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检索条件"任意字段=International Conference on Robotics and Automation for Humanitarian Applications"

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A kinematics-based probabilistic roadmap method for high DOF closed chain systems

A kinematics-based probabilistic roadmap method for high DOF...

引用

Proceedings- 2004 IEEE international conference on robotics and automation

作者： Xie, Dawen Amato, Nancy M. Parasol Lab. Department of Computer Science Texas A and M University College Station TX 77843-3112

In this paper we consider the motion planning problem for arbitrary articulated structures with one or more closed kinematic chains in a workspace with obstacles. This is an important class of problems and there are applications in many areas such as robotics, closed molecular chains, graphical animation, reconfigurable robots. We use the kinematics-based probabilistic roadmap (KBPRM) strategy proposed in [1] that conceptually partitions the linkage into a set of open chains and applies random generation methods to some of the chains and traditional inverse kinematics methods to the others. The efficiency of the method depends critically on how the linkage is partitioned into open chains. The original method assumed the partition was provided as input to the problem. In this paper, we propose a fully automated method for partitioning an arbitrary linkage into open chains and for determining which should be positioned using the inverse kinematic solver. Even so, the size (number of links) of the closed loops that can be handled by this method is limited because the inverse solver can only be applied to small chains. To handle high dof closed loops, we show how we can use the Iterative Relaxation of Constraints (IRC) strategy proposed by Bayazit to efficiently handle large loops while still only using inverse kinematics for small chains. Our results in 3-dimensional workspaces both for planar and spatial linkages show that our framework performs well for general linkages. We also use our planner to simulate an adjustable lamp called Luxo. Using IRC, our planner can handle a single loop of up to 98 links.

关键词： robotics

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Proposal of a viable commercial space infrastructure scenario introducing robotic vehicles in an earth orbit environment and its interfaces to the SPS-programme

Proposal of a viable commercial space infrastructure scenari...

引用

4th international conference on Solar Power from Space (SPS 04)/5th international conference on Wireless Power Transmission (WPT 5)

作者： Dittmann, R Sommer, B German Aerospace Centre Space Management General Technologies and Robotics Germany

ISBN: (纸本)9290928786

The German Space Programme with respect to automation and robotics (A&R) is focussing on the development of on-orbit-servicing (OOS) technologies and the demonstration of their capabilities. The utilization of OOS-technologies could gradually lead to a complete restructuring of the way how we usually do space today. The proposed future infrastructure scenario VERSICA (VERsatile Space Infrastructure Concept for applications in space) encloses many elements which are inevitable if it comes to the mounting and the operation of huge solar power plants in space. As a consequence the realization of the vision will come along with the qualification and verification of key technologies needed for any SPS infrastructure concept. Vice versa a profound SPS scenario will be a major driver for the requirements which future OOS elements will have to meet. On that score it is recommended to start a dialog between the supporters of SPS and OOS technologies. Thus the inherent synergies can be utilized to better meet the respective objectives.

关键词： Space research

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Market-based approaches for coordination of multi-robot teams at different granularities of interaction

Market-based approaches for coordination of multi-robot team...

引用

10th international conference on robotics and Remote Systems for Hazardous Environments

作者： Stentz, Anthony Dias, M. Bernardine Zlot, Robert Kalra, Nidhi Robotics Institute Carnegie Mellon University Pittsburgh PA 15213

Multi-robot teams can improve safety and increase human productivity for operations in hazardous environments. To be effective, a control scheme is needed to decompose a task, assign subtasks to individual robots, and synchronize execution. We have developed a market model for this control scheme that realizes the best of both centralized and distributed approaches. In the market approach, robots coordinate opportunistically to meet team constraints and to optimize the team solution. In this paper, we illustrate how the market is used to coordinate at the task decomposition, assignment, and execution phases, depending on the requirements of the given application. We present results from simulation and from actual robots for the applications of mapping, area reconnaissance, and perimeter sweeping.

关键词： Robot applications

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Motion capture from inertial sensing for untethered humanoid teleoperation

Motion capture from inertial sensing for untethered humanoid...

