The proceedings contain 46 papers. The topics discussed include: estimating angular joint positions based on electromyographic (EMG) activity;adaptive control using a quaternion wavelet neural network;end effector pat...
ISBN:
(纸本)9798350393965
The proceedings contain 46 papers. The topics discussed include: estimating angular joint positions based on electromyographic (EMG) activity;adaptive control using a quaternion wavelet neural network;end effector path tracking by a 13-DOF mobile manipulator system using ANN-based model predictive control;usability evaluation of human–robot interaction in manipulator teleoperation via virtual reality in inspection tasks;a framework for joint grasp and motion planning in confined spaces;enhancing spherical rolling robotcontrol for slippery terrain;the influence of the model discrepancies in the Jacobian motion planning algorithm for nonholonomic systems;and an autonomous dynamical system for smooth trajectory generation in path tracking.
The proceedings contain 42 papers. The topics discussed include: object detection and mapping during European robotic competitions - lesson learned;tracking of numerically defined trajectory by free-floating 3D satell...
ISBN:
(纸本)9781728129754
The proceedings contain 42 papers. The topics discussed include: object detection and mapping during European robotic competitions - lesson learned;tracking of numerically defined trajectory by free-floating 3D satellite;interval-based solutions for reliable and safe navigation of intelligent autonomous vehicles;computation of approximate solutions for guided sampling-based motion planning of 3D objects;control system shell of mobile robot with voice recognition module;accuracy comparison of navigation local planners on ROS-based mobile robot;numerical test of underwater vehicle dynamics using velocity controller;comparative study of muscles effort during gait phases for multi-muscle humanoids;and kinematic simulator of e-knee robo that reproduces human knee-joint movement.
The proceedings contain 40 papers. The topics discussed include: postural balance using a disturbance rejection method;terrain-aware motion planning for a walking robot;trajectory design for nonlinear control of a bip...
ISBN:
(纸本)9781538639269
The proceedings contain 40 papers. The topics discussed include: postural balance using a disturbance rejection method;terrain-aware motion planning for a walking robot;trajectory design for nonlinear control of a bipedal walking robot;action prediction based on physically grounded object affordances in human-object interactions;modeling and stabilization of a cable-driven parallel platform suspended by an airship;a planar path-following model predictive controller for fixed-wing unmanned aerial vehicles;and feature-based pose estimation on-board MAVs equipped with 2D laser scanners for the automatic inspection of electric towers.
The proceedings contain 49 papers. The topics discussed include: autonomous control of the small size league robots group;grasp planning taking into account the external wrenches acting on the grasped object;novel hap...
ISBN:
(纸本)9781479970438
The proceedings contain 49 papers. The topics discussed include: autonomous control of the small size league robots group;grasp planning taking into account the external wrenches acting on the grasped object;novel haptic glove-based interface using jamming principle;hand gesture-based interface with multichannel sEMG band enabling unknown gesture discrimination;influence of mathematical model selection on control signals for mobile manipulator with skid-steering mobile platform;motioncontrol of a skid-steering robot using transverse function approach - experimental evaluation;modeling and motion planning of wheeled mobile robots subject to slipping;and ultralight mobile drilling system - design and analyses of a robotic platform intended for terrestrial and space applications.
robots navigating in populated dynamic environments require dedicated motion planning algorithms. We propose a human-aware local trajectory planner that alleviates the discomfort of humans surrounding the robot. Our m...
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ISBN:
(纸本)9798350393972;9798350393965
robots navigating in populated dynamic environments require dedicated motion planning algorithms. We propose a human-aware local trajectory planner that alleviates the discomfort of humans surrounding the robot. Our method relies on a hybrid approach to trajectory generation and employs cost functions evaluating robot navigation task performance, robotmotion naturalness, and humans' perceived safety. We compared our method with state-of-the-art classical and human-aware trajectory planners using the TIAGo robot in simulated and real-world environments. The algorithms tested were quantitatively assessed for both navigation performance and human discomfort using the Social robot Planner Benchmark. Our approach was implemented as an open source plugin for the local trajectory planner of the robot Operating System's navigation.
The paper presents the organisation of a companion robotcontrol system enabling external interruption of its activities. The fundamental problem is: how should a companion robot act when the currently executed task i...
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ISBN:
(纸本)9798350393972;9798350393965
The paper presents the organisation of a companion robotcontrol system enabling external interruption of its activities. The fundamental problem is: how should a companion robot act when the currently executed task is not completed yet, however a next request arrives. The new request might not be yet serviced while a new request arrives and so on. The question is how should the control system be organised so that the robot will be able to reasonably handle those multiple interrupts? The paper suggests a formal specification of a controller solving the thus posed problem. As interrupts are well established within computer science the paper shows that the there proposed solution is not well suited to robotics.
The Jacobian motion planning of a nonholonomic system, derived by means of the Endogenous Configuration Space Approach, relies on a complete knowledge of a robot's model. The aim of this paper is to identify and i...
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ISBN:
(纸本)9798350393972;9798350393965
The Jacobian motion planning of a nonholonomic system, derived by means of the Endogenous Configuration Space Approach, relies on a complete knowledge of a robot's model. The aim of this paper is to identify and investigate the influence of insufficient knowledge of the model's parameter values on the quality of the Jacobian motion planning algorithm results. To address the problem, we propose an Iterative Learning control scheme endowed with the Endogenous Configuration Space Approach. The efficiency of the presented proposition is represented by the numerical experiments.
A path is a time-independent geometric description of a robotmotion. It does not impose any time regimes on the controlled robot and is a natural task definition for many industrial and autonomous operations. Therefo...
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ISBN:
(纸本)9798350393972;9798350393965
A path is a time-independent geometric description of a robotmotion. It does not impose any time regimes on the controlled robot and is a natural task definition for many industrial and autonomous operations. Therefore, path following algorithms are eagerly developed. However, a lot of them focus only on the position control or planar cases. In this paper, a new algorithm is proposed to control simultaneously manipulator position and orientation with respect to the desired path in the 3D space. The motion of the end-effector along the path is described with the non-orthogonal Serret-Frenet parametrization. The standard approach has been extended with the definition of the relative orientation using the minimal representation of Euler angles. The algorithm is validated with a simulation analysis and an experimental study on the laboratory test-bed equipped with the redundant manipulator of 7 degrees of freedom, KINOVA (R) Gen3 Ultra lightweight robot. The comparison of the achieved results proves the theoretical properties and practical suitability of the designed control law.
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