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检索条件"任意字段=Proceedings of the 2019 2nd International Conference on Control and Robot Technology"

共 3963 条记录，以下是3651-3660 订阅

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Modelling of a wave-based bilateral teleoperation system: A new approach to control a two degree of freedom robot model

Modelling of a wave-based bilateral teleoperation system: A ...

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2nd Asia international conference on Modelling and Simulation, AMS 2008

作者： Seyed Tabib, S.R. Jalali, Ali A. IUST Tehran 16846-13114 Iran

ISBN: (纸本)9780769531366

Time delay is a serious problem for bilateral teleoperation systems. Even a small time delay in a bilateral teleoperation system will generally degrade the system's performance and cause instability. Wave variable based on passivity and scattering theory method is an important approach that guarantees stability and establishes bilateral teleoperation in the presence of any constant time delay. In this paper, a new control scheme based on wave variables is proposed. This control scheme, is composed of feedback linearization method combined with PD controller to control a nonlinear model. A 2-DOF (degree-of-freedom) bilateral teleoperation system using the new Structure method is simulated using a SIMULINK model in MATLAB environment. © 2008 IEEE.

关键词： Time delay

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Hybrid actuation concepts for a rope robot as a haptic interface

Hybrid actuation concepts for a rope robot as a haptic inter...

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2nd Biennial IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics, BioRob 2008

作者： Zitzewitz, Joachim V. Rauter, Georg Brunschweiler, Andreas Riener, Robert Institute of Robotics and Intelligent Systems ETH Zurich 8092 Zurich Switzerland

ISBN: (纸本)9781424428830

The demands on the dynamics of haptic interfaces can vary strongly for different rendering and control tasks. Especially, in the field of realistic sports simulation, the requirements on the haptic display concerning producible power and forces are high. Furthermore, the maximal forces can be highly direction-dependent which has to be taken into account for the design of the haptic interface. This paper describes two design and control approaches of hybrid active/passive actuation concepts for a rope robot. These approaches meet the requirements of generating direction-dependent maximal forces. Additionally, one concept allows the application of large counter-forces on the user and the absorption of elevated power in a save and controllable way. For these concepts, an active motor unit is replaced by passive elements consisting of a controllable brake and/or a spring mechanism. We first introduce the actuation concepts and the chosen passive components. Then, a basic control approach for the hybrid interface is explained. Finally, the control concepts are evaluated. The results of the evaluation confirm the applicability of these concepts and the choice of components. © 2008 IEEE.

关键词： Haptic interfaces

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proceedings of the 2nd Biennial IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics, BioRob 2008

Proceedings of the 2nd Biennial IEEE/RAS-EMBS International ...

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2nd Biennial IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics, BioRob 2008

ISBN: (纸本)9781424428830

The proceedings contain 161 papers. The topics discussed include: dynamics of escaping flight initiations of Drosophila Melanogaster;a bio-inspired kinematic controller for obstacle avoidance during reaching tasks with redundant robots;wave variables based bilateral teleoperation of an active catheter;from conventional prosthetic feet to bionic feet: a review study;target-included model and hybrid decoding of stereotyped hand movement in the motor cortex;real-time gait mode intent recognition of a powered knee and ankle prosthesis for standing and walking;a preliminary study of a robotic probe for soil exploration inspired by plant root apexes;equilibrium point control of artificial muscles using recruitment of many motor units;towards a biologically inspired small-scale water jumping robot;the SPARKy (spring ankle with regenerative kinetics) project: choosing a DC motor based actuation method;and design of a five actuated DoF upper limb exoskeleton oriented to workplace help.

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From Conventional Prosthetic Feet to Bionic Feet: A Review Study

From Conventional Prosthetic Feet to Bionic Feet: A Review S...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Versluys, Rino Desomer, Anja Lenaerts, Gerlinde Beyl, Pieter Van Damme, Michael Vanderborght, Bram Vanderniepen, Innes Van der Perre, Georges Lefeber, Dirk Vrije Univ Brussel Robot & Multibody Mech Res Grp B-1050 Brussels Belgium Vrije Univ Brussel Biomech Res Grp B-1050 Brussels Belgium Katholieke Univ Leuven Biomech Engn Design Sect Res Ctr Movement Control & Neuroplast Leuven Belgium Katholieke Univ Leuven Biomech Engn Design Sect Leuven Belgium

