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检索条件"机构=ARTS Lab-Advanced Robotics Technology & Systems Lab"

共 223 条记录，以下是201-210 订阅

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Unified Treatment of Motion Control of Underactuated two-link manipulators

Unified Treatment of Motion Control of Underactuated two-lin...

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2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Xu-zhi Lai Jin-hua She Simon X. Yang Min Wu School of Information Science & Engineering Central South University Changsha Hunan China School of Bionics Tokyo University of Technology Tokyo Japan Advanced Robotics & Intelligent Systems ARIS Lab School of Engineering University of Guelph Guelph ONT Canada

This paper presents a comprehensive unified control strategy for underactuated two-link manipulators, including acrobots and pendubots. The motion space is divided into two areas: swing-up and attractive; and control laws are designed for each. First, a control law based on a weak control Lyapunov function (WCLF) is employed to increase the energy and control the posture of the actuated link in the swing-up area. Next, one of the parameters of the WCLF is chosen to be a nonlinear function of the state so as to avoid any singularities. Then, another parameter in the control law is adjusted based on the state to improve the control performance. Stability is guaranteed in the swing-up area by the use of a WCLF based on the LaSalle invariant theorem. Finally, the global stability of the control system is guaranteed by the use of a non-smooth Lyapunov function integrated with a minimum-switching strategy. Simulation results for a pendubot and an acrobot show this control scheme to be very effective

关键词： Motion control Control systems Stability Intelligent robots Lyapunov method Manipulators Information science Torque control Intelligent systems Centralized control

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Kinematics and kinetics analysis of gait on treadmill: A comparison between the performance of young and elderly people

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Gait & Posture 2006年 24卷 S1-S2页

作者： V. Monaco G. Macrì P. Dario S. Micera IMT (Institutions Markets and Technologies) Institute of Advanced Studies Lucca Italy ARTS Lab Advanced Robotics Technology and Systems Lab Scuola Superiore Sant’Anna Pisa Italy

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Characterization of age-related modifications of motor control strategies during reaching movements

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Gait & Posture 2006年 24卷 S36-S37页

作者： G. Macrì S. Micera V. Monaco J. Carpaneto P. Dario Advanced Robotics Technology and Systems Lab Scuola Superiore Sant’Anna Pisa Italy

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Towards Development of Biomechatronic Tools for Early Diagnosis of Neurodevelopmental Disorders

Towards Development of Biomechatronic Tools for Early Diagno...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Domenico Campolo Massimo Molteni Eugenio Guglielmelli Flavio Keller Cecilia Laschi Paolo Dario Biomedical Robotics & EMC Lab Università Campus Bio-Medico via Longoni 83 00155 Roma - Italy. d.campolo@unicampus.it Psychopathology Dept I. R. C. C. S. Eugenio Medea Bosisio Parini Lecco Italy Biomedical Robotics & EMC Lab Università Campus Bio-Medico via Longoni 83 00155 Roma - Italy Developmental Neuroscience and Neural Plasticity Lab Universita Campus Bio Medico Rome Italy Scuola Superiore SantAnna Advanced Robotics Technology and Systems Laboratory Pisa Italy

This paper introduces Neurodevelopmental Engineering, a new interdisciplinary research area at the intersection of developmental neuroscience and bioengineering. Specifically, it presents current results of the design and development process of a set of instrumented toys equipped with a variety of sensors for behavioral analysis of infants in minimally structured environmental conditions. First the multidisciplinary design approach is presented, then the detailed functional and technical specifications of the proposed biomechatronic toys and of their scenarios of use are described. Finally, a clear picture of ongoing implementation of the proposed technology is provided together with preliminary results of verification tests

关键词： Biomechatronics Autism Pediatrics Humans Robots Neuroscience Biomedical engineering Testing Variable speed drives Mechatronics

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Analysis of upper limb smoothness differences between elderly and young subjects during reaching exercises while moving in a velocity dependent force field

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Gait & Posture 2006年 24卷 S32-S33页

作者： B. Cesqui G. Macrì P. Dario S. Micera Institute for Advanced Studies – IMT Lucca Italy Advanced Robotics Technology and Systems Lab – Scuola Superiore Sant’Anna Pisa Italy

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Development of a Bioinstrumentation System in the Interaction between a Human and a Robot

Development of a Bioinstrumentation System in the Interactio...

