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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： Soo-Yeong Yi Yeh-Sun Hong Chong-Won Lee School of Electrical Engineering Chonbuk National University of Korea Cheongju South Korea Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea

One of the basic assumptions in the static gait design for a walking robot is that the weight of a leg should be negligible compared to that of body, so that the total gravity center of the robot is not affected by the leg swing. Based on the assumption, the conventional static gait has been designed for the geometric body center of the robot to be inside of the support polygon which consists of each support leg's tip position. In a case that the leg is relatively heavy, however, while the body center is kept inside the support polygon, the total gravity center of the robot can be out of the support polygon, which causes instability in walking. In this paper, a body impedance control is proposed to make the total gravity center of robot track the pre-designed trajectory of the body center, so that the walking stability is secured even in the case that the leg weight has serious influence on the total gravity center of the robot.

关键词： Legged locomotion Impedance Leg Gravity Foot Robot sensing systems Force measurement Actuators Fluctuations Weight control

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Online control algorithm of a quadruped walking robot with quasi-static model

Online control algorithm of a quadruped walking robot with q...

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Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

作者： Soon-Geul Lee Chang-Hyun Cho Department of Mechanical Engineering Kyung Hee University Yongin si Gyeonggi South Korea Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea

The authors have been using a body-tilting method to make a quadruped walking robot more stable. If the tilting is quantified as the distance that the mass center should move, it is possible to control the trajectory of the mass center with this tilting. In the paper, an online control algorithm is proposed using the tilting method with a quasi-static model of the robot. Validation of the model is experimentally examined and the output trajectory of the mass center for given force margin of the online control is investigated.

关键词： Legged locomotion Robot kinematics Leg Robot sensing systems Weight control Vehicles Animal structures Control systems Feedback Stability

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Cobots for the automobile assembly line

Cobots for the automobile assembly line

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Akella M. Peshkin E. Colgate W. Wannasuphoprasit N. Nagesh J. Wells S. Holland T. Pearson B. Peacock Robotics & Welding General Motors Corporation Warren MI USA Mechanical Engineering Northwestern University Evanston IL USA Advanced Manufacturing Ford Motor Company Limited Detroit MI USA

Intelligent assist devices (IADs) are a new class of hybrid devices for direct, physical, interaction with a human operator in shared workspaces. These devices-designed for the assembly line worker-can reduce ergonomics concerns that arise due to on-the-job physical and cognitive loading, while improving safety, quality and productivity. Cobots, a sub-set of IADs, implement software defined virtual guiding surfaces while providing some amplification of human power. They exemplify the central theme of this paper-that humans are critical in many assembly operations and ergonomics tools that enable them to perform their duties are necessary. The paper describes broad design principles for human-machine interaction in these industrial settings. Prototype industrial cobots designed for testing and validation are described.

关键词： Automobiles Assembly Humans Ergonomics Product safety Safety devices Productivity Man machine systems Prototypes Testing

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A novel sensing and control system of artificial eye-implant

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IFAC Proceedings Volumes 1999年第2期32卷 529-532页

作者： J. Gu M. Meng M.G. Faulkner A. Cook ART(Advanced Robotics and Telcoperation) Lab Department of Electrical and Computer Engineering University of Alberta Canada T6G 2G7 Department of Mechanical Engineering University of Alberta Canada T6G 2G7 Faculty of Rehabilitation Medicine University of Alberta Canada T6G 2G7

The aim of this paper is to let the anophthalmic patient has a natural movement of his artificial eye. The loss of an eye can be solved by the ocular implant. The artificial eye can be made like the real eye. But the problem is that it is static, and doesn't have the natural movement. Present study is to design a small automatic control system to let the. artificial eye has the same natural movement as the real eye. How to detect the eye movement is an important issue. The review of the eye movement detection methods is included in this paper. Main part of this paper deals with the experimental system and the further considerations.

关键词： automatic control detection natural movement

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The enhanced compact QP method for redundant manipulators using practical inequality constraints 15

The enhanced compact QP method for redundant manipulators us...

