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A NULL-SPACE SOLUTION OF THE INVERSE KINEMATICS OF REDUNDANT MANIPULATORS BASED ON A DECOMPOSITION OF SCREWS

JOURNAL OF MECHANICAL DESIGN 1993年第3期115卷 530-539页

作者： PODHORODESKI, RP GOLDENBERG, AA FENTON, RG Department of Mechanical Engineering University of Victoria Victoria Canada V8W 2Y2 Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto Canada M5S 1A4

In this paper, an approach for solving the inverse kinematics (velocity) problem for redundant open-chain manipulators is addressed. The solution is based upon finding a particular joint rate solution and identifying a joint velocity null-space basis through a decomposition of screw coordinates representing the joint axes. Optimal joint rate solutions are formulated in terms of the joint null-space basis. A specification of computational costs for numerical application is presented. The method is shown to be useful for analytical application through example derivations for two 7 revolute jointed manipulators and a platform mounted nonredundant manipulator.

关键词： Chain Kinematics Redundant manipulators Manipulators Screws

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Express Data Definitions for Control engineering

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IFAC Proceedings Volumes 1993年第2期26卷 1205-1208页

作者： K.A. Harbison-Briggs H.-D. Joos J.M. Maciejowski Automation and Robotics Research Institute University of Texas at Arlington 7300 Jack Newell Blvd.S. Fort Worth TX 76118 USA German Aerospace Research Establishment (DLR) Institut für Dynamik der Flugsysleme Oberpfaffenhofen D-8031 Wessling Germany Department of Engineering Cambridge University Trumpington Street Cambridge CB2 1PZ UK

It is proposed that the EXPRESS data definition language, which is part of the ISO STEP/PDES standard for engineering data exchange, should be used in the formulation of standard entity types to be used in computer aided control engineering. Examples of how EXPRESS can be used to define entity types suitable for representing linear and nonlinear models are given.

关键词： Standards Computer-aided design Control engineering Data exchange Modelling

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Planning and Decision-Making for Autonomous Vehicles

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Control, robotics, and Autonomous Systems 1000年第1期1卷 187-210页

作者： Wilko Schwarting Javier Alonso-Mora Daniela Rus 1Computer Science and Artificial Intelligence Laboratory Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge Massachusetts 02139 USA email: wilkos@csail.mit.edu rus@csail.mit.edu 2Department of Cognitive Robotics Delft University of Technology 2628 Delft The Netherlands email: j.alonsomora@tudelft.nl

In this review, we provide an overview of emerging trends and challenges in the field of intelligent and autonomous, or self-driving, vehicles. Recent advances in the field of perception, planning, and decision-making for autonomous vehicles have led to great improvements in functional capabilities, with several prototypes already driving on our roads and streets. Yet challenges remain regarding guaranteed performance and safety under all driving circumstances. For instance, planning methods that provide safe and system-compliant performance in complex, cluttered environments while modeling the uncertain interaction with other traffic participants are required. Furthermore, new paradigms, such as interactive planning and end-to-end learning, open up questions regarding safety and reliability that need to be addressed. In this survey, we emphasize recent approaches for integrated perception and planning and for behavior-aware planning, many of which rely on machine learning. This raises the question of verification and safety, which we also touch upon. Finally, we discuss the state of the art and remaining challenges for managing fleets of autonomous vehicles.

关键词： autonomous vehicles intelligent vehicles decision-making motion planning artificial intelligence verification fleet management

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Modular Reconfigurable robotics

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Control, robotics, and Autonomous Systems 1000年第1期2卷 63-88页

作者： Jungwon Seo Jamie Paik Mark Yim 1Department of Mechanical and Aerospace Engineering and Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong China email: junseo@ust.hk 2Reconfigurable Robotics Laboratory École Polytechnique Fédérale de Lausanne (EPFL) 1015 Lausanne Switzerland email: jamie.paik@epfl.ch 3General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia Pennsylvania 19104 USA email: yim@seas.upenn.edu

This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems have been presented to date, and these robots promise to be versatile, robust, and low cost compared with other conventional robot systems. MRR systems thus have the potential to outperform traditional systems with a fixed morphology when carrying out tasks that require a high level of flexibility. We begin by introducing the taxonomy of MRRs based on their hardware architecture. We then examine recent progress in the hardware and the software technologies for MRRs, along with remaining technical issues. We conclude with a discussion of open challenges and future research directions.

关键词： cellular and modular robots distributed robot systems multirobot systems reconfigurable robots

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Soft Actuators and Robots Enabled by Additive Manufacturing

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Control, robotics, and Autonomous Systems 1000年第1期6卷 31-63页

作者： Dong Wang Jinqiang Wang Zequn Shen Chengru Jiang Jiang Zou Le Dong Nicholas X. Fang Guoying Gu 1Robotics Institute School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration and Meta Robotics Institute Shanghai Jiao Tong University Shanghai China email: guguoying@*** 3Current affiliation: Department of Mechanical Engineering The University of Hong Kong Hong Kong Special Administrative Region email: nicxfang@hku.hk 2Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge Massachusetts USA

Soft robotic systems are human friendly and can mimic the complex motions of animals, which introduces promising potential in various applications, ranging from novel actuation and wearable electronics to bioinspired robots operating in unstructured environments. Due to the use of soft materials, the traditional fabrication and manufacturing methods for rigid materials are unavailable for soft robots. 3D printing is a promising fabrication method for the multifunctional and multimaterial demands of soft robots, as it enables the personalization and customization of the materials and structures. This review provides perspectives on the manufacturing methods for various types of soft robotic systems and discusses the challenges and prospects of future research, including in-depth discussion of pneumatic, electrically activated, magnetically driven, and 4D-printed soft actuators and integrated soft actuators and sensors. Finally, the challenges of realizing multimaterial, multiscale, and multifunctional 3D-printed soft robots are discussed.

