Centroidal dynamics, which describes the overall linear and angular motion of a robot, is often used in locomotion generation and control of legged robots. However, the equation of centroidal dynamics contains nonline...
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ISBN:
(纸本)9781728196817
Centroidal dynamics, which describes the overall linear and angular motion of a robot, is often used in locomotion generation and control of legged robots. However, the equation of centroidal dynamics contains nonlinear terms mainly caused by the robot's angular motion and needs to be linearized for deriving a linear model-predictive motion controller. This paper proposes a new linearization of the robot's centroidal dynamics. By expressing the angular motion with exponential coordinates, more linear terms are identified and retained than in the existing methods to reduce the loss from the model linearization. As a consequence, a model-predictive control (MPC) algorithm is derived and shows a good performance in tracking angular motions on a quadruped robot.
This article proposes a model-free adaptive trajectory tracking control approach for UAVs that bypasses the need for precise system modeling, learning control laws directly from system input-output data. By introducin...
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The proceedings contain 34 papers. The topics discussed include: facial features integration in last mile delivery robots;principled pathways towards autonomy and emergence in agents;single and multi-tasked neural net...
ISBN:
(纸本)9798350352344
The proceedings contain 34 papers. The topics discussed include: facial features integration in last mile delivery robots;principled pathways towards autonomy and emergence in agents;single and multi-tasked neural networks: selection and deployment;multi-agent reinforcement learning for side-by-side navigation of autonomous wheelchairs;f-divergence optimization for task-parameterized learning from demonstrations algorithm;6D pose estimation for objects based on polygons in cluttered and densely occluded environments;automating lateral shoe roughing through a robotic manipulator programmed by demonstration;a DMPs-based approach for human-like robotic movements;and visual-inertial odometry for metric-scale mapping of underwater caves.
Food disposal is an important issue that has emerged in the modern world and has become more of a concern in our society in recent years, affecting both rich and poor countries. The Collection of waste is a much-neede...
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This study aims to investigate the factors influencing the adoption of AI image generators among marketing agencies in Bangladesh, focusing particularly on the mediating role of perceived usefulness (PU). Employing a ...
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The paper introduces an innovative Internet of Things (IoT)-based scale sensor that measures the water level in the alternate wetting and drying (AWD) system and displays data in the mobile app to enable remote monito...
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The current paper proposes a state feedback approach to design a cascade controller for an augmented model of a Computer Numerical Control (CNC) machine. The main objective is to obtain the position and velocity contr...
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ISBN:
(纸本)9781665479332
The current paper proposes a state feedback approach to design a cascade controller for an augmented model of a Computer Numerical Control (CNC) machine. The main objective is to obtain the position and velocity controllers based on an optimal state feedback matrix computed using the solution provided by solving a set of linear matrix inequalities (LMIs). The problem is formulated using the corresponding LMIs which characterize a certain region which needs to contain the closed-loop poles in order to ensure closed-loop stability and a desired time-response performance. Additionally, a case study is performed on the identified model gathered and validated on a practical CNC machine.
The proceedings contain 87 papers. The topics discussed include: remote measurement of body temperature for an indoor moving crowd;test automation pyramid from theory to practice;blind source separation: a preprocessi...
ISBN:
(纸本)9781538622049
The proceedings contain 87 papers. The topics discussed include: remote measurement of body temperature for an indoor moving crowd;test automation pyramid from theory to practice;blind source separation: a preprocessing tool for monitoring of structures;agent-based assistance system for the dynamic reliability calculation of cyber-physical systems;detection of hard-to-detect stuck-at faults and generation of their tests based on testability functions;low cost platform for monitoring honey production and bees health;combined pseudo-exhaustive and deterministic testing of array multipliers;pharmaceutical cold chain management platform based on a distributed ledger;a taxonomy and platform for anomaly detection;video content transmission in a public safety system model based on flying ad-hoc networks;failure modes and effects analysis for an automatic level control system;two-phase authentication and encryption algorithm for mobile users;low power current-mode analog front-end for biomedical applications;delay time Petri nets based decision model to decrease the risk of false security alarms;chemometric tool for doping control based on hierarchical cluster analysis;Gaussian random field-based log odds occupancy mapping;design and development of the hybrid mobile robots;quadcopter control using onboard monocular camera for enriching remote laboratory facilities;non-linear model, simulation and control of a new VTOL vehicle concept;temperature distribution simulation in electron beam processing;and hybrid control models for flexible manufacturing systems.
In this paper, we present a low-latency odometry system designed for spinning lidars. Many existing lidar odometry methods wait for an entire sweep from the lidar before processing the data. This introduces a large de...
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ISBN:
(纸本)9781728196817
In this paper, we present a low-latency odometry system designed for spinning lidars. Many existing lidar odometry methods wait for an entire sweep from the lidar before processing the data. This introduces a large delay between the first laser firing and its pose estimate. To reduce this latency, we treat the spinning lidar as a streaming sensor and process packets as they arrive. This effectively distributes expensive operations across time, resulting in a very fast and lightweight system with a much higher throughput and lower latency. Our open source implementation is available at https://***/versatran01/llol.
Variable impedance control in operation-space is a promising approach to learning contact-rich manipulation behaviors. One of the main challenges with this approach is producing a manipulation behavior that ensures th...
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ISBN:
(纸本)9781728196817
Variable impedance control in operation-space is a promising approach to learning contact-rich manipulation behaviors. One of the main challenges with this approach is producing a manipulation behavior that ensures the safety of the arm and the environment. Such behavior is typically implemented via a reward function that penalizes unsafe actions (e.g. obstacle collision, joint limit extension), but that approach is not always effective and does not result in behaviors that can be reused in slightly different environments. We show how to combine Riemannian Motion Policies, a class of policies that dynamically generate motion in the presence of safety and collision constraints, with variable impedance operation-space control to learn safer contact-rich manipulation behaviors.
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