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15th IEEE International Conference on robotics and Automation, ICRA 1998

作者： Park, Ki Cheol Chang, Pyung Hun Kim, Seung Ho Department of Mechanical Engineering Korea Advanced Institute of Science and Technology 373-1 Gusong-dong Yusorig-gu Taejon Korea Republic of Department of Advanced Robotics Development Korea Atomic Energy Research Institute 150 Deokjin-dong Yusong-gu Taejon Korea Republic of

ISBN: (纸本)078034300X

For resolving the manipulator redundancy under inequality constraints, the compact QP method (including the improved Compact QP method) is very effective and efficient. From a viewpoint of practical applications, however, it turns out, we found, to have some performance limitations such as unrealistically high torque due to joint angle limit constraints and tracking errors due to joint torque limit constraints under parameter variation and disturbance. Remedying the limitations, the enhanced compact QP method is developed by using the practical inequality constraints with p-step-ahead predictor and time delay estimation. Through dynamic simulation results, it is verified that the enhanced compact QP method significantly improves the compact QP method in terms of efficiency and effectiveness for the real-time control of redundant manipulators under physical limits. © 1998 IEEE.

关键词： Redundant manipulators

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Sonar resolution-based environment mapping 15

Sonar resolution-based environment mapping

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15th IEEE International Conference on robotics and Automation, ICRA 1998

作者： Cahut, Leyla Vlavanis, Kimon P. Delic, Hakan Robotics and Automation Laboratory Center for and Advanced Computer Studies University of Southwestern Louisiana LafayetteLA70504 United States Signal and Image Processing Laboratory Department of Electrical Engineering BogaziCi University Bebek 80815 Istanbul Turkey

ISBN: (纸本)078034300X

Ultrasonic range sensors are used to obtain the information required for collision-free navigation of a mobile robot in a semi-structured or unstructured environment. A set of range readings from a ring of sonars are correlated to acquire a 2D map of the robot's environment. The map is continuously enhanced via novel matching and update algorithms as new data are collected while the robot is in motion. The algorithm utilizes confidence measures that are directly obtained from the sonar's resolution or accuracy. There are no additional modeling assumptions and the approach is robust. The algorithms are experimentally tested on the Nomad 200 mobile robot and Nomad's Cognos Software Development Package. © 1998 IEEE.

关键词： Software testing

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A neural network approach to real-time path planning with safety consideration

A neural network approach to real-time path planning with sa...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Xianyi Yang M. Meng ART Advanced Robotics & Teleoperation Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

In this paper, a neural network approach is proposed for real-time path planning of robots with safety consideration. The neural network is topologically organised, which is based on a previous biologically inspired model for dynamical trajectory generation of a mobile robot in a nonstationary environment. The state space of the neural network can be the joint space of multilink robot manipulators or the Cartesian workspace. This model is capable of dealing with multiple target problems as well. The target globally attracts the robot, while the obstacles push the robot away locally to avoid collisions. By taking into account of the clearance from obstacles, the planned "comfortable" path does not suffer either the "too close" or the "too far" problems. Each neuron has only local lateral connections. The optimal path is generated in real-time through the dynamics of the neural activity landscape without explicitly optimising any cost function. Therefore, it is computationally efficient. The stability of the network is guaranteed by the existence of a Lyapunov function. The effectiveness and efficiency are demonstrated through simulation studies.

关键词： Neural networks Path planning Safety Orbital robotics Biological system modeling Mobile robots State-space methods Manipulator dynamics Neurons Cost function

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A neural network approach to real-time trajectory generation [mobile robots]

A neural network approach to real-time trajectory generation...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Max Meng Xianyi Yang ART Advanced Robotics & Teleoperation Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

ISBN: (纸本)078034300X

A neural network approach is proposed for real-time collision free trajectory generation in an environment with varying obstacles and moving target. This biologically inspired neural network is topologically organised. The dynamics of each neuron is characterised by a shunting equation or an additive equation. Each neuron has only local connections, and the optimal trajectories are generated without any explicitly optimising cost functions and without learning. Therefore the model is computationally efficient. The stability of the network is analytically proved using a Lyapunov function candidate. As examples, the proposed neural network is applied to trajectory formation for a mobile robot in solving maze-type problems, dynamically tracking moving target, and avoiding varying obstacles. The efficiency of the proposed approach is demonstrated through simulation and comparison studies.

关键词： Neural networks Trajectory Neurons Equations Cost function Biological system modeling Computational modeling Biology computing Stability