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Towards real-time global localization in dynamic unstructured environments

JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING 2006年第3期49卷 905-911页

作者： Tanaka, Kanji Kondo, Eiji Kyushu Univ Grad Sch Engn Nishi Ku Fukuoka 8190395 Japan

Global localization is the problem in which a mobile robot has to estimate the self-position with respect to an a priori given map as it navigates without using any a priori knowledge of the. initial self-position. Previous studies on global localization mainly focused on static environments, where the a priori map is almost correct. On the other hand, in dynamic environments, there are several sources of computational complexity. For example, not only the self-position but also the map should be estimated due to the map errors. The main contribution of this paper is to address such computational complexity by decomposing our global localization problem into, two smaller subproblems, and solving the subproblems in a practical computation time. Also, we demonstrate the robustness and the efficiency of the proposed method in various large and complex environments.

关键词： mechatronics and robotics measurement reasoning recognition moving robot particle filter SLAM map building localization

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Control of an omni-directional power-assisted cart

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JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING 2003年第3期46卷 931-937页

作者： Maeda, H Fujiwara, S Kitano, H Yamashita, H Fukunaga, H Matsushita Elect Works Ltd Prod Engn Res Lab Osaka 5718686 Japan Matsushita Elect Works Ltd Plast Mat Div Yokaichi Mie 5108560 Japan

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.

关键词： motion control mechatronics and robotics power assist system omni-directional vehicle universal wheel speed control positional control meal delivery cart in hospital

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Returning motion from the state of falling sideways for articulated mobile robot

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JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING 2004年第1期47卷 225-232页

作者： Nunobiki, M Okuda, K Hasegawa, M Himeji Inst Technol Grad Sch Engn Dept Mech & Syst Engn Himeji Hyogo 6712201 Japan Hyogo Prefectural Tajima Tech Inst Toyooka Hyogo 6680051 Japan

We developed an inchworm-type mobile robot. It consisted of only six segments connected by four pitch joints and one yaw joint. Although this robot had neither legs nor wheels, it was able to advance by using vertically undulatory motion of whole body. Even if it became upside down, it was able to move just like normal posture. But if it fell sideways, it was not able to move until returning to normal posture. In this study, we proposed a returning method by which the angular moment around roll axis was generated by twisting itself. To analyze this motion, we developed a mathematical model for this returning motion by considering the robot to be an underactuated mechanical system that consisted of a base frame and two link frames. We confirmed this returning motion was able to equate with a falling down motion of an underactuated two-linked system.

关键词： mechatronics and robotics moving robot inchworm-type robot articulated structure wake-up motion equation of motion simulation

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Development of a real-time range finder interpolating the parallax signals for surfaces

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mechatronics 2002年第6期12卷 875-889页

作者： Tanaka, Y Gofuku, A Nagai, I Miyata, S Okayama Univ Fac Engn Dept Syst Engn Okayama 7008530 Japan Kinki Univ Fac Engn Dept Mech Syst Engn Higashihiroshima 7392116 Japan

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.

关键词： mechatronics and robotics sensor electronics shape measurement optical measurement measurement stereo vision real-time measurement visual equipment distance image

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Mobile mechanism suitable for rough terrain vehicle

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JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING 2004年第2期47卷 646-652页

作者： Hoshino, H Ishikawa, A Fukuda, T Hasegawa, Y Takenaka Corp Inst Res & Dev Inzai Chiba 2701395 Japan Nagoya Univ Dept Micro Syst Engn Chigusa Ku Nagoya Aichi 4648603 Japan Gifu Univ Dept Mech Syst Engn Fac Engn Gifu 5011193 Japan

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.

关键词： mechatronics and robotics hydraulic actuator construction machinery vehicle rough terrain suspension posture control

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Hierarchical Reinforcement Learning for Waypoint-based Exploration in Robotic Devices 19

Hierarchical Reinforcement Learning for Waypoint-based Explo...

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IEEE 19th International Conference on Industrial Informatics (INDIN)

作者： Zinn, Jonas Vogel-Heuser, Birgit Schuhmann, Fabian Salazar, Luis Alberto Cruz Tech Univ Munich Inst Automat & Informat Syst Munich Germany

ISBN: (纸本)9781728143958

The training of Deep Reinforcement Learning algorithms on robotic devices is challenging due to their large number of actuators and limited number of feasible action sequences. This paper addresses this challenge by extending and transferring existing approaches for waypoint-based exploration with Hierarchical Reinforcement Learning to the domain of robotic devices. The resulting algorithm utilizes a top-level policy, which suggests waypoints to a bottom-level policy that controls the system actuators. The waypoints can either be provided to the top-level policy as domain knowledge or be learned from scratch. The algorithm explicitly accounts for the low number of feasible waypoints and waypoint transitions that are characteristic of robotic devices. The effectiveness of the approach is evaluated on the simulation of a research demonstrator, and a separate ablation study proves the importance of its components.