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2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Kazuko Itoh Hiroyasu Miwa Yuko Nukariya Massimiliano Zecca Hideaki Takanobu Stefano Roccella Maria Chiara Carrozza Paolo Dario Atsuo Takanishi ROBOCASA Tokyo Japan Department of Mechanical Engineering Waseda University Tokyo Japan Humanoid Robotics Institute (HRI) Waseda University Tokyo Japan Digital Human Research Center National Institute of Advanced Industrial Science and Technology (AIST) Tokyo Japan Graduate School of Science and Engineering Waseda University Tokyo Japan Department of Mechanical Systems Engineering Kogakuin University Tokyo Japan ASMeW Waseda University Tokyo Japan Scuola Superiore Sant Anna ARTS Laboratory Italy Scuola Superiore Sant' Anna ARTS Lab Pontedera Italy Advanced Research Institute for Science and Engineering Waseda University Tokyo Japan Tokyo Japan

Personal robots, which are expected to become popular in the future, are required to be active in joint work and community life with humans. Such robots must have no bad physical or psychical effect on humans. The psychical effect of a robot on humans has been subjectively measured using questionnaires. However, it has not been objectively measured yet. Human emotion and the consciousness direction can be measured by physiological parameters and body motion, respectively. Therefore, the bioinstrumentation system WB-1 was developed in order to objectively measure the psychical effect of a robot on a human. It can measure physiological parameters such as respiration, heart rate, perspiration and pulse wave, and arm motion. Analyzing human stress in the interaction with a robot from electrocardiogram, the robot could generate a motion for decreasing the stress

关键词： Human robot interaction Robot kinematics Humanoid robots Service robots Psychology Biomedical measurements Biomedical engineering Orbital robotics Intelligent robots Motion measurement

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A step toward GPS/INS personal navigation systems: real-time assessment of gait by foot inertial sensing

A step toward GPS/INS personal navigation systems: real-time...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： F. Cavallo A.M. Sabatini V. Genovese ARTS Lab-Advanced Robotics Technology & Systems Lab Scuola Superiore Sant'' Anna Pisa Italy

In this paper, we develop a system for which applications in the field of personal navigation are planned. In the current version, the system embodies a Global Positioning System (GPS) receiver and an inertial measurement unit (IMU), composed of two dual-axis accelerometers and one single-axis gyro. The IMU is positioned at a subject's foot instep, and it is intended to produce estimates of some gait parameters, including stride length, stride time, and walking speed. Data from GPS and IMU are managed by a DSP-based control box. The computations performed by the DSP processor allow to detect subsequent foot contacts by a threshold-based method applied to gyro signal, and to reconstruct the trajectory of the foot instep by numerical strapdown integration. Features of human walking dynamics are incorporated in the algorithm to enhance the estimation accuracy against errors due to sensor noise and integration drift. All computations are performed by the DSP processor in real-time conditions. The foot sensor performance is assessed during outdoor level walking trials. The traveled distance estimated by inertial dead-reckoning is compared with the estimate produced by GPS in experimental conditions where GPS can be used as a reference source for accurate absolute positioning. Results show the remarkable accuracy achieved by foot inertial sensing.

关键词： Global Positioning System Navigation Real time systems Foot Legged locomotion Digital signal processing Measurement units Accelerometers Signal processing Humans

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A bio-inspired sensory-motor neural model for a neuro-robotic manipulation platform

A bio-inspired sensory-motor neural model for a neuro-roboti...

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International Conference on advanced robotics (ICAR)

作者： G. Asuni G. Teti C. Laschi E. Guglielmelli P. Dario ARTS Lab (Advanced Robotics Technology and System Laboratory) Scuola Superiore Sant' Anna Pisa Italy Laboratory of Biomedical Robotics & EMC Università Campus Bio-Medico di Roma Rome Italy

