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motion control of a brachiation robot

robotICS AND AUTONOMOUS SYSTEMS 1996年第1-2期18卷 83-93页

作者： Fukuda, T Saito, F [a]Department of Micro System Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-01 Japan

The brachiation robot is a mobile robot which dynamically moves from branch to branch like a long-armed ape, swinging its body like a pendulum. Apes can learn such dynamic behaviors by trial and errors. In such fast motion, feedforward control is dominant and our brachiation robot generates feedforward control inputs by the proposed heuristic learning method. Also, the robot controls its swinging amplitude by the method based on a principle of parametric excitation. Experimental results show that the proposed method enables the robot to catch its target and to perform locomotion from any initial state.

关键词： Mobile robots

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Adequate motion simulation and collision detection for soccer playing humanoid robots

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robotICS AND AUTONOMOUS SYSTEMS 2009年第8期57卷 786-795页

作者： Friedmann, Martin Petersen, Karen von Stryk, Oskar Tech Univ Darmstadt Simulat Syst Optimizat & Robot Grp D-64289 Darmstadt Germany

In this paper a humanoid robot simulator based on the multi-robot simulation framework (MuRoSimF) is presented. Among the unique features of this simulator is the scalability in the level of physical detail in both the robot's motion and sensing systems. It facilitates the development of control software for humanoid robots which is demonstrated for several scenarios from the RoboCup Humanoid robot League. Different requirements exist for a humanoid robot simulator. E.g., testing of algorithms for motion control and postural stability require high Fidelity of physical motion properties whereas testing of behavior control and role distribution for a robot team requires only a moderate level of detail for real-time simulation of multiple robots. To meet such very different requirements often different simulators are used which makes it necessary to model a robot multiple times and to integrate different simulations with high-level robot control software. MuRoSimF provides the capability of exchanging the simulation algorithms used for each robot transparently. thus allowing a trade-off between computational performance and fidelity of the simulation. It is therefore possible to choose different simulation algorithms which are adequate for the needs of a given simulation experiment, for example, motion simulation of humanoid robots based on kinematical, simplified dynamics or full multi-body system dynamics algorithms. In this paper also the sensor simulation capabilities of MuRoSimF are revised. The methods for motion simulation and collision detection and handling are presented in detail including an algorithm which allows the real-time simulation of the full dynamics of a 21 DOF humanoid robot. Merits and drawbacks of the different algorithms are discussed in the light of different simulation purposes. The simulator performance is measured and illustrated in various examples, including comparison with experiments of a physical humanoid robot. (C) 2009 Elsevier B.V.

关键词： Humanoid robots motion simulation Collision detection

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Terrain-aware motion Planning for a Walking robot 11

Terrain-aware Motion Planning for a Walking Robot

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

作者： Bartoszyk, Szymon Kasprzak, Patryk Belter, Dominik Poznan Univ Tech Inst Control & Informat Engn Ul Piotrowo 3A PL-60965 Poznan Poland

ISBN: (纸本)9781538639269

In this paper, we propose a new environment model for legged robots. The model stores information about the shape of the obstacles and terrain type. We also propose the motion planner which takes into account terrain types when planning the motion of the robot. The planner is based on A* graph search method that guides RRT-Connect method for precise motion planning. With the proposed navigation system the robot is capable of planning its motion on the terrain with various terrain types and avoid regions which are potentially risky. Finally, we provide results of the experiments which show the properties of the proposed perception system and motion planner.

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

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Human-aware robot trajectory planning with hybrid candidate generation: leveraging a pedestrian motion model for diverse trajectories 13

Human-aware robot trajectory planning with hybrid candidate ...

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

作者： Karwowski, Jarostaw Szynkiewicz, Wojciech Warsaw Univ Technol Inst Control & Computat Engn Warsaw Poland

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, robot motion 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.

关键词： Trajectories

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Symbolic planning and control of robot motion - Finding the missing pieces of current methods and ideas

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IEEE robotICS & AUTOMATION MAGAZINE 2007年第1期14卷 61-70页

作者： Belta, Calin Bicchi, Antonio Egerstedt, Magnus Frazzoli, Emilio Klavins, Eric Pappas, George J. Univ Pisa I-56100 Pisa Italy Georgia Inst Technol Sch Elect & Comp Engn Atlanta GA 30332 USA MIT Cambridge MA 02139 USA Univ Illinois Urbana IL 61801 USA Univ Calif Los Angeles Los Angeles CA USA Univ Washington Seattle WA 98195 USA CALTECH Control & Dynam Syst Dept Pasadena CA 91125 USA Univ Penn Dept Elect & Syst Engn Philadelphia PA 19104 USA Univ Penn Dept Comp & Informat Sci Philadelphia PA 19104 USA Univ Penn Dept Mech Engn & Appl Mech Philadelphia PA 19104 USA Univ Penn GRASP Lab Philadelphia PA 19104 USA

[...] the aim of symbolic control as is envisioned in this article is to enable the usage of methods of formal logic, languages, and automata theory for solving effectively complex planning problems for robots and tea... 详细信息

关键词： formal methods motion planning robot control self-assembly

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System Development of Biped robot control Coordinated by Human Vision and Head motion 15

System Development of Biped Robot Control Coordinated by Hum...

