We propose an interconnected suspension mechanism that is applicable to rough terrain mobile robots for construction sites. All wheels can follow on uneven ground by moving mutually with an interconnected suspension m...
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We propose an interconnected suspension mechanism that is applicable to rough terrain mobile robots for construction sites. All wheels can follow on uneven ground by moving mutually with an interconnected suspension mechanism. And, it is possible to control the posture of the robot simply using the mechanism. In this paper, the structural and mechanical characteristics of the mechanism are discussed and the ground contact loads of wheels are analyzed. It was confirmed the mechanism has enough ability for moving on an uneven floor and posture control through experiments with an experimental rough terrain moving robot.
This paper describes an easy-to-operate, omni-directional cart. This cart includes power assist technology that acts for both the longitudinal and rotational motions of the cart. Two objectives are set for this develo...
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This paper describes an easy-to-operate, omni-directional cart. This cart includes power assist technology that acts for both the longitudinal and rotational motions of the cart. Two objectives are set for this development. The first objective is to overcome the difficulty of shifting the cart laterally. Therefore, the equation for calculating the cart turning speed is modified so that the moment, which is driven by the operating force in the right/left direction, is offset. As a result, it becomes possible to stabilize the balance between the operating force in the right/left direction and the operating moment, and improve the operating performance. The second objective is to overcome the other difficulty whereby, during the one-hand pull-operation, the cart tended to run off course to the right/left. To solve this problem, we add a positional control in the right/left direction. As a result, we reduce the lateral deviation of the cart, and improve the operating performance.
Growing complexity of artificial systems arises reliability and flexibility issues of large system design. Robots are not exception of this, and many attempts have been made to realize reliable and flexible robot syst...
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Growing complexity of artificial systems arises reliability and flexibility issues of large system design. Robots are not exception of this, and many attempts have been made to realize reliable and flexible robot systems. Distributed modular composition of robot is one of the most effective approaches to attain such abilities and has a potential to adapt to its surroundings by changing its configuration autonomously according to information of surroundings. In this paper, we propose a novel three-dimensional self-reconfigurable robotic module. Each module has a very simple structure that consists of two semi-cylindrical parts connected by a link. The modular system is capable of not only building static structure but also generating dynamic robotic motion. We present details of the mechanical/electrical design of the developed module and its control system architecture. Experiments using ten modules with centralized control demonstrate robotic configuration change, crawling locomotion and three types of quadruped locomotion.
An autonomous distributed control has been presented as novel control methods for complex or large systems. In this paper, it is applied to the position control of variable geometry trusses, which have high redundancy...
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An autonomous distributed control has been presented as novel control methods for complex or large systems. In this paper, it is applied to the position control of variable geometry trusses, which have high redundancy. It is shown that the fault-tolerance of the system is easily realized through this control method. Additional behavior for obstacle avoidance is also accomplished easily. Furthermore, the area of avoidable obstacles can be extended through the cooperation of each agent. Compared with a conventional control method using inverse kinematics, the proposed method is shown to be more effective from the viewpoint of calculation time.
In order to apply "eyes" to an autonomous running vehicle, a real-time range finder has been developed that can measure both the distance to every point on a plane without any pattern and its inclination. Al...
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In order to apply "eyes" to an autonomous running vehicle, a real-time range finder has been developed that can measure both the distance to every point on a plane without any pattern and its inclination. Although it seems contrary to the fact that the parallax is inversely proportional to the distance, this paper derives the mathematical ground that a plane in a real 3-D space (X, Y, Z) is mapped also into the plane in a spatial parallax (x, y, Deltax). On this basis, an electronic circuit has been manufactured which can compute in video rate the interpolation value between the parallaxes at two characteristic points by using several programmable logic devices. It has also been demonstrated that this device is applicable to the measurements of the slant angles of and the directions normal to a simple plane or a slightly curved surface. (C) 2002 Elsevier Science Ltd. All rights reserved.
Identifying and implementing high-fidelity scaling laws in scaled teleoperated systems remains a challenge. We propose the use of tactile information to complement and supplement the normal visual and force channels a...
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Identifying and implementing high-fidelity scaling laws in scaled teleoperated systems remains a challenge. We propose the use of tactile information to complement and supplement the normal visual and force channels and thereby provide sensory enhancement when performing tasks involving delicate motions. We support our proposal by presenting experimental results from tests performed by humans under simulated and experimented conditions. Our results show that integrating tactile feedback improved the performance of the operator.
Impedance control is one of the most effective force control methods for a robot manipulator in contact with an object. It should be noted, however, that a practical study on such a method has not been successfully ap...
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ISBN:
(纸本)0780350537
Impedance control is one of the most effective force control methods for a robot manipulator in contact with an object. It should be noted, however, that a practical study on such a method has not been successfully applied to an industrial robot with 6 degree-of-freedom. Recently, a hybrid compliance/force control (HCC) in this field was suggested to deal with the practical problem, in which a desired damping coefficient is determined by repeating many simulations. To determine a suitable compliance without trial and error, we have already presented a tuning method which produces the desired time-varying compliance, giving the critical damping in contact with an object, by using the information on the inertia and Jacobian matrices. But the tuning method needs to measure the physical information of the environment. In this paper, to overcome the problem we propose a fuzzy environment model that can estimate each directional stiffness of the environments. The fuzzy environment model is composed of several fuzzy rules which are learned with genetic algorithms. Simulation results show that the proposed method is very effective for deciding the desired compliance without any complicated tuning and is very robust to the change of environment.
This paper presents a new position-based impedance control that can take account of a desired position in the force control, and gives a transformation technique from the position command to the torque command in orde...
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This paper presents a new position-based impedance control that can take account of a desired position in the force control, and gives a transformation technique from the position command to the torque command in order to apply the control to an industrial robot whose servo system is opened, or to implement it in computer simulations. Next to determine a suitable compliance without trial and error, this paper introduces a new method that produces the desired time-varying compliance, giving the critical damping in contact with an object, by using information on inertia matrices. Simulation results have shown that the proposed methods are very effective for realizing it in industrial robots and for deciding the desired compliance without any complicated tuning.
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