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Controlling Ensembles of Robots via a Supervisory Aerial Robot

ADVANCED robotics 2008年第12期22卷 1361-1377页

作者： Michael, Nathan Fink, Jonathan Kumar, Vijay Univ Penn GPASP Lab Philadelphia PA 19104 USA

We consider the task of controlling a large team of non-holonomic ground robots with an unmanned aerial vehicle in a decentralized manner that is invariant to the number of ground robots. The central idea is the development of an abstraction for the team of ground robots that allows the aerial platform to control the team without,my knowledge of the specificity of individual vehicles. This happens in much the same way as a human operator can control a single robot vehicle by simply commanding the forward and turning velocities without a detailed knowledge of the specifics of the robot. The abstraction includes a gross model of the shape of the formation of the learn, and information about the position and orientation of the learn in the plane. We derive controllers that allow the team of robots to move in formation while avoiding collisions and respecting the abstraction commanded by the aerial platform. We propose strategies for controlling the physical spread of the ensemble of robots by splitting and merging the team based on distributed techniques. We provide simulation and experimental results using a learn of indoor mobile robots and a three-dimensional, cable-controlled, parallel robot which serves as our indoor unmanned aerial platform. (c) Koninklijke Brill NV, Leiden and The robotics Society of Japan, 2008

关键词： Formation control air-ground coordination multi-robot systems experimental robotics decentralized control

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A Falling Motion Strategy for Humanoids Based on Motion Primitives of Human Falling 26th

A Falling Motion Strategy for Humanoids Based on Motion Prim...

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26th International Conference on robotics in Alpe-Adria-Danube Region (RAAD)

作者： Meng, Libo Yu, Zhangguo Zhang, Weimin Chen, Xuechao Ceccarelli, Marco Huang, Qiang Beijing Inst Technol Beijing Peoples R China Beijing Inst Technol Beijing Adv Innovat Ctr Intelligent Robots & Syst Beijing Peoples R China Univ Cassino & South Latium Lab Robot & Mechatron Cassino Italy IRI BIT Int Joint Res Lab Serv Robot Beijing Peoples R China LARM UCLAM Beijing Peoples R China

ISBN: (纸本)9783319612768;9783319612751

In this paper, a falling motion planning for humanoid robots is proposed as inspired from human falling in order to decrease the impact force significantly. Firstly, motion data of human falling are obtained from a motion track system. Then, two falling motion primitives, namely, knee bending with stretching and hip bending with stretching are identified from human falling tests. A motion strategy is used to combine the falling motion primitives in motion strategy for humanoid falling in order to minimize the impact effects. Simulations and experiments with a humanoid robot have verified the proposed falling motion strategy.

关键词： Falling protection Humanoid robots Motion planning Biomechanics experimental robotics

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A self-reconfigurable modular robot: Reconfiguration planning and experiments

A self-reconfigurable modular robot: Reconfiguration plannin...

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7th International Symposium on experimental robotics

作者： Yoshida, E Murata, S Kamimura, A Tomita, K Kurokawa, H Kokaji, S Natl Inst Adv Ind Sci & Technol AIST Intelligent Syst Inst Distributed Syst Design Res Grp Tsukuba Ibaraki 3058564 Japan

In this paper we address a reconfiguration planning method for locomotion of a homogeneous modular robotic system and we conduct an experiment to verify that the planned locomotion can be realized by hardware. Our recently developed module is self-reconfigurable. A group of the modules can thus generate various three-dimensional robotic structures and motions. Although the module itself is a simple mechanism, self-reconfiguration planning for locomotion presents a computationally difficult problem due to the many combinatorial possibilities of modular configurations. In this paper, we develop a two-layered planning method for locomotion of a class of regular structures. This locomotion mode is based on multi-module blocks. The upper layer plans the overall cluster motion called flow to realize locomotion along a given desired trajectory;the lower layer determines locally cooperative module motions, called motion schemes, based on a rule database. A planning simulation demonstrates that this approach effectively solves the complicated planning problem. Besides the fundamental motion capacity of the module, the hardware feasibility of the planning locomotion is verified through a self-reconfiguration experiment using the prototype modules we have developed.

关键词： self-reconfigurable robot modular robotics planning hierarchical planner experimental robotics

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A Cable-Based System for Aiding Elderly People in Sit-to-Stand Transfer

A Cable-Based System for Aiding Elderly People in Sit-to-Sta...

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International Symposium on Multibody Systems and Mechatronics

作者： Ottaviano, Erika Castelli, Gianni Cannella, Giuseppe Univ Cassino DIMSAT Lab Robot & Mechatron LARM I-03043 Cassino FR Italy

In this paper a 4-4 cable-based system is presented for an application of aiding elderly people or patients with disabilities at lower limbs, in standing up and sitting operations. Cable-based manipulators have very good kinematic and dynamic characteristics, and they also show other properties such as good transportability and low-cost construction, which make them also suitable for medical applications and rehabilitation. The proposed application is analyzed through a kinetostatic analysis and simulation of the manipulator. An experimental validation of the proposed application is presented by means of an existent prototype, which is called CALOWI (CAssino LOw-cost WIre robot) that is available at LARM in Cassino. A low-cost system for tension monitoring has been used to monitor the forces in the cables during the experimental tests.

关键词： Cable-driven systems experimental robotics Kinetostatic Medical applications Parallel manipulators

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Internship Experience for Learning the Operation of a Cable-Driven Robot for Rehabilitation Tasks

Internship Experience for Learning the Operation of a Cable-...

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2nd International Symposium on the Education in Mechanism and Machine Science (ISEMMS)

作者： Carbone, G. Cafolla, D. Ceccarelli, M. Aydinoglu, O. Demirel, M. Univ Cassino & South Latium Via G Di Biasio 43 I-03043 Cassino Italy Izmir Inst Technol TR-35430 Izmir Turkey

ISBN: (纸本)9783030001087;9783030001070

This paper describes an example of internship experience at LARM, Laboratory of robotics and Mechatronics, at University of Cassino and South Latium. In particular, the main focus of this paper is the learning process as basis of a proper internship. Namely, a specific experiential learning approach is proposed as referring to a low-cost servo motor operation task. The learning task is further defined and developed as referring to a real application with a cable-driven robot for rehabilitation tasks, which has been designed and built at LARM in Cassino and under further investigation within Agewell project.

关键词： Education Lab.training experimental robotics Service robotics

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A performance analysis of a 4 cable-driven parallel manipulator

A performance analysis of a 4 cable-driven parallel manipula...

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IEEE Conference on robotics, Automation and Mechatronics

作者： Ottaviano, Erika Ceccarelli, Marco Pelagalli, Paolo Univ Cassino LARM Cassino FR Italy

ISBN: (纸本)9781424400249

In this paper a performance analysis is presented for a low-cost parallel manipulator with 4 driven cables. Kinematics, Statics, and a method for monitoring and verifying positive cable tensions are presented. A prototype has been built and tests have carried out to verify the feasibility of the system design and its operation. experimental tests have been carried out for monitoring the cables' tension for a spatial application of the manipulator.

关键词： parallel manipulators cable-driven systems experimental robotics

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Design and Test Validation of Humanoid Tripod-Based Limbs 33rd

Design and Test Validation of Humanoid Tripod-Based Limbs

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33rd International Conference on robotics in Alpe-Adria-Danube Region (RAAD)

作者： Ceccarelli, Marco Ofonaike, Earnest Beaumont, Steven Neves, Leo Russo, Matteo Univ Roma Tor Vergata I-00133 Rome Italy Univ Toulon & Var SeaTech Sch Engn Toulon France

ISBN: (纸本)9783031592591;9783031592577;9783031592560

A tripod-based design with linear actuators is presented with features and performance suitable for humanoid limbs as based on a tripod mechanism architecture. Design compact solutions are developed for arm and leg structures with low-cost Arduino-based controlled operation and market components for a revised version of LARMbot humanoid robot. A general design is then specified in an arm structure with a gripper on a wrist joint and in a leg structure with a foot on an ankle joint. Performance characteristics are characterized in lab tests with suitable large motion range, high payload capacity, and limited power consumption.

关键词： Humanoid robots Design Tripod design LARMbot humanoid experimental robotics Performance analysis

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Lab Experiences with LARM Clutched Arm for Assisting Disabled People 5

Lab Experiences with LARM Clutched Arm for Assisting Disable...

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5th European Conference on Mechanism Science (EUCOMES)

作者： Copilusi, C. Kaur, M. Ceccarelli, M. Univ Craiova Craiova Romania Univ Cassino & South Latium Cassino Italy

ISBN: (纸本)9783319094106

Laboratory experiences are reported for an assistive manipulation task by using a prototype of LARM clutched arm. The design and operation of LARM clutched arm are revised to achieve a fairly simple use in an application for assisting disable people in food feeding actions. Results show a suitable arm behavior and proper motion properties in lab tests with arm programing that have been performed mainly by student as user-oriented implementation.

关键词： Service robots experimental robotics Robotic arms Clutched systems Assistive food feeding robot

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Design and Construction of a Demonstrative HeritageBot Platform 26th

Design and Construction of a Demonstrative HeritageBot Platf...

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26th International Conference on robotics in Alpe-Adria-Danube Region (RAAD)

作者： Ceccarelli, Marco Cafolla, Daniele Russo, Matteo Carbone, Giuseppe Univ Cassino & South Latium Lab Robot & Mechatron Cassino Italy

ISBN: (纸本)9783319612768;9783319612751

The paper presents the design of a prototype of HeritageBot Platform for demo purposes with features of low-cost construction and user-oriented performance. The design requirements are presented for application in monitoring and working within frames for conservation of goods of Cultural Heritage. The design of the robotic platform is conceived with modular structure with a module for locomotion and a module for small flight. A prototype is presented with its construction peculiarities and preliminary test results.

关键词： Robot design Prototypes experimental robotics Application for cultural heritage

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Prototype Design and Testing of TORVEastro, Cable-Driven Astronaut Robot

Prototype Design and Testing of TORVEastro, Cable-Driven Ast...

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29th International Conference on robotics in Alpe-Adria-Danube Region (RAAD)

作者： Samani, Francesco Ceccarelli, Marco Univ Roma Tor Vergata LARM2 Lab Robot Mechatron Rome Italy

ISBN: (纸本)9783030489915;9783030489892;9783030489885

A prototype of TORVEastro robot is designed and built for testing activity to check the soundness of the robot design and to characterize its performance. A CAD model is used to design and built a prototype with 3D printed parts and commercial components. The built prototype is tested to verify the operation efficiency and to evaluate the performance characteristics.

关键词： Space robotics experimental robotics Design Testing Astronaut robots

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