This paper presents a neural model for visuo-motor coordination of a redundant robotic manipulator in reaching tasks. The model was developed for, and experimentally validated on, a neurobotic platform for manipulation. The proposed approach is based on a biologically-inspired model, which replicates the human brain capability of creating associations between motor and sensory data, by learning. The model is implemented here by self-organizing neural maps. During learning, the system creates relations between the motor data associated to endogenous movements performed by the robotic arm and the sensory consequences of such motor actions, i.e. the final position of the end effector. The learnt relations are stored in the neural map structure and are then used, after learning, for generating motor commands aimed at reaching a given point in 3D space. The approach proposed here allows to solve the inverse kinematics and joint redundancy problems for different robotic arms, with good accuracy and robustness. In order to validate this, the same implementation has been tested on a PUMA robot, too. Experimental trials confirmed the system capability to control the end effector position and also to manage the redundancy of the robotic manipulator in reaching the 3D target point even with additional constraints, such as one or more clamped joints, tools of variable lengths, or no visual feedback, without additional learning phases

关键词： Biosensors Biological system modeling Robot kinematics Orbital robotics Robot sensing systems Manipulators End effectors Brain modeling Humans Arm

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Experimental analysis of the conditions of applicability of a robot sensorimotor coordination scheme based on expected perception

Experimental analysis of the conditions of applicability of ...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： E. Datteri G. Asuni G. Teti C. Laschi P. Dario E. Guglielmelli Department of Philosophy University of Pisa Pisa Italy Scuola Superiore Sant'Anna ARTS Lab (Advanced Robotics Technology and Systems Laboratory) Pisa Italy

This paper describes an experimental work conducted in order to estimate the conditions of applicability of expected perception (EP) based on a scheme for robot sensorimotor coordination. The starting hypothesis is that predictions of incoming sensory data can improve sensorymotor coordination respect to pure feedback loops. This implies that the environment presents a level of predictability, as in realistic environments. An implementation of the EP-based scheme has been realized on a platform composed by the Dexter 8-d.o.f. robotic arm and a color camera, for executing a pushing task in a real-world environment. Its performance, where defined as a combination of the error in the trajectory following and the computational effort, has been compared with that of a feedback-based system executing the same task in the same environmental conditions. The results have been put in relation with the degree of environmental predictability, which was controlled in the experimental trials. The experimental results give support and useful insights for analyzing the applicability of the EP-based scheme.

关键词： Robot sensing systems Robot kinematics Humans Delay Sensor systems Subspace constraints Paper technology laboratories Feedback loop Robot vision systems

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A neuro-controller for robotic manipulators based on biologically-inspired visuo-motor co-ordination neural models

A neuro-controller for robotic manipulators based on biologi...

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International IEEE/EMBS Conference on Neural Engineering, CNE

作者： G. Asuni F. Leoni E. Guglielmelli A. Starita P. Dario ARTS LAB (Advanced Robotics Technology and Systems Laboratory) Scuola Superiore Sant Anna Department of Informatics University of Pisa Pisa Italy ARTS LAB (Advanced Robotics Technology and Systems Laboratory) Scuola Superiore Sant'' Anna Pisa Italy Department of Informatics University of Pisa Italy

This paper presents a novel scheme for sensor-based control of robotics manipulators by means of artificial neural networks. The system is able to control simple reaching tasks by only fusing visual and proprioceptive sensory data, without computational kinematic modeling of the arm structure, Thanks to the generalization features typical of the neural approach, the same neurocontroller has been easily adapted and successfully validated for controlling different manipulators with different mechanical structures, i.e. number of degrees of freedom, link length and weight, etc. The proposed scheme is directly inspired to research results in the field of neuroscience, specifically on nervous structures and physiological mechanisms involved in sensory motor coordination. From a psychological point of view J. Piaget (1976) explained visuo-motor associations in his scheme of circular reaction. He observed how, by making endogenous movements and correlating the resulting arm and hand spatial locations, the brain allows an auto-association to be created between visual and proprioceptive sensing. The work presented in this paper is derived from the more recent DIRECT model proposed D. Bullock et al. (1993). Significant and original modifications of such model have been introduced by the authors to increase, at the same time, both system performance and the biological coherence. The proposed neurocontroller has been first simulated both in the 2-dimensional and the 3-dimensional case, and then implemented for experimental trials on two real robotic manipulators.

关键词： Manipulators Biological system modeling Robot kinematics Robot sensing systems Neurocontrollers Robot control Artificial neural networks Biology computing Computational modeling Neuroscience

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