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2004 4th IEEE-RAS international conference on Humanoid Robots

作者： Miller, Nathan Jenkins, Odest Chadwicke Kallmann, Marcelo Matarić, Maja J. Department of Computer Science California State Univ. Bakersfield Bakersfield CA 93311 Interaction Lab. Ctr. for Robotics and Embedded Syst. 941 W. 37th Place SAL 300 Los Angeles CA 90089 United States

ISBN: (纸本)0780388631

We describe the design of a modular system for untethered real-time kinematic motion capture using sensors with inertial measuring units (IMUs). Our system is comprised of a set of small and lightweight sensors. Each sensor provides its own global orientation (3 degrees of freedom) and is physically and computationally independent, requiring only external communication. Orientation information from sensors is communicated via wireless to host computer for processing. We present results of the real-time usage of our untethered motion capture system for teleoperating the NASA Robonaut 1. We also discuss potential applications for untethered motion capture with respect to humanoid robotics. © 2004 IEEE.

关键词： robotics

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Robotic applications in humanitarian Demining

Robotic Applications in Humanitarian Demining

引用

Engineering, Construction and Operations in Challenging Environments - Earth and Space 2004: Proceedings of the Ninth Biennial ASCE Aerospace Division international conference

作者： Wetzel, John P. Applied Research Associates Inc. 415 Waterman Road South Royalton VT 05068 United States

ISBN: (纸本)0784407223

robotics provide a safe alternative to the extremely hazardous and labor-intensive humanitarian Demining (HD) operations that are conducted manually The need for safe and easy-to-operate systems to facilitate the detection and neutralization of landmines is being addressed through the design and development of a remotely operated system The system will support operations to detect and clear mined areas in an effort to ensure the safe release of these areas for reoccupation by indigenous people A Remote Control System (RCS) will be incorporated on a light, utility-tracked vehicle to provide remote operation of all vehicle functions The RCS will also provide operation of any equipment or tools integrated onto the robotic platform, including detection and neutralization components Operation of the system will be conducted remotely through Radio Frequency (RF) communication from an Operator Control Station (OCS) The operator, stationed a safe distance away from the minefield, will conduct all HD operations through the OCS, which provides joystick controls to operate system functions, video feedback from the platform, and a touch-screen for additional information and control features.

关键词： Space research

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Adding extra sensitivity to the SMART non-linear actuator using sensor fusion

Adding extra sensitivity to the SMART non-linear actuator us...

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6th international conference on Climbing and Walking Robots (CLAWAR 2003)

作者： Montes, H Pedraza, L Armada, M Akinfiev, T Caballero, R Ind Automat Inst Dept Automat Control Madrid Spain Univ Tecnol Panama Panama City Panama

The prospect of using humanoid robots in practical applications attracts an important research effort and the latest steps forward in robot technology show many remarkable achievements where design aspects, control systems and software evolution regarding humanoid machines have been realised. While aiming to improve humanoid robots' overall performance, it is required that they could work for a long time spending minimum energy without losing their kinematic skills. In this direction, a new kind of non-linear actuator, SMART, based on quasi-resonance principle, has been developed by the Industrial automation Institute to improve the overall performance of biped locomotion.

关键词： sensors sensor fusion robotics actuators

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Design methodology for parallel kinematric mechanisms considering metrology performance

Design methodology for parallel kinematric mechanisms consid...

引用

10th international conference on robotics and Remote Systems for Hazardous Environments

作者： Ridgeway, Shannon C. Crane III, Carl D. Ctr. for Intelligent Mach./Robotics Department of Mechanical Engineering University of Florida P.O. Box 116300 Gainesville FL 32605

Machines based on parallel kinematics typically utilize connector geometry to establish the kinematic state of the moving platform. Most active applications require the connectors to be both prime movers and sensors. In some applications, the connectors are passive, with a metrology function of determining moving platform position and orientation. A methodology is developed that generates optimized parallel kinematic mechanism geometry for metrology applications. An objective function is formulated that considers both position and orientation of the moving platform. The inclusion of position and orientation errors in the design methodology typically leads to units problems. The formulation addresses this problem by implicitly including the orientation-induced errors. The objective function is based on the position errors of a set of reference points, given an expected level of connector length precision. A relationship is developed between position and orientation errors based on the formulation of the objective function. The meaning of the relationship and the methodology's applicability to a mechanism's design is discussed. This work extends and augments ongoing research in the design of parallel mechanisms. An application of the methodology is given in which the geometry of a parallel mechanism is developed based on design parameters and constraints.