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

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

ISBN: (纸本)9781538619469

This paper presents a system development of biped walking robot control cooperating with human visual motion. In past researches, the authors have developed several vision-based balance control methods for biped walking robot. By using head mount display (HMD) including motion sensor, the field of view of robot camera system can be changed, and cooperatively controlled by human remote input in vision-based balance controller. In this paper, a developed system structure and control system are presented, and several experimental results of motion tests as a first step of this research are shown.

关键词： Resists robot sensing systems Legged locomotion Cameras robot kinematics Visualization

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motion control of a car-like vehicle with front driving wheels using an approximate decoupling based on the transverse function approach 11

Motion control of a car-like vehicle with front driving whee...

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

作者： Pazderski, Dariusz Kozlowski, Krzysztof Poznan Univ Tech Inst Automat & Robot Fac Comp Ul Piotrowo 3a PL-61138 Poznan Poland

ISBN: (纸本)9781538639269

This paper is focused on motion control of a nonholonomic car-like robot. The main idea of the proposed control method is based on an approximate decoupling of phase-constrained kinematics in order to imitate an omni-directional robot. In order to facilitate the feedback design, the original kinematics is simplified and represented by a nilpotent homogeneous locally equivalent control system. Next, the algorithm exploiting transverse functions is formulated. It guarantees locally stable tracking of any trajectory which can be generated by an external navigator. The theoretical description of the control method is complemented by results of numerical simulations conducted for specific motion scenarios.

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

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Interrupting Companion robot Activities 13

Interrupting Companion Robot Activities

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

作者： Zielinski, Cezary Warsaw Univ Technol Inst Control & Computat Engn Nowowiejska 15-19 PL-00665 Warsaw Poland

ISBN: (纸本)9798350393972;9798350393965

The paper presents the organisation of a companion robot control 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.

关键词： control systems

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Multi Agent System control and Scheduling Optimization Method Under Adaptive Event Triggering

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Journal of Computers (Taiwan) 2025年第2期36卷 233-248页

作者： Han, Jun-Xian Jiang, Xiao-Yan Cheng, Long-Xue Xue, Jian-Fang Cheng, Kai-Xin Liu, Bo Hebei Institute of Mechanical and Electrical Technology Hebei Province Xingtai City054000 China Hebei Technology Innovation Centre for Intelligent Sensing and Advanced Control of Electromechanical Equipment Hebei Province Xingtai City054000 China Xingtai Technology Innovation Centre for Intelligent Sensing and Control of Electromechanical Equipment Hebei Province Xingtai City054000 China School of Automation Engineering Tangshan Polytechnic University Hebei Province Tangshan City063299 China

In the process of intelligent equipment manufacturing, AGV is an important link to realize material flow. With the increase of manufacturing scale and disturbance events, the main research direction of multi-agent systems is to realize the optimization of computing resources and the stability of control system in frequent information interaction and complex associated scenes. Therefore, in this paper, for the collaborative control of multi-agent AGV vehicle system, considering that AGV will be affected by signal interference and network packet loss during driving, as well as the dynamic time-varying characteristics of communication topology between vehicles, semi Markov process is used to describe the time-varying characteristics of communication topology, and adaptive event trigger mechanism is used to adjust the trigger threshold of the system to reduce the network burden, so as to achieve excellent control while saving network resources. Performance, In this paper, the agent model is first created. For the multi-agent object that this paper faces, the improved Q-learning algorithm is used to solve the variables in the process, and all variables are stored in the form of discrete tables. Finally, Matlab is used to simulate the product assembly process of a new energy vehicle electric drive system assembly workshop to verify the feasibility of this method. © 2025 Codon Publications. All rights reserved.

关键词： Markov processes

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A Set of Dynamic Artificial Neural Networks for robot Sensor Failure Detection 11

A Set of Dynamic Artificial Neural Networks for Robot Sensor...

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

作者： Kapela, Rafal Swietlicka, Aleksandra Kolanowski, Krzysztof Pochmara, Janusz Rybarczyk, Andrzej Poznan Univ Tech Chair Comp Engn Poznan Poland

ISBN: (纸本)9781538639269

Paper presents a novel idea of failure detection mechanism for complex control environments. The mechanism is composed of several dynamic artificial neural networks that work in parallel in order to detect a failing signal from one of the on-board robot sensors. The simulation results show that the system is capable of detecting a failing control system quickly and efficiently.

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

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