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14th IEEE International workshop on Advanced motion control (AMC)

作者： Oda, Naoki Yamazaki, Mina Chitose Inst Sci & Technol Dept Optoelect Syst Engn Chitose Hokkaido 0668655 Japan

ISBN: (纸本)9781479984640

This paper presents an approach to balance and posture estimation based on image feature points from camera image for biped walking robot. In this paper, the image feature tracker is employed in order to conduct the balanced motion mainly from visual information. In the proposed approach, the point cloud of tracking features is evaluated through the image moment calculations to obtain the inclined angle and the reaction force from ground, and they are used for real-time motion control of biped robot. The validity of the proposed method is evaluated by several experimental results.

关键词： Mobile robots

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Adaptive controller with Output Feedback for Dielectric Electro-Active Polymer Actuator 12

Adaptive Controller with Output Feedback for Dielectric Elec...

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12th International workshop on robot motion and control (RoMoCo)

作者： Bernat, Jakub Kolota, Jakub Poznan Univ Tech Inst Automat Control & Robot Fac Comp PL-60965 Poznan Poland

ISBN: (纸本)9781728129754

In this work, an adaptive controller with output feedback was used in order to solve the position control of a nonlinear actuator built with a Dielectric Electro-Active Polymer (DEAP). The authors present the modeling process of the device taking into account the nonlinear model and its linearization. The identification process was carried out and the results were compared with experiments with good agreement. Due to the fact that it is not possible to obtain full state of DEAP actuator, the authors applied Model Reference Adaptive controller with output feedback were voltage is an input signal and distance is an output. This approach allows to development a control method resistant to changing the parameters of DEAP device. Presented methods have been presented with illustrative examples.

关键词： Adaptation models Actuators Output feedback Adaptive control Polymers Dielectrics Permittivity

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Tracking control of Parafoil Airdrop robot in Wind Environments 11

Tracking Control of Parafoil Airdrop Robot in Wind Environme...

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11th International workshop on robot motion and control (RoMoCo)

作者： Tao, Jin Piao, Minnan Sun, Qinglin Sun, Mingwei Chen, Zengqiang Nankai Univ Coll Comp & Control Engn Tianjin 300350 Peoples R China Aalto Univ Dept Elect Engn & Automat Aalto 00076 Finland

ISBN: (纸本)9781538639269

Because of the remarkable non-linearity, large inertia and strong atmospheric disturbances, traditional control methods cannot ensure the trajectory tracking control performance for a parafoil airdrop robot. In this sense, we propose a trajectory tracking control method based on active disturbance rejection control. Then the proposed control method is evaluated by simulation and airdrop experiment. The results demonstrate that the active disturbance rejection controller has better anti-disturbance ability and control accuracy than the traditional PID controller.

关键词： Estimation Field programmable gate arrays OFDM Modulation Filtration Clocks Signal processing algorithms

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ExoReha exoskeleton digital twin in Metaverse for telerehabilitation 13

ExoReha exoskeleton digital twin in Metaverse for telerehabi...

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13th International workshop on robot motion and control (RoMoCo)

作者： Falkowski, Piotr Gwardecki, Filip Lukasiewicz Res Network Ind Res Inst Automat & Measurements PIAP Warsaw Poland Warsaw Univ Technol Warsaw Poland

ISBN: (纸本)9798350393972;9798350393965

The development of robot-aided physiotherapy brings the need for remote control technologies, including digital twins. The paper presents the implementation of a digital twin architecture in ROS and ROS2 for an upper extremity exoskeleton dedicated to integrating its operation with the Metaverse. The presented digital model is built for the ExoReha exoskeleton with five degrees of freedom, two of which are not actuated. The two architectures of the digital twins presented in the paper are hosted by the device's control hardware (including the microcomputer controlling motion and communicating with the controllers and the microprocessor board for peripheral processes, including safety monitoring) and the operator's computer with VR headset connected. The final architecture consists of six nodes enabling the acquisition of the measured values from the physical device, filtering the data, presenting the configuration, planning control, computing control signals and implementing control signals into motor controllers and the simulation environment. Such an architecture can be used for immersive telerehabilitation with the use of an ExoReha exoskeleton with low data transfer needed. Moreover, thanks to the universal concept, it is easily transferable to other physiotherapeutic robots.

关键词： Digital Twin robot Operating System Remote Rehabilitation Exoskeletons

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Learning of robot tasks on the basis of passivity and impedance concepts

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robotICS AND AUTONOMOUS SYSTEMS 2000年第2-3期32卷 79-87页

作者： Arimoto, S Nguyen, PTA Naniwa, T Ritsumeikan Univ Dept Robot Shiga 5258577 Japan Yamaguchi Univ Grad Sch Sci & Engn Ube Yamaguchi 7558611 Japan

This paper aims at explaining why a simple iterative learning scheme for complicated robot dynamics with strong nonlinearities works well in acquiring any prescribed desired motion over a finite time interval or any desired periodic motion. It is firstly shown that passivity or dissipativity as an input-output property of a given system plays a key role in the capability of learning iteratively a desired motion through repeated practices. It is then shown in the simplest case when the tool endpoint is free to move that a simple iterative scheme of learning enables robots to make a progressive advance in a sense of zero-impedance matching at every trial of operation. In case of impedance control when a soft and deformable finger-tip presses a rigid object or environment, it is shown that, for a given desired periodic force of physical interaction between the soft finger tip and the rigid object, the robot learns steadily the desired periodic tasks. (C) 2000 Elsevier Science B.V. All rights reserved.

