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Automatic generation of robot interface specifications and representations

Automatic generation of robot interface specifications and r...

引用

IEEE international conference on robotics and automation (ICRA)

作者： R.C. Taylor C. Kapoor Robotics Research Group R9925 University of Texas Austin Austin TX USA

This paper demonstrates the modeling of a robot controller in terms of its features, where each feature exports an interface that is defined in terms of properties and actions. For a system modeled in this manner, generating the interface for a specific controller becomes an exercise in feature composition. As the features are combined, the interfaces of each feature (both properties and actions) are also combined. The net result is an interface for the overall robot controller. This interface can then be translated into various representations such as a C language, applications Programming Interface (API), documentation of the interface, a system state machine, or an API based on Extensible Markup Language (XML). Each of these is briefly presented with a focus on the XML implementation.

关键词： robotics and automation XML Robot control Service robots Robot programming Software performance Force control Documentation Costs Electrical equipment industry

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Performance of robotic teleoperation system with flexible slave device

Performance of robotic teleoperation system with flexible sl...

引用

IEEE international conference on robotics and automation (ICRA)

作者： D. Moschini P. Fiorini Department of Computer Science University of Verona Italy

This paper presents a comparison of four control strategies for a teleoperation system with a flexible link slave. In the classic literature, slave devices are considered only with rigid links whereas applications such as space robotics include flexible links. Thus, a more realistic model of a telemanipulator to compare and evaluate the performance of control architectures for teleoperation needs to be developed. The simulation is based on a one degree of freedom telemanipulation system available in our laboratory. Results indicate that position control modes could yield better performance than rate control when considering point-to-point tests.

关键词： Force feedback Master-slave Force control Robot sensing systems Force measurement Orbital robotics Control systems Force sensors Position control Arm

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An integrative approach for multi-sensor based robot task programming

An integrative approach for multi-sensor based robot task pr...

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IEEE international conference on robotics and automation (ICRA)

作者： U. Thomas J. Florke S. Detering F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Germany

In this paper, we suggest skill primitive nets for multi-sensor integration in robot task programming. Each skill primitive is either a hybrid motion or a command interpreted by an external vision system. For the integration of different sensors into one general and comprehensive approach, one has to consider different sensing modalities. With an extension of our previously outlined approach of skill primitive nets, multi-sensor integration is possible. Thereby, a large amount of applications can be realized. We also give a precise specification as XML-interface for skill primitive nets. In this paper advantages are outlined, when using this interface between programming and control. Our skill primitive net approach for multi-sensor integration has been evaluated with industrial applications.

关键词： Robot programming Robot sensing systems Robotic assembly Force control Robot control Force sensors Robot vision systems Cameras Force feedback Sensor systems

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Turning and side motion of snake-like robot

Turning and side motion of snake-like robot

引用

IEEE international conference on robotics and automation (ICRA)

作者： Changlong Ye Shugen Ma Bin Li Yuechao Wang Shenyang University of Technology China Graduate School of Chinese Academy of Sciences China Robotics Laboratory Shenyang Institute of Automation Shenyang China Faculty of Engineering Ibaraki University Japan

With high adaptability to environments snakelike robots offer a variety of advantages over other mobile robots. Such a robot with passive wheels has quite different mechanism in locomotion from that of other locomotion systems. We have developed a snakelike robot for rescue applications. The unit composing the snakelike robot of Shenyang Institute of automation (SIA) is a module including actuating system and control system. To let the snakelike robot perform turning motion and compensate offset and orientation errors of the robot, we propose an amplitude modulation method and a phase modulation method based on analysis of the serpenoid curve. The side motion of the snakelike robot can also be generated by the amplitude modulation. The tracking control method is also proposed based on sensor information. Computer simulations and experimental tests are performed to show the validity of the proposed methods.

关键词： Turning Mobile robots robotics and automation Robot sensing systems Amplitude modulation Wheels Automatic control Control systems Motion analysis Computer errors

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The Remote Exploration Program: a collaborative outreach approach to robotics education

The Remote Exploration Program: a collaborative outreach app...

引用

IEEE international conference on robotics and automation (ICRA)

作者： J.R. Garner W.D. Smart K. Bennett D.J. Bruemmer D.A. Few C.M. Roman Department of Computer Science and Engineering Washington University of Saint Louis Saint Louis MO USA Idaho National Engineering and Environmental Laboratory Idaho Falls ID USA Saint Louis Science Center Saint Louis MO USA

High-school robotics competitions of all sorts are hugely popular. robotics courses are now being widely taught in colleges and universities. Commercial applications of robotics are growing, as it becomes practical to deploy autonomous systems in the real world. Despite the activity in each of these areas, there is a lack of continuity between them. In this paper, we describe our plans for a novel outreach and education program that attempts to bridge between the worlds of high-school, university, and research laboratory robotics.

