Various robots that operate in dangerous environments have been developed. A robot falling down is a critical incident, and many studies have been conducted to avoid the rollover situation. However, in a disaster site...
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ISBN:
(纸本)9781728129754
Various robots that operate in dangerous environments have been developed. A robot falling down is a critical incident, and many studies have been conducted to avoid the rollover situation. However, in a disaster site, the robot may rollover even if previous control methods are implemented. Therefore, it is necessary to develop a control method to recover from the rollover situation. The objective of this study is to realize autonomous control for the rollover recovery of a rescue robot. Initially, subcrawlers are controlled to reduce the normalized energy stability margin. Subsequently, if the robot cannot recover by using the subcrawlers, a manipulator is used to push the ground, rotate the robot, and then recover from the rollover situation. The experiment was performed to verify the effectiveness of the proposed control method using the Gazebo simulator where a dynamics engine, named the Open Dynamics Engine, was installed.
The paper proposes a new control architecture for a multiple mobile robot system, and within this framework concentrates on the robotmotion coordination problem. A DES-based supervisory control is developed that form...
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ISBN:
(纸本)8371434294
The paper proposes a new control architecture for a multiple mobile robot system, and within this framework concentrates on the robotmotion coordination problem. A DES-based supervisory control is developed that formally ensures collision and deadlock avoidance between a group of robots concurrently accomplishing their missions in a common 2D space.
Self-collision checking plays an important role in robotmotion planning. In sampling-based motion planning methods, collision checking is performed multiple times, so this procedure should be accurate and fast. Colli...
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ISBN:
(纸本)9798350393972;9798350393965
Self-collision checking plays an important role in robotmotion planning. In sampling-based motion planning methods, collision checking is performed multiple times, so this procedure should be accurate and fast. Collision checking is often addressed in robotics through the application of machine learning methods or a relatively straightforward multilayer perceptron within a low-dimensional feature space. In this paper, we focus on incorporating positional encoding, commonly utilized in computer graphics, into the input vector used in the binary classification task. We investigate the enhancement in classification accuracy by utilizing this technique in self-collision checking. Our findings indicate that positional encoding contributes to improved learning of high-frequency functions and provides a more accurate representation of higher-frequency details within the trained relation.
The paper presents the final result of the project, in which the main objective was to develop and implement a semi-autonomous control system of the mobile robot equipped with a voice recognition software module. In t...
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ISBN:
(纸本)9781728129754
The paper presents the final result of the project, in which the main objective was to develop and implement a semi-autonomous control system of the mobile robot equipped with a voice recognition software module. In the first part of the paper, the description of a mobile robot is given. Next, the main development process of the control system is described. It is shown that the proposed system is designed with the use of UML diagrams taking into account both software and hardware parts. In order to guarantee a partial autonomy of the robot, it is decided to apply a Bayesian-based behavioral controller. In such a way, the control system shell is obtained. In the implementation phase of the project voice recognition, Bayesian-based behavioral controller and command management functionalities were embedded into the robot as well as operator applications, allowing robotcontrol with voice commands. Verification studies were carried out to show merits and limitations of the proposed solution.
In the paper a new control algorithm for mobile manipulators with skid-steering platform, moving on unknown terrain, has been introduced. Due to under-actuation of such mobile platforms, the concept of factitious forc...
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ISBN:
(纸本)9781538639269
In the paper a new control algorithm for mobile manipulators with skid-steering platform, moving on unknown terrain, has been introduced. Due to under-actuation of such mobile platforms, the concept of factitious force (which does not exist in reality and is assumed to be always 0) has been utilised. Presented control law, in non-adaptive and adaptive version, guarantees asymptotically fast convergence of tracking errors to 0, which has been proved in the article. Simulations, which have been conducted for the mobile manipulator consisting of skid-steering mobile platform and rigid 2R onboard arm, confirm that the developed control law works properly even in terrain, which parameters are unknown.
This paper addresses a motion planning problem of the second-order chained form system. One of the authors previously proposed a holonomy-based motion planning method using sinusoidal functions as control inputs. In t...
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ISBN:
(纸本)9798350393972;9798350393965
This paper addresses a motion planning problem of the second-order chained form system. One of the authors previously proposed a holonomy-based motion planning method using sinusoidal functions as control inputs. In the conventional method, the basis is to extract holonomy whose magnitude depends to amplitude-related parameters of control inputs. It is, however, unclear whether or not such a holonomy-based motion planning can be adjustable with respect to time. This paper reveals the relation between holonomy and the angular frequency of control inputs, which extends the conventional method. The effectiveness of the extended method is numerically demonstrated through an application to an underactuated manipulator.
In real-world application, the humanoid robot may have to walk with each foot placed on terrains having different properties. The effect of terrain parameters can be included in the dynamics using the compliant contac...
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ISBN:
(纸本)9798350393972;9798350393965
In real-world application, the humanoid robot may have to walk with each foot placed on terrains having different properties. The effect of terrain parameters can be included in the dynamics using the compliant contact model with a spring and a damper element. In this paper, the humanoid robot is modeled as a spherical inverted pendulum in the single support phase (SSP) and a suspended pendulum in the double support phase (DSP). In the DSP, a pendulum is assumed to be suspended at a virtual support point (VSP), and equivalent terrain parameters are used for contact modeling. The right and left leg foot of the humanoid robot are placed on terrains having different properties. The foot trajectories in the DSP are obtained by resolving forces using minimization of the moment about the VSP. The joint trajectories of the 22-DOF humanoid robot are optimized based on the motion of the simplified model such that the angular momentum about the center of mass (COM) is minimum. The simulation of the floating-base robot proves that the 22-DOF humanoid robot can walk on terrains with different properties by following the COM trajectory of the simplified model.
This paper addresses the optimal kinematic control problem of the mobile manipulators. A computationally simple class of the Jacobian transpose control algorithms is proposed for the end-effector trajectory tracking. ...
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ISBN:
(纸本)9781538639269
This paper addresses the optimal kinematic control problem of the mobile manipulators. A computationally simple class of the Jacobian transpose control algorithms is proposed for the end-effector trajectory tracking. These controllers use a new non-singular Terminal Sliding Mode (TSM) manifold, as being a non-linear integral mapping of the second order with respect to the task space tracking error. Based on the Lyapunov stability theory, Jacobian transpose control schemes proposed are shown to be finite-time stable provided that some reasonable assumptions are fulfilled during the mobile manipulator movement. The performance of the proposed control strategies is illustrated through computer simulations for a planar mobile manipulator which accomplishes trajectory tracking by the end-effector in a two-dimensional task space and simultaneously minimises the Euclidean instantaneous distance between initial configuration and the current one.
This paper presents a body gesture-based controlled mobile robot system, consisting of a DaNI robot, a Kinect sensor, and a Pan-Tilt camera. The Kinect sensor is used to track skeletons and joints of an operator for c...
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ISBN:
(纸本)9781479984640
This paper presents a body gesture-based controlled mobile robot system, consisting of a DaNI robot, a Kinect sensor, and a Pan-Tilt camera. The Kinect sensor is used to track skeletons and joints of an operator for controlling the robot, while the pan-tilt camera is used to feed back live videos around surrounding information. The DaNI robot platform is a powerful tool for teaching robotics and mechatronics concepts or for developing a robot prototype with LabVIEW robotics. The body gesture-based controller telepresence controls the DaNI robot by interpreting movements of the two hands of the operator.
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