speed and energy efficiency on the flat ground is not so effective compared with wheeled locomotion. In this paper, we propose a biped robot to be able to walk or wheel according to the ground conditions. For wheeled locomotion, WS-2 (Waseda Shoes - No.2) is developed which is composed of a DC motor, a spherical caster and two rubber pads on each foot. WS-2 is attached to the feet of WL-16 (Waseda Leg - No.16) that is the world's first biped-walking robot capable of carrying a human. Also, a path planning for wheeled locomotion is presented. Through hardware experiments, the effectiveness of this foot module is confirmed. © 2005 IEEE.

关键词： Robot applications

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Transference of evolved unmanned aerial vehicle controllers to a wheeled mobile robot

Transference of evolved unmanned aerial vehicle controllers ...

引用

2005 IEEE international conference on robotics and automation

作者： Barlow, Gregory J. Mattos, Leonardo S. Grant, Edward Oh, Choong K. Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC 27695 U.S. Naval Research Laboratory 4555 Overlook Ave. S.W. Washington DC 20375 Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213

ISBN: (纸本)078038914X

Transference of controllers evolved in simulation to real vehicles is an important issue in evolutionary robotics (ER). We have previously evolved autonomous navigation controllers for fixed wing UAV applications using multi-objective genetic programming (GP). Controllers were evolved to locate a radar source, navigate the UAV to the source efficiently using on-board sensor measurements, and circle around the emitter. We successfully tested an evolved UAV controller on a wheeled mobile robot. A passive sonar system on the robot was used in place of the radar sensor, and a speaker emitting a tone was used as the target in place of a radar. Using the evolved navigation controller, the mobile robot moved to the speaker and circled around it. The results from this experiment demonstrate that our evolved controllers are capable of transference to real vehicles. Future research will include testing the best evolved controllers by using them to fly real UAVs. ©2005 IEEE.

关键词： Unmanned vehicles

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Shoe-Mouse: An integrated intelligent shoe

Shoe-Mouse: An integrated intelligent shoe

引用

IEEE IRS/RSJ international conference on Intelligent Robots and Systems, IROS 2005

作者： Ye, Weizhong Xu, Yangsheng Lee, Ka Keung Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong EB2 Shatin Hong Kong

ISBN: (纸本)0780389123

In this paper, we developed a sensor-integrated shoe as an information acquisition platform to sense the foot motion. The system is small, portable and wearable. The platform is mainly composed of four parts including a sensing module, a computing module, a wireless communication module, and a data visualization module. Based on this platform, we developed a novel input device called Shoe- Mouse, which can be used by people who have difficulties in using their hands to operate computers or devices. We evaluated the performance of Shoe-Mouse, and the initial experimental results demonstrated the function. The platform can be also used for applications such as gait recognition, human identification, and motion monitoring. © 2005 IEEE.

关键词： Data visualization

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Using cyclic genetic algorithms to evolve multi-loop control programs

Using cyclic genetic algorithms to evolve multi-loop control...

引用

IEEE international conference on Mechatronics automation

作者： Parker, Gary B. Georgescu, Ramona A. Connecticut Coll New London CT 06320 USA

ISBN: (纸本)078039044X

Cyclic genetic algorithms were developed to evolve single loop control programs for robots. These programs have been used for three levels of control: individual leg movement, gait generation, and area search path finding. In all of these applications the cyclic genetic algorithm learned the cycle of actuator activations that could be continually repeated to produce the desired behavior. Although very successful for these applications, it was not applicable to control problems that required different behaviors in response to sensor inputs. Control programs for this type of behavior require multiple loops with conditional statements to regulate the branching. In this paper, we present modifications to the standard cyclic genetic algorithm that allow it to learn multi-loop control programs that can react to sensor input.

关键词： evolutionary robotics learning control genetic algorithms

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Experimental study of a remote-controlled police dogbot

Experimental study of a remote-controlled police dogbot

引用

2005 IEEE international conference on robotics and Biomimetics, ROBIO

作者： Qu, Y.L. Zhao, M.Y. Pong, Z.L. Wang, Y.Ch. Zou, Y.Y. Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate School Chinese Academy of Sciences Beijing China Shenyang Institute of Automation Chinese Academy of Sciences 110016 Shenyang China

ISBN: (纸本)0780393155

A remote-controlled Police Dogbot, which is a new type of mobile robot based on a living German shepherd dog, is proposed and its experimental tested schematic system is implemented. The Dogbot can achieve very flexible movement without complicated mechanical structure and complex control algorithm, but through living animal body and its intelligence. The motion control of this mobile robot is the operant behavior control of the animal. There are many possible important applications for the prototype developed in this paper, such as independently rescuing hostages, scouting, and public services et al. The key problems in Police Dogbot design, such as system architecture, operant behavior control, vision monitoring and feedback, wireless communication etc., are discussed and studied by experiments. The voice command system allows a prompt and effective guide of working dog. The test results show that this Police Dogbot, which combines life with electronic sensing, navigation technology and robotics, is a very valid mobile robot, and leads to a new branch for robot research. © 2005 IEEE.

关键词： Mobile robots

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Natural resolution of DOF redundancy in execution of robot tasks under the gravity: A challenge to Bernstein's problem and applications to handwriting robots

Natural resolution of DOF redundancy in execution of robot t...