关键词： robotics

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Novel micro gripping, probing, and sensing devices for single-cell surgery

Novel micro gripping, probing, and sensing devices for singl...

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conference Proceedings - 26th Annual international conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2004

作者： Li, Wen J. Xi, Ning Centre for Micro and Nano Systems Chinese University of Hong Kong Shatin N.T. Hong Kong Robotics and Automation Laboratory Department of Electrical Engineering Michigan State University East Lansing MI United States Micro/Nano Robotics Automations Lab. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning China Chinese University of Hong Kong Michigan State University Shenyang Institute of Automation

Several novel devices under development in our laboratories to ultimately realize a micro robotic system for single cell nano-scale probing, injection, imaging and surgery is described in this paper. Thus far, we have 1) developed MEMS polymer grippers that can be actuated under water with very large deflection and are capable of gripping 500um embryonic cells in water with ∼2V input;2) developed a probe-etching technique to controllably shape fiber probes into various tip geometries, Le., fibers with initial diameter of 125um were sharpened into tips with angles ranging from <2.7 - 9.7° and with nano-scale tip diameters of <1um;3) developed a novel PVDF force sensing system with resolution in the sub-uN range for applications in bio-manipulation, bio-injection, and potentially single cell surgery. Details of these technologies are discussed in this paper.

关键词： Medical imaging

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A biomimetic flying silicon microchip: Feasibility study

A biomimetic flying silicon microchip: Feasibility study

引用

Proceedings - 2004 IEEE international conference on robotics and Biomimetics, IEEE ROBIO 2004

作者： Chan, Ho-Yin Lam, Josh Hiu Man Li, Wen J. Centre for Micro and Nano Systems Chinese University of Hong Kong Hong Kong Hong Kong Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning China Chinese University of Hong Kong Shenyang Institute of Automation

ISBN: (纸本)0780386418

This paper presents a feasibility analysis of developing an ultra-small biomimetic flying machine using the most advanced engineering technologies that exist today. Without regard for the cost and potential applications of such a machine, our motivation is driven entirely by a curiosity to know if it is possible to built a controllable flying machine using very leading-edge but available technologies such as MEMS, IC, and wireless technologies. Such machine would require biomimetic wings, since insects and bugs are the only ultra-small flying "machines" which offer clues as to how things should fly when governed by physical laws, i.e., aerodynamic forces that dictate how things should fly according to their characteristic length scale. We have also demonstrated in our laboratory that MEMS actuators can be made in the same scale of insect wings and "flap" at >100Hz at very low power input. This flapping frequency is will within the range of wing flapping frequency of many common insects in the millimeter dimensions. Hence, we will argue in this paper that if a micro battery, simple CPU, wireless receiver, and MEMS actuators can all be fitted onto a Si chip of ∼1mm2 area, which weight around ∼1mg, which is the typical weight of millimeter scale insects, a biomimetic flying machine can be realized. In fact, all these requirements are realizable by many advanced engineering facilities now. A 'Flying Insect Robot' can certainly be realized if sufficient funding available. © 2004 IEEE.

关键词： Microprocessor chips

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Components of swarm intelligence

Components of swarm intelligence

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10th international conference on robotics and Remote Systems for Hazardous Environments

作者： Bruemmer, David Dudenhoeffer, Donald Anderson, Matthew McKay, Mark Idaho Natl. Eng./Environ. Laboratory

This paper discusses the successes and failures over the past three years as efforts at the Idaho National Engineering and Environmental Laboratory (INEEL) have developed and evaluated robot behaviors that promote the emergence of swarm intelligence. Using a team of 12 small robots with the ability to respond to light and sound, the INEEL has investigated the fundamental advantages of swarm behavior as well as the limitations of this approach. The paper discusses the ways in which biology has inspired this work and the ways in which adherence to the biological model has proven to be both a benefit and hindrance to developing a fieldable system. The paper outlines how a hierarchical command and control structure can be imposed in order to permit human control at a level of group abstraction and discusses experimental results that show how group performance scales as different numbers of robots are utilized. Lastly, the paper outlines the applications for which the resulting capabilities have been applied and demonstrated.

关键词： robotics

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