关键词： Collaboration Educational robots Educational programs Educational institutions Bridges Computer science education Intelligent robots Laboratories Springs Robot vision systems

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Distributed sensor databases for multi-robot teams

Distributed sensor databases for multi-robot teams

引用

IEEE international conference on robotics and automation (ICRA)

作者： A. Cowley Hwa-Chow Hsu C.J. Taylor GRASP Laboratory University of Pennsylvania Philadelphia PA USA

We describe our implementation of a distributed sensor database that was designed to support the activities of teams of mobile robots as they explore an environment. Importantly, this approach effectively separates the process of acquiring sensor data from that of exploiting it. This allows us to develop applications where robots and human users can automatically discover and utilize sensor measurements acquired by other robots in the team. We also explain our approach to implementing distributed queries, an important capability that allows us to perform queries in a way that makes best use of the limited available communication bandwidth. Finally, we briefly describe how we have used this system to support situational awareness tasks.

关键词： Distributed databases Sensor arrays Robot sensing systems Sensor phenomena and characterization Image sensors robotics and automation Mobile robots Humans Bandwidth Unmanned aerial vehicles

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Deterministic sampling methods for spheres and SO(3)

Deterministic sampling methods for spheres and SO(3)

引用

IEEE international conference on robotics and automation (ICRA)

作者： A. Yershova S.M. LaValle Department of Computer Science University of Illinois Urbana-Champaign IL USA

This paper addresses the problem of generating uniform deterministic samples over the spheres and the three-dimensional rotation group, SO(3). The target applications include motion planning, optimization, and verification problems in robotics and in related areas, such as graphics, control theory and computational biology. We introduce an infinite sequence of samples that is shown to achieve: 1) low-dispersion, which aids in the development of resolution complete algorithms, 2) lattice structure, which allows easy neighbor identification that is comparable to what is obtained for a grid in /spl Ropf//sup d/, and 3) incremental quality, which is similar to that obtained by random sampling. The sequence is demonstrated in a sampling-based motion planning algorithm.

关键词： Sampling methods Motion planning Sequences Orbital robotics Topology Computer science Robots Computer graphics Control theory Computational biology

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Automated damage diagnosis and recovery for remote robotics

Automated damage diagnosis and recovery for remote robotics

引用

IEEE international conference on robotics and automation (ICRA)

作者： J.C. Bongard H. Lipson Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca NY USA

Remote robotics applications, such as space exploration or operation in hazardous environments, would greatly benefit from automated recovery algorithms for unanticipated failure or damage. In this paper a two-stage evolutionary algorithm is introduced-which we call the estimation-exploration algorithm-that forwards this aim by first evolving a damage hypothesis after failure and then re-evolving a compensatory neural controller to restore functionality. The algorithm presupposes that a robot simulator is running continuously onboard the physical robot. In this paper, the 'physical' robot is also simulated, but in future work the algorithm will be applied to a real, physical robot. Although evolutionary algorithms require a large number of evaluations to produce a useful solution, the results reported here indicate that almost complete functionality can be restored after only three evaluations on the 'physical' robot, as opposed to over 3000 evaluations if the compensatory controller is evolved all on the 'physical' robot. Our algorithm also has the benefit of producing a diagnostic model of the failure.

关键词： robotics and automation Robots Orbital robotics Hardware Legged locomotion Automatic control Evolutionary computation Circuit testing Aerospace engineering Automatic programming

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Real-time supennedia transmission in internet

Real-time supennedia transmission in internet

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IEEE international conference on Mechatronics and automation

作者： Wei Zheng Xiuhui Fu Jianning Hua Dalong Tan Ning Xi Yuechao Wang Robotics Laboratory Shenyang Institute of Automation Graduate School of Chinese Academy of Sciences Shenyang Liaoning China

ISBN: (纸本)0780387481

A lot of new Internet based applications have been introduced in the past yeas with the quickly development of the Internet. One of the most interesting applications is Internet- based teleoperation, where the Internet is used as a bridge between the operators and machines. The operators send commands and receive visual and haptic information via the Internet. In this paper the term supermedia is introduced to capture the notion of all this information streams. The supermedia transmission in the Internet comes with several problems: delay, lost packets and disconnection. These limitations may cause many problems such as instability and desynchronization. This paper presents a system using an event-based method to avoid these problems and realize real-time supermedia transmission in the Internet.

关键词： Internet Delay effects Haptic interfaces Protocols robotics and automation Feedback Upper bound Hardware Software architecture Laboratories

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Decision making for remote robotic operations

Decision making for remote robotic operations

引用

IEEE international conference on robotics and automation (ICRA)

作者： P.S. March R.C. Taylor C. Kapoor D. Tesar Robotics Research Group R9925 University of Texas Austin Austin TX USA

Robotic systems are often used for remote operations in Department of Energy Environmental Management applications because they allow the removal of personnel from dangerous environments. Typically, these systems are operated in pure teleoperation mode by a human operator. While these systems are capable of performing many tasks, their performance can be greatly enhanced through the use of telerobotics (a combination of teleoperation, automation, and decision making). This paper describes an analytical approach to decision making for robotic systems used in remote operations. This approach utilizes redundancy in the system or the task to improve the overall system performance based on analytical criteria. The approach is illustrated by application to the dual arm telerobot at Oak Ridge National Laboratory (ORNL) and the pit viper system at Pacific Northwest National Laboratory (PNNL). In both instances, decision making clearly reduces the operator involvement in tedious tasks while improving performance.

关键词： Decision making Robots robotics and automation Laboratories Environmental management Personnel Humans Telerobotics System performance Performance analysis

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