引用

12th international conference on Advanced robotics, 2005. ICAR '05

作者： Arimoto, Suguru Hashiguchi, Hiroe Sekimoto, Masahiro Department of Robotics Ritsumeikan University Kusatsu Shiga 525-8577 Japan

ISBN: (纸本)0780391772

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like robot arms and multi-fingered robot hands. Associated with such redundancy in DOFs relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid ill-posedness of inverse kinematics from task space to joint space. This paper shows that such ill-posedness of DOF redundancy can be resolved in a natural way without introducing any artificial performance index or calculating any pseudo-inverse. Instead, a sensory feedback composed with a term of task space position feedback and another term of adequate joint dampings together with gravity compensation based on estimates on unknown parameters is shown to be in effect to carry out the target task without incurring self-motion. © 2005 IEEE.

关键词： robotics

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Characterization of infrared range-finder PBS-03JN for 2-D mapping

Characterization of infrared range-finder PBS-03JN for 2-D m...

引用

2005 IEEE international conference on robotics and automation

作者： Alwan, Majd Wagner, Matthew B. Wasson, Glenn Sheth, Pradip Medical Automation Research Center University of Virginia Charlottesville VA United States School of Mechanical Engineering Purdue University West Lafayette IN United States Computer Science Department University of Virginia Charlottesville VA United States Department of Mechanical and Aerospace Engineering University of Virginia Charlottesville VA United States

ISBN: (纸本)078038914X

This paper presents a characterization study of the HOKUYO PBS-03JN Infrared range-finder and compares it to the characterization of the SICK LMS-200 laser range-finder for use in indoor 2-D mapping. Many parameters that could affect the performance of the sensor including warm-up time, divergence of the detection beam, usable detection range in the azimuth, target surface, color, and size properties, incidence angle at the target, and the mixed pixels problem have been studied. This characterization, quantification of errors, and 3-D confidence in the distance readings of the sensor is vital for practical applications. These characteristics are compared to the counterpart characteristics of the laser range-finder. The PBS-03JN is a cost effective alternative to laser range-finders in indoor environments. The sensor is attractive due to lower power consumption, and its lightweight. © 2005 IEEE.

关键词： Range finders

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Design of an adaptive scanning optical microscope for simultaneous large field of view and high resolution

Design of an adaptive scanning optical microscope for simult...

引用

2005 IEEE international conference on robotics and automation

作者： Potsaid, Benjamin Bellouard, Yves Wen, John T. Center for Automation Technologies Rensselaer Polytechnic Institute Troy NY 12180

ISBN: (纸本)078038914X

In microsystems applications from micro-assembly to biological observation and manipulation, the optical microscope remains one of the most important tools. However, it suffers from the well known trade-off between resolution and field of view. Traditional solutions involve moving the sample under the microscope using a moving stage or moving the microscope itself, and switching between low and high magnification objective lenses. In this paper, we present a new optical microscope design that uses a 2-dimensional high speed, high precision steering mirror system to scan the sample. By stitching the images together as a mosaic, we have the potential to achieve both high resolution and large field of view. Working in coordination with a deformable mirror, this arrangement offers certain advantages over the current state of the art in demanding spatial-temporal observations. We describe the theory of operation, our design methodology, and present a preliminary simulated design. A reduced functionality experimental prototype has been constructed to demonstrate the basic efficacy of the concept and we demonstrate with both biological and micro-assembly examples. © 2005 IEEE.

关键词： Product development

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Design and development of a multiple DOF compliant robot

Design and development of a multiple DOF compliant robot

引用

12th international conference on Advanced robotics, 2005. ICAR '05

作者： Tam, Michael C. S. Payandeh, Shahram Parameswaran, Ash M. School of Engineering Science Faculty of Applied Science Simon Fraser University 8888 University Drive Burnaby BC V5A 1S6 Canada School of Engineering Science Faculty of Applied Science Simon Fraser University Burnaby BC V5A 1S6 Canada

ISBN: (纸本)0780391772

Micromanipulators and micropositioners are becoming more and more popular in micro-machining, optics, and biomedical industry. They are used to manipulate movements of minute objects under the microscope. The objective of this paper is to explore and define possible applications of flexure joints. An investigation of some existing 2 degrees-of-freedom (DOF) flexure joint configurations in literature is presented. Finally, a design of novel 2-DOF design will be presented with some discussions about the description of a possible 3-DOF manipulator. It is shown how these initial investigations can lead to the design and development of 6-DOF micro-manipulator system. © 2005 IEEE.

关键词： robotics

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A simple calibration method for restricted camera estimation

A simple calibration method for restricted camera estimation

引用

ICIA 2005: 2005 international conference on Information Acquisition

作者： Bin, Kong Fei, Zheng Tingjian, Fang Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui Province 230031 China Department of Automation University of Science and Technology of China Hefei Anhui Province 230026 China

ISBN: (纸本)0780393031

In real applications, there is often the need of estimating the intrinsic and extrinsic parameters of a camera directly from the images of natural scenes or working scenarios. When there are only several feature points can be determined, the results of current calibration methods are very unstable. In this paper, a geometrical method is presented for estimating a restricted camera. It can estimate f even when only one feature point is valid. Experiments show that it has good robustness and reliability, and it is tolerant to multiple error sources. © 2005 IEEE.

关键词： Image analysis

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