关键词： learning control iterative learning passivity dissipativity impedance

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Estimating angular joint positions based on Electromyographic (EMG) activity 13

Estimating angular joint positions based on Electromyographi...

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13th International workshop on robot motion and control (RoMoCo)

作者： Meng, Xiangwei Zielinska, Teresa Le Caipentier, Eric Aoustin, Yannick Nantes Univ LS2N UMR CNRS 6004 1 Rue Noe BP 92101 F-44321 Nantes 3 France Warsaw Univ Technol Fac Power & Aeronaut Engn Nowowiejska 24 PL-00665 Warsaw Poland

ISBN: (纸本)9798350393972;9798350393965

This study aims to estimate the movement of the upper limb using signals collected by surface electromyography (sEMG). Signals recorded for selected shoulder and elbow muscles during limb motion in the sagittal plane were used. An artificial neural network with fuzzy logic was applied to process sEMG signals. The network forecasts joint motion trajectories. These data are then used to determine joint torques based on inverse dynamics model. The angular trajectories obtained in dynamic simulation are compared with the real ones, allowing for the assessment of the motion estimation accuracy.

关键词： motion estimation

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Rotation Vector Sensor-based Remote control of a Humanoid robot through a Google Glass 14

Rotation Vector Sensor-based Remote Control of a Humanoid Ro...

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14th IEEE International workshop on Advanced motion control (AMC)

作者： Wen, Xi Song, Yu Chen, Genshe Li, Wei Xian, Bin Tianjin Univ Sch Elect Engn & Automat Tianjin Peoples R China Intelligent Fus Technol Inc Germantown MD 20876 USA Calif State Univ Dept Comp & Elect Engn & Comp Sci Bakersfield CA 93311 USA

ISBN: (纸本)9781479984640

This paper develops a Google Glass-based system to achieve hands-free remote control of humanoid robots. This system transforms operator's head movements into control instructions via a rotation vector sensor mounted on the Google Glass. When a head movement is detected, the corresponding control instruction is sent through WI-FI to the robot. In order to verify the system, this paper designs an experiment in which an operator navigates a Nao humanoid robot with obstacle avoidance. The result shows that the robot is able to smoothly pass by all obstacles and walk to the destination without need for operator's hands.

关键词： Google Glass hands free humanoid robot Nao robot rotation vector sensor

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Non-verbal Communication-based Emotion Incitation robot 15

Non-verbal Communication-based Emotion Incitation Robot

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15th IEEE International workshop on Advanced motion control (AMC)

作者： Shimizu, Sota Shimada, Kai Murakami, Rei Shibaura Inst Technol Dept Design Engn Minato Ku 3-9-14 Shibaura Tokyo 1088548 Japan

ISBN: (纸本)9781538619469

This paper introduces a robot system by which emotions are incited based on non-verbal communication, i.e., a series of motion such as eye movement. The designed and developed robot system comprises mainly three parts of an eyeball robot, an eyeball robot controller, and an emotion recognizer one based on image processing technique. The system configuration is described paying attention to "emotion" as a keyword to communicate between the robot and the human. The proposed system implements non-verbal communication by humorous eye movements from the robot to the human and emotion expression recognition by image processing from the human to the robot, respectively. In this paper, the authors focus on smile as a target of the emotion recognizer. We implemented some smile incitation experiments and their results were discussed.

关键词： emotion incitation robot eye movement non-verbal communication emotion recognizer image processeing

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FABRIC: Framework for Agent-Based robot control Systems 12

FABRIC: Framework for Agent-Based Robot Control Systems

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12th International workshop on robot motion and control (RoMoCo)

作者： Seredynski, Dawid Winiarski, Tomasz Zielinski, Cezary Warsaw Univ Technol Inst Control & Computat Engn Warsaw Poland

ISBN: (纸本)9781728129754

The paper presents FABRIC, a framework and a toolchain that facilitates semi-automatic generation of agent-based control systems for robots. The presented approach combines agent-based formal specification with implementation employing component-based frameworks. The input for the generation method consists of the formal specification of the designed control system expressed in a DSL and source code encapsulated in components. Decomposition of a formal specification into a hierarchical structure of patterns and their parameters is employed. It implies a division of the specification into a number of items, produced using a DSL and source code expressed in a universal programming language. The method of generating a working agent-based system, out of its specification and selected components, is verified on a service robot that executes complex tasks, i.e. door opening.

关键词： robots Fabrics DSL Task analysis control systems Labeling Data structures

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THE control ARCHITECTURE OF THE PRIAMOS MOBILE SYSTEM

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control ENGINEERING PRACTICE 1994年第2期2卷 341-346页

作者： DILLMANN, R KREUZIGER, J WALLNER, F Department of Computer Science University of Karlsruhe Institute for Real-Time Computer Control Systems and Robotics P.O. Box 6980 76128 Karlsruhe Germany

In this paper the control architecture of the PRIAMOS mobile robot system is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environment. A solution for the problem of how to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more detail. The architecture presented allows motion tasks to be executed in partially unknown or changing environment in an efficient manner. Especially, the time-critical reflexive level is computationally less expensive than in previous approaches.

关键词： INTELLIGENT MACHINES NAVIGATION HIERARCHICALLY INTELLIGENT control ARCHITECTURE OBSTACLE AVOIDANCE robotS SENSORS

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