A robotic ball-catching system built from a multipurpose 7-DOF lightweight arm (DLR-LWR-III) and a 12 DOF four-fingered hand (DLR-Hand-II) is presented. Other than in previous work a mechatronically complex dexterous ...
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ISBN:
(纸本)9781424466757
A robotic ball-catching system built from a multipurpose 7-DOF lightweight arm (DLR-LWR-III) and a 12 DOF four-fingered hand (DLR-Hand-II) is presented. Other than in previous work a mechatronically complex dexterous hand is used for grasping the ball and the decision of where, when and how to catch the ball, while obeying joint, speed and work cell limits, is formulated as an unified nonlinear optimization problem with nonlinear constraints. Three different objective functions are implemented, leading to significantly different robot movements. The high computational demands of an online realtime optimization are met by parallel computation on distributed computing resources (a cluster with 32 CPU cores). The system achieves a catch rate of > 80% and is regularly shown as a live demo at our institute.
Spades aims at offering a solution to deal with distributed, volatile and heterogeneous computingresources. The targeted platform is a large one with potentially huge number of resources. In a seamless way, our propo...
详细信息
ISBN:
(纸本)9781457701498
Spades aims at offering a solution to deal with distributed, volatile and heterogeneous computingresources. The targeted platform is a large one with potentially huge number of resources. In a seamless way, our proposal includes i) an abstraction of the resources in a computing overlay; ii) a P2P distributed resource/service discovery; iii) an user job scheduling workflow; iv) an auto-stabilizing solution and v) optimized algorithms for Petascale architecture. In order to orchestrate Spades platform, we have designed and implemented Sbam middleware.
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