关键词： Intelligent Systems mechatronics and robotics Fault tolerant design

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Robotic Surgical System Utilizing FE Model Coupled with Ultrasonic Tracking

Robotic Surgical System Utilizing FE Model Coupled with Ultr...

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53rd Midwest Symposium on Circuits and Systems (MWSCAS 2010)

作者： Lilly, Bradford R. Shenai, Krishna Goel, Vijay Biyani, Ashok Univ Toledo Dept Elect Engn & Comp Sci Toledo OH 43606 USA Univ Toledo Dept Biomed Engn Toledo OH 43606 USA Univ Toledo Dept Orthopaed Surg Toledo OH 43606 USA

ISBN: (纸本)9781424477739

Described within is a system for performing a minimally invasive robotic surgery. To facilitate this means, an advanced unltrasonic/inertial tracking system is used in place of the standard optical tracking systems. This technique will decrease overall radiation, both to the surgeon as well as the patient. Overall accuracy of the procedure will also be increased, thusly increasing the success rate while also decreasing overall time for the surgery. This paper will specifically deal with the positioning and accuracy of the robot.

关键词： Control Systems mechatronics and robotics

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Gain selection criterion for the swing-up control of the Acrobot using collocated partial feedback linearisation

Gain selection criterion for the swing-up control of the Acr...

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IEEE AFRICON Conference - Science, Technology and Innovation for Africa

作者： De Almeida, Ricardo Nyandoro, Otis Univ Witwatersrand Dept Elect & Informat Engn 1 Jan Smut Ave ZA-2000 Johannesburg South Africa

ISBN: (纸本)9781538627754

A novel set of feedback gain selection conditions pertaining to the swing-up control of the Acrobot using collocated partial feedback linearisation is derived and presented in this research. This set of conditions, collectively known as the gain selection criterion, highlights a region of possible feedback gain combinations, known as the region of appropriate gains (RAG), that will guarantee the unstable response of the Acrobot when initialised approximately near the fully-pendant equilibrium point. The criterion is derived using the Routh-Hurwitz stability criterion applied on the characteristic equation of the system linearised about the fully-pendant equilibrium point. Only one left-column coefficient, known as the critical Routh coefficient, demonstrates the potential of influencing the stability of the system. The boundaries of the RAG are defined from the analysis of the critical Routh coefficient. The gain selection criterion will prevent the unintended selection of a combination of feedback gains that will cause a stable response about the fully-pendant equilibrium point, preventing the satisfactory execution of swing-up control on the Acrobot from the fully-pendant equilibrium point. This criterion may, more conveniently, be applied to specific types of multi-link pendulum system that approximate the behaviour of the partially linearised Acrobot.

关键词： Mechatronic systems mechatronics and robotics Nonlinear Systems

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Semi-Automatic Registration of a Robotic Total Station and a CAD Model Without Control Points 44

Semi-Automatic Registration of a Robotic Total Station and a...

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44th Annual Conference of the IEEE Industrial-Electronics-Society (IECON)

作者： Klug, Christoph Arth, Clemens Schmalstieg, Dieter Gloor, Thomas VRVIS Res Ctr Vienna Austria Graz Univ Technol Graz Austria Hilti Corp Schaan Liechtenstein

ISBN: (纸本)9781509066841

The accurate registration of a robotic total station with respect to a given CAD model is a crucial task in the construction industry. Common registration techniques rely on a reference network of control points in the CAD model. One must establish correspondences between control points in the CAD model and measured points in the field. Usually physical markers or natural points of interest are selected as control points. We present a user-guided algorithm for simple and efficient registration of a robotic total station with a CAD model in indoor environments without the need for control points. The user interaction is reduced to selecting a local Manhattan-like corner structure for initial model alignment;accurate registration of the device is carried out automatically. Our algorithm relies on angle and distance measurements only and, therefore, is not limited to vision based robotic total stations. In particular, we propose a new algorithm for robust Manhattan corner extraction.

关键词： mechatronics and robotics Motion and Servo Control

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Impedance control for articulated robot of 6 degree-of-freedom in consideration of critically dumped condition with an object dynamics

Impedance control for articulated robot of 6 degree-of-freed...

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36th Annual International Conference of the Society-of-Instrument-and-Control-Engineers (SICE 97)

作者： Nagata, F Watanabe, K Sato, K Izumi, K Suehiro, T Fukuoka Industrial Technology Cent Fukuoka Japan

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.

关键词： manipulator robot mechatronics and robotics compliance impedance control force control critically dumped response

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