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System architecture for versatile autonomous and teleoperated control of multiple miniature robots

System architecture for versatile autonomous and teleoperate...

引用

IEEE international conference on robotics and automation (ICRA)

作者： P.E. Rybski I. Burt T. Dahlin M. Gini D.F. Hougen D.G. Krantz F. Nageotte N. Papanikolopoulos S.A. Stoeter Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis USA Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

ISBN: (纸本)0780365763

Using robots for surveillance and reconnaissance applications requires a versatile connection between the human operator and robotic hardware. Some application domains require a fully teleoperated system while others may benefit by giving robots more autonomy. This paper describes a robotic control architecture which merges both paradigms. The whole scheme is implemented using the miniature Scout robot and involves a suite of user interfaces that can be tailored to specific surveillance and reconnaissance missions. Hardware capabilities are presented and a visual servoing strategy, important for semi-autonomous Scout operation, is discussed.

关键词： Control systems Robot kinematics Mobile robots Robot sensing systems Humans Robot control Surveillance Hardware Reconnaissance Communication system control

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Programmable multi sensor interface for industrial applications

Programmable multi sensor interface for industrial applicati...

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international conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： H. Born J. Bunsendal KUKA Roboter GmbH Germany KUKA Roboter GmbH Egypt

Most complex robot applications rely on use of multiple sensors and efficient algorithms. Substantial know-how has been developed for various applications, but very little got implemented in industry. The paper looks into the some of the problems and proposes a flexible and efficient controller interface that provides a platform for the integration of new algorithms and devices into existing industrial hardware.

关键词： Robot sensing systems Service robots Mechanical sensors robotics and automation Intelligent sensors Force sensors Robot control Costs Torque Programming profession

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A recursive algorithm of obstacles clustering for reducing complexity of collision detection in 2D environment

A recursive algorithm of obstacles clustering for reducing c...

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IEEE international conference on robotics and automation (ICRA)

作者： Jin-Liang Chen Jing-Sin Liu Wan-Chi Lee Institute of Information Science 20 Academia Sinica Nankang Taiwan

ISBN: (纸本)0780365763

In applications of industrial robots, the robot manipulator must traverse a pre-specified Cartesian curve (path) with its hand tip while links of the robot safely move among obstacles. In order to reduce the costs of collision detection, the number of collision checks can be reduced by enclosing a few obstacles (a cluster) with a larger (artificial) bounding volume, e.g. by their convex hull, without cutting the specified curve. In the paper, an efficient and convergent recursive algorithm for refining an initial randomly generated set of clusters is proposed to tackle the problem of clustering convex polygonal obstacles in a 2D robot's scene. Simulation results show that the proposed algorithm acquires less number of clusters and computationally more efficient. In addition, the algorithm can be easily applied to dynamic environment based on the idea of seeds in clusters.

关键词： Service robots Clustering algorithms Mobile robots Orbital robotics Layout Manipulators Costs Information science Computational modeling Motion detection

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A simple algorithm for determining of movement duration in task space without violating joint angle constraints

A simple algorithm for determining of movement duration in t...

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IEEE international conference on robotics and automation (ICRA)

作者： Y.G. Jin J.Y. Choi School of Electrical Engineering Seoul National University Seoul South Korea

ISBN: (纸本)0780365763

In usual robot applications, velocity and acceleration constraints are represented in joint angle space, while on the contrary, a goal is specified in task space such as the Cartesian coordinates. This fact means that a task trajectory planner itself cannot resolve the constraint problem without working together with an inverse kinematics solving method. In this paper, we present a simple method to generate a joint angle trajectory without violating the joint velocity and acceleration constraints. The key idea is to determine movement duration to solve the constraint problem. The proposed method has a strong merit in that it can use the existing task trajectory planning method and inverse kinematics solving method without re-formulating them for the constraints. The validity of the proposed method is shown by the simulation with a two-link serial manipulator executing a circle-drawing task.

关键词： Acceleration Trajectory Spline Manipulator dynamics Robot kinematics Orbital robotics End effectors Equations Constraint optimization Strain control

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The development of intelligent control system for animal robot using multisensor fusion

The development of intelligent control system for animal rob...

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international conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： R.C. Luo K.L. Su S.H.H. Phang Intelligent Automation Laboratory Department of Electrical Engineering National Chung Cheng University Chiayi Taiwan

With the rapid growth of computer technology, the applications of robots are not limited to industrial automation. Entertainment robots will be one of the most important emerging applications in the 21/sup st/ century. The paper presents an intelligent control system for an animal robot using multisensor fusion technology to deal with touching, collision, and falling conditions. After analyzing the walking of a four-legged animal robot, we use two-level multisensor fusion techniques to fuse sensory data from IR proximity, mercury switch, touch sensor, thin-film switch, and limit switch. The fused multisensor data is used to determine the contact position of patting collision, and the standing-up direction after falling. Experimental results indicate that the proposed method can effectively fuse multisensor data for the control of the animal robot.

关键词： Intelligent control Animals Intelligent robots Switches robotics and automation Service robots Robot sensing systems Application software Legged locomotion Fuses

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Autonomous control of an engine-driven mobile platform for field robotic systems

Autonomous control of an engine-driven mobile platform for f...

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： E.F. Fukushima P. Debenest S. Hirose Department of Mechanical and AeroSpace Engineering Tokyo Institute of Technology Meguro Tokyo Japan

Currently, most of the robotic systems use electric actuators and depend on chemical batteries as source of energy. However, this results in severe limitations to their range and time of autonomous operation, making it difficult to employ those robotic systems in remote areas or fields. In order to solve this problem, the authors have developed a mobile platform with energy-generation capability and mechanisms to drive it automatically. In this paper, a new autonomous control for the mobile platform is proposed, including telemetry features, especially focused on hyper-tether applications Those applications may include landmine detection/removal and forestry works in environments where the currently available systems cannot operate uninterruptedly for long periods of time.

关键词： Robots Actuators Chemicals Batteries robotics and automation Automatic control Control systems Telemetry Landmine detection Forestry

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Exact cellular decomposition of closed orientable surfaces embedded in /spl Rfr//sup 3/

Exact cellular decomposition of closed orientable surfaces e...

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IEEE international conference on robotics and automation (ICRA)

作者： P.N. Atkar H. Choset A.A. Rizzi E.U. Acar Department of Mechanical Engineering and Robitics Institute Carnegie Mellon University Pittsburgh PA USA

ISBN: (纸本)0780365763

We address the task of covering a closed orientable surface embedded in /spl Rfr//sup 3/ without any prior information about the surface. For applications such as paint deposition, the effector (the paint atomizer) does not explicitly cover the target surface, but instead covers an offset surface-a surface that is a fixed distance away from the target surface. Just as Canny and others use critical points to look for changes in connectivity of the free space to ensure completeness of their roadmap algorithms, we use critical points to identify changes in the connectivity of the offset surface to ensure full surface coverage. The main contribution of this work is a method to construct unknown offset surfaces using a procedure, also developed in this paper, to detect critical points.

关键词： Path planning Robot vision systems Cameras Mechanical engineering Paints Face detection Cleaning Computer numerical control Inspection Orbital robotics

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Position/force control of an arm/gripper system for space manipulation

Position/force control of an arm/gripper system for space ma...

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IEEE/ASME (AIM) international conference on Advanced Intelligent Mechatronics

作者： L. Biagiotti C. Melchiorri G. Vassura DEIS University of Bologna Bologna Italy DIEM University of Bologna Bologna Italy

ISBN: (纸本)0780367367

In advanced robotics applications, as those foreseen in space, some degree of dexterity and autonomy is necessary in order execute tasks in unstructured environments. For this purpose besides the kinematic configuration of the device other basic issues are the sensorial equipment and proper control strategies. The paper presents an experimental activity for the validation of a robotic gripper for space applications. In particular the project foresees the compatibility of the gripper with the EUROPA arm, developed by ASI and Tecnospazio. The key points of the gripper design are the wide working space compared with its physical dimensions and the capability to deal with free-flying objects in zero-gravity conditions. This capability is achieved by using proximity and force/torque sensors and by properly controlling and coordinating the gripper and the carrying arm. After a brief illustration of the main features of the gripper, the experimental activity is presented and the results achieved so far are discussed.

关键词： Force control Grippers Robot kinematics Robot sensing systems Orbital robotics Force sensors Service robots Robot vision systems robotics and automation Fingers

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Model integrated computing in robot control to synthesize real-time embedded code

Model integrated computing in robot control to synthesize re...

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IEEE conference on Control Technology and applications (CCTA)

作者： R. Hopler P.J. Mosterman Institute of Robotics and Mechatronics DLR-Oberpfaffenhofen Wessling Germany

Manufacturing robots present a class of embedded systems with hard real-time constraints. On the one hand controller software has to satisfy tight timing constraints and rigorous memory requirements. Especially nonlinear dynamics and kinematics models are vital to modern model-based controllers and trajectory planning algorithms. Often this is still realized by manually coding and optimizing the software, a labor intensive and error-prone repetitive process. On the other hand shorter design-cycles and a growing number of customer-specific robots demand more flexibility not just in modeling. This paper presents a model-integrated computing approach to automated code synthesis of dynamics models that satisfies the harsh demands by including domain and problem specific constraints prescribed by the robotics application. It is shown that the use of such tailored formalisms leads to very efficient embedded software, competitive with the hand optimized alternative. At the same time it combines flexibility in model specification and usage with the potential for dynamic adaptation and reconfiguration of the model.

关键词： Robot control robotics and automation Control system synthesis Manufacturing Embedded system Real time systems Timing Memory management Kinematics Trajectory

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Input reduction in human sensation modeling using independent component analysis

Input reduction in human sensation modeling using independen...

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Proceedings 2001 IEEE/RSJ international conference on Intelligent Robots and Systems. Expanding the Societal Role of robotics in the the Next Millennium (Cat. No.01CH37180)

作者： K.K. Lee Yangsheng Xu Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

We model human sensations in virtual reality applications using cascade neural networks. In the modeling process, the dimension of inputs presented to the humans and the sensation systems may be very high. In this research we propose using the independent component analysis (ICA) to achieve input reduction. We obtain human sensation data from a full-body motion virtual reality interface - "motion-based movie". A fixed-point ICA algorithm is applied to achieve feature extraction and input selection for reducing the dimension of the environmental stimulus data. The fidelity of the sensation models trained using the reduced inputs is verified by the hidden Markov model based similarity measure. The performance of input reduction using ICA is compared with that using the principal component analysis. Experimental results showed that the input selection scheme based on ICA is capable of improving the modeling performance of the computational sensation systems and reducing the input dimension by 60%.

关键词： Humans Independent component analysis Hidden Markov models Virtual reality Motion pictures Virtual environment Biological system modeling Data mining Intelligent networks automation

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