ISBN: (纸本)9781424428823

In general, prosthetic feet can be classified in three categories. These are, following the time line: Conventional Feet (CF), Energy-Storing-and-Returning (ESR) feet, and recent so-called 'bionic' feet. Research studies have shown enhanced performance properties of ESR feet compared to early CF. However, even with the advanced technology today, none of the ESR feet is capable of significantly reducing energy cost of walking or enhancing amputee's gait pattern [1]. From the 1990s gradually more attention has been paid to the incorporation of active elements in prosthetics as passive devices are not capable of providing the amputee with sufficient ankle power during gait. Most of these bionic devices are still on research level nowadays but one can expect that they will become available on the market soon. In this paper, the evolution of prosthetic feet over the last two decades is reflected. The importance of mimicking human ankle biomechanics in prosthetic foot design is discussed. Prior work on both objective and subjective evaluation of TT (transtibial = through the lower leg) amputee gait when fitted with different prosthetic feet is reported. Keywords:

关键词： prosthetic feet amputee energy storage energy return metabolics gait

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Hybrid calibration of a five-axis robot based on modeless and model-based methods

Hybrid calibration of a five-axis robot based on modeless an...

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2nd international conference on Innovative Computing, Information and control, ICICIC 2007

作者： Qu, Daokui Wang, Jintao Pan, Meng Xu, Dianguo Liu, Zhenyu Harbin Institute of Technology Harbin China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Shenyang Siasun Robot and Automation Co.Ltd. Shenyang China Shenyang University of Technology Shenyang China

ISBN: (纸本)0769528821

Through Analysis of both model-based robotic calibration and modeless robotic calibration, considering the structure of a five-axis grinding robot, a hybrid robotic calibration method is proposed which combines the advantages of the two common robotic calibration methods. For the translational joint error, a modeless calibration method is adopted, and for the rotational joint error, the hybrid calibration method is adopted according to their respective characteristics. Calibration experiments on a five-axis robot demonstrate its ejfectivity and feasibility, which can provide certain help for robot calibration of similar structure. © 2007 IEEE.

关键词： robotics

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Object tracking of mobile robot using moving color and shape information for the aged walking

Object tracking of mobile robot using moving color and shape...

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2008 2nd international conference on Future Generation Communication and Networking, FGCN 2008

作者： Kim, Sanghoon Lee, Sangmu Kim, Seungjong Dept. of Control and Information Hankyong National University Anseong-Si Kyungki-Do Korea Republic of Dept. of Computer Science Hanyang Women's College Seoul Korea Republic of

ISBN: (纸本)9780769534312

A mobile robot with various types of sensors via ubiquitous networks is introduced. We designed a mobile robot composed of TCP/IP network, wireless camera and several sensors in an environment, and show object avoiding and tracking methods necessary for providing diverse services desired by the people. To avoid obstacles(objects), active sensors such as infrared rays sensors and supersonic waves sensors are employed together and measures the range in real time between the obstacles and the robot. We focus on how to track a object well because it gives robots the ability of working for human. This paper suggests effective visual tracking system for moving objects with specified color and motion information. The proposed tracking system includes the object extraction and definition process which uses color transformation and AWUPC computation to decide the existence of moving object. Active contour information and shape energy function are used to exactly tract the objects with shape changes. Finally, real time mobile robot avoiding and tracking objects is implemented.. © 2008 IEEE.

关键词： Color

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Design of Convex Foot for Efficient Dynamic Bipedal Walking

Design of Convex Foot for Efficient Dynamic Bipedal Walking

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IEEE/RSJ international conference on Intelligent robots and Systems

作者： Sasaki, Hirotake Yamakita, Masaki Asano, Fumihiko Tokyo Tech Fac Mech & Control Engn Meguro Ku 2-12-1 Oh Okayama Tokyo 1528552 Japan RIKEN BMC Moriyama Ku Nagoya Aichi 4630003 Japan

ISBN: (纸本)9781424420575

In this paper, we consider the effects of feet in various convex shapes on the performance of underactuated passive dynamic walking. We first derive formula for calculating virtual ankle-joint torque and a performance index of dissipated mechanical energy for a convex foot shape model with general foot shape parameterization. Secondly, using the foot shape determined by a 2nd Bezier curve with which a form can be controlled easily, we calculate a value of the virtual ankle-joint torque and the performance index of dissipated mechanical energy to verify effects of change in foot shape. Furthermore, relationship between the foot shapes and the walking speeds are clarified by a numerical simulation. Finally, we propose a method to design a convex foot shape that attains a desired virtual ankle-joint torque and verify an improvement of the walking speed by a numerical simulation with the foot shape that is designed by the proposed method. We believe that the proposed method will be applied to design effective active ankle-joint torque and/or to design a foot shape for biped robots.