关键词： soft robots additive manufacturing 4D printing integrated soft actuators and sensors

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Scene Representations for Robotic Spatial Perception

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Control, robotics, and Autonomous Systems 1000年第1期8卷 351-377页

作者： Ruben Mascaro Margarita Chli 1Vision for Robotics Lab ETH Zurich Zurich Switzerland email: rmascaro@ethz.ch chlim@ethz.ch 2Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus

The ability of a robot to build a persistent, accurate, and actionable model of its surroundings through sensor data in a timely manner is crucial for autonomous operation. While representing the world as a point cloud might be sufficient for localization, denser scene representations are required for obstacle avoidance. On the other hand, higher-level semantic information is often crucial for breaking down the necessary steps to autonomously complete a complex task, such as cooking. So the looming question is, What is a suitable scene representation for the robotic task at hand? This survey provides a comprehensive review of key approaches and frameworks driving progress in the field of robotic spatial perception, with a particular focus on the historical evolution and current trends in representation. By categorizing scene modeling techniques into three main types—metric, metric–semantic, and metric–semantic–topological—we discuss how spatial perception frameworks are transitioning from building purely geometric models of the world to more advanced data structures incorporating higher-level concepts, such as the notion of object instances and places. Special emphasis is placed on approaches for real-time simultaneous localization and mapping, their integration with deep learning for enhanced robustness and scene understanding, and their ability to handle scene dynamicity as some of the hottest topics of interest driving robotics research today. We conclude with a discussion of ongoing challenges and future research directions in the quest to develop robust and scalable spatial perception systems suitable for long-term autonomy.

关键词： spatial perception simultaneous localization and mapping SLAM semantic SLAM 3D scene graphs scene representations robotics

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Internal Models in Control, Bioengineering, and Neuroscience

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Control, robotics, and Autonomous Systems 1000年第1期5卷 55-79页

作者： Michelangelo Bin Jie Huang Alberto Isidori Lorenzo Marconi Matteo Mischiati Eduardo Sontag 1Department of Electrical and Electronic Engineering Imperial College London London United Kingdom email: m.bin@imperial.ac.uk 2Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong China email: jhuang@mae.cuhk.edu.hk 3Department of Computer Control and Management Engineering Sapienza Università di Roma Rome Italy email: albisidori@dis.uniroma1.it 4Department of Electrical Electronic and Information Engineering University of Bologna Bologna Italy email: lorenzo.marconi@unibo.it 5Janelia Research Campus Howard Hughes Medical Institute Ashburn Virginia USA email: mischiatim@*** 6Department of Electrical and Computer Engineering and Department of Bioengineering Northeastern University Boston Massachusetts USA email: sontag@***

Internal models are nowadays customarily used in different domains of science and engineering to describe how living organisms or artificial computational units embed their acquired knowledge about recurring events taking place in the surrounding environment. This article reviews the internal model principle in control theory, bioengineering, and neuroscience, illustrating the fundamental concepts and theoretical developments of the few last decades of research.

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How the CYBATHLON Competition Has Advanced Assistive Technologies

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Control, robotics, and Autonomous Systems 1000年第1期6卷 447-476页

作者： Lukas Jaeger Roberto de Souza Baptista Chiara Basla Patricia Capsi-Morales Yong Kuk Kim Shuro Nakajima Cristina Piazza Michael Sommerhalder Luca Tonin Giacomo Valle Robert Riener Roland Sigrist 1CYBATHLON ETH Zurich Zurich Switzerland email: roland.sigrist@*** 2Laboratory of Robotics and Automation University of Brasilia Brasilia Brazil email: baptista@*** 3Sensory-Motor Systems Lab Institute of Robotics and Intelligent Systems Department of Health Sciences and Technology ETH Zurich Zurich Switzerland email: chiara.basla@hest.ethz.chmichael.sommerhalder@hest.ethz.chrobert.riener@hest.ethz.ch 4Department of Informatics Technical University of Munich Garching Germany email: patricia.capsi-morales@tum.decristina.piazza@tum.de 5Laboratory for Movement Biomechanics Institute for Biomechanics Department of Health Sciences and Technology ETH Zurich Zurich Switzerland email: yong.kim@hest.ethz.ch 6Faculty of Systems Engineering Wakayama University Wakayama Japan email: nakajima@wakayama-u.ac.jp 7Department of Information Engineering and Padua Neuroscience Center University of Padua Padua Italy email: luca.tonin@dei.unipd.it 8Neuroengineering Lab Institute of Robotics and Intelligent Systems Department of Health Sciences and Technology ETH Zurich Zurich Switzerland email: giacomo.valle@hest.ethz.ch 9Balgrist University Hospital Zurich Switzerland

Approximately 1.1. billion people worldwide live with some form of disability, and assistive technology has the potential to increase their overall quality of life. However, the end users’ perspective and needs are often not sufficiently considered during the development of this technology, leading to frustration and nonuse of existing devices. Since its first competition in 2016, CYBATHLON has aimed to drive innovation in the field of assistive technology by motivating teams to involve end users more actively in the development process and to tailor novel devices to their actual daily-life needs. Competition tasks therefore represent unsolved daily-life challenges for people with disabilities and serve the purpose of benchmarking the latest developments from research laboratories and companies from around the world. This review describes each of the competition disciplines, their contributions to assistive technology, and remaining challenges in the user-centered development of this technology.

关键词： user-centered design assistive technology CYBATHLON inclusion people with disabilities daily-life challenge competition

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