One of the important issues in intelligent systems is to develop an efficient method to combine human and machine intelligence so that the system can perform tasks which cannot be done by either human or autonomous pl...
详细信息
One of the important issues in intelligent systems is to develop an efficient method to combine human and machine intelligence so that the system can perform tasks which cannot be done by either human or autonomous planner/controller alone. Based on our newly developed event-based planning and nonlinear feedback control theory, a new action planning and control scheme for a telerobotic system is presented. It provides a unified model to integrate a human operator control command (supervisory command) with motion planning and control for automatic operation. As a result, supervisory command and autonomous motion planning and control are naturally fused together such that the autonomous motion plan can be adjusted and modified by a human operator during its execution. This scheme lays down a foundation for planning and control of a general mechatronic system involving human operators. The scheme is implemented and tested on a PUMA 560 dual-arm system via Internet. It has successfully implemented in the MLDUA at Oak Ridge. A Spaceball or a Flybox is used by the human operator as a command generator to input the supervisory command. The experimental results will be presented and video tapes will be shown.
The Interactive robotics Unit of CEA LIST has developed a very challenging robotic carrier (called P.A.C.) which is able to perform high range intervention tasks inside blind hot cells. This long reach multi-link carr...
详细信息
ISBN:
(纸本)9781424407897
The Interactive robotics Unit of CEA LIST has developed a very challenging robotic carrier (called P.A.C.) which is able to perform high range intervention tasks inside blind hot cells. This long reach multi-link carrier has 11 degrees of freedom (DOF) and weighs less than 30 kg. Due to its size and weight, this large robot manipulator holds lots of elastic and geometric deformations. Hence, it presents very low position accuracy. A mechanical model is developed to take into account the flexibilities of the structure. A calibration method of the robot's parameters is used to further reduce the positioning error of the end effector. This method is first tested by simulation. After encouraging simulation results, an experimental field is made for the calibration of the PAC manipulator. Results show that the adopted flexible model, with the new calibrated parameters, is indeed able to correct and reduce for the system errors.
We introduce a new approach for exploration based on the concept of frontiers, regions on the boundary between open space and unexplored space. By moving to new frontiers, a mobile robot can extend its map into new te...
详细信息
We introduce a new approach for exploration based on the concept of frontiers, regions on the boundary between open space and unexplored space. By moving to new frontiers, a mobile robot can extend its map into new territory until the entire environment has been explored. We describe a method for detecting frontiers in evidence grids and navigating to these frontiers. We also introduce a technique for minimizing specular reflections in evidence grids using laser-limited sonar. We have tested this approach with a real mobile robot, exploring real-world office environments cluttered with a variety of obstacles. An advantage of our approach is its ability to explore both large open spaces and narrow cluttered spaces, with walls and obstacles in arbitrary orientations.
Permanent magnet brushless machines are widely used in high performance applications like the field of automotive industry or robotics. In most cases these applications need high torque density and smooth torque. Ther...
详细信息
ISBN:
(纸本)9781467385206
Permanent magnet brushless machines are widely used in high performance applications like the field of automotive industry or robotics. In most cases these applications need high torque density and smooth torque. There are many fast analytic calculation methods for cogging torque but they cope only with machines having no mechanical misalignments. A hybrid calculation method is presented in the paper which can be used to calculate cogging torque, and is also applicable to analyse the effect for usual manufacturing misalignments like air gap eccentricity.
This paper describes an adaptive task assignment method for a team of fully distributed mobile robots with initially identical functionalities in unknown environments. The method is applicable for mediate- to large-sc...
详细信息
The goal of self-reconfigurable robotics is to replace a complex robot by a swarm of more simple robots called modules which can change the way they are connected, creating thus a robot which can adapt his shape to th...
详细信息
One of the basic assumptions in the static gait design for a walking robot is that the weight of a leg should be negligible compared to that of body, so that the total gravity center of the robot is not affected by th...
详细信息
Research efforts are underway to develop sophisticated computer models of human physiology, biomechanics, and appearance. Applications of these "digital humans" range from medical research to virtual reality...
详细信息
In this paper we introduce a new method for acquiring and processing ultrasound signals for the location and identification of the typical primitives for map building - planes, corners and edges. Models of the echo si...
详细信息
automation has become increasingly common not only in complex, technical systems, but in everyday situations as well. The success of such automated systems is only to a certain extent dependent on their technical feat...
详细信息
ISBN:
(纸本)9781509039098
automation has become increasingly common not only in complex, technical systems, but in everyday situations as well. The success of such automated systems is only to a certain extent dependent on their technical features, the market penetration will be determined by the extent, how much people accept and trust these systems to perform safely. Present paper endeavours to explore safety and connected phenomena in the mirror of the semi-autonomous cars' and their drivers' co-functioning - the relation of trust.
暂无评论