关键词： Machine design

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Closed loop control of a gravity-assisted underactuated snake robot with application to aircraft wing-box assembly 3rd

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3rd international conference on robotics Science and Systems, RSS 2007

作者： Roy, Binayak Asada, H. Harry D'Arbeloff Laboratory for Information Systems and Technology Department of Mechanical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States

ISBN: (纸本)9780262524841

Stable, nonlinear closed-loop control of a gravityassistedunderactuated robot arm with 2nd order non-holonomicconstraints is presented in this paper. The joints of the hyperarticulated arm have no dedicated actuators, but are activatedwith gravity. By tilting the base link appropriately, the gravitationaltorque drives the unactuated links to a desired angularposition. With simple locking mechanisms, the hyper articulatedarm can change its configuration using only one actuator at thebase. This underactuated arm design was motivated by the needfor a compact snake-like robot that can go into aircraft wingsand perform assembly operations using heavy end-effecters. Thedynamics of the unactuated links are essentially 2nd order nonholonomicconstraints, for which there are no general methodsfor designing closed loop control. We propose an algorithm forpositioning the links of an n-link robot arm inside an aircraftwing-box. This is accomplished by sequentially applying a closedloop point-to-point control scheme to the unactuated links. Wesynthesize a Lyapunov function to prove the convergence ofthis control scheme. The Lyapunov function also provides uswith lower bounds on the domain of convergence of the controllaw. The control algorithm is implemented on a prototype 3-link system. Finally, we provide some experimental results todemonstrate the efficacy of the control scheme.

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IFIP 20th World Computer Congress, WCC 2008, 2nd IFIP TC 10 international conference on Biologically-Inspired Collaborative Computing

IFIP 20th World Computer Congress, WCC 2008, 2nd IFIP TC 10 ...

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2nd IFIP TC 10 international conference on Biologically-Inspired Collaborative Computing, BICC 2008

ISBN: (纸本)9780387096544

The proceedings contain 21 papers. The special focus in this conference is on biologically-inspired collaborative computing. The topics include: The coordination of robots via swarm intelligence principles;heuristics for uninformed search algorithms in unstructured P2P networks inspired by self-organizing social insect models;congestion control in ant like moving agent systems;resource-aware clustering of wireless sensor networks based on division of labor in social insects;self-stabilizing automata;experiments with biologically-inspired methods for service assignment in wireless sensor networks;evolving collision avoidance on autonomous robots;local strategies for connecting stations by small robotic networks;measurement of robot similarity to determine the best demonstrator for imitation in a group of heterogeneous robots;distributed fault-tolerant robot control architecture based on organic computing principles;intrusion detection via artificial immune system;immuno-repairing of FPGA designs;an organic computing approach to sustained real-time monitoring;a case study in model-driven synthetic biology;image segmentation by a network of cortical macrocolumns with learned connection weights;integrating emotional competence into man-machine collaboration;self-optimized routing in a network-on-a-chip;on robust evolution of digital hardware;a model of self-organizing collaboration and guiding exploration by combining individual learning and imitation in societies of autonomous robots.

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Integrated Planning and Image-Guided control for Planar Needle Steering

Integrated Planning and Image-Guided Control for Planar Need...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Reed, Kyle B. Kallem, Vinutha Alterovitz, Ron Goldberg, Ken Okamura, Allison M. Cowan, Noah J. Johns Hopkins Univ Dept Mech Engn Lab Computat Sensing & Robot Baltimore MD 21218 USA Univ Calif Berkeley UCSF Comprehensive Canc Ctr Berkeley CA 94720 USA Univ Calif Berkeley Dept Elect Engn & Comp Sci Berkeley CA 94720 USA Univ Calif Berkeley Dept Ind Engn & Operat Res Berkeley CA 94720 USA

ISBN: (纸本)9781424428823

Flexible, tip-steerable needles promise to enhance physicians' abilities to accurately reach targets and maneuver inside the human body while minimizing patient trauma. Here, we present a functional needle steering system that integrates two components: (1) a patient-specific 2D pre- and intra-operative planner that finds an achievable route to a target within a planar slice of tissue (Stochastic Motion Roadmap), and (2) a low-level image-guided feedback controller that keeps the needle tip within that slice. The planner generates a sequence of circular arcs that can be realized by interleaving pure insertions with 180 degrees rotations of the needle shaft. This pre-planned sequence is updated in realtime at regular intervals. Concurrently, the low-level image-based controller servos the needle to remain close to the desired plane between plan updates. Both planner and controller are predicated on a previously developed kinematic nonholonomic model of bevel-tip needle steering. We use slighly different needles here that have a small bend near the tip, so we extend the model to account for discontinuities of the tip position caused by 180 degrees rotations. Further, during large rotations of the needle base, we maintain the desired tip angle by compensating for torsional compliance in the needle shaft, neglected in previous needle steering work. By integrating planning, control, and torsion compensation, we demonstrate both accurate targeting and obstacle avoidance.

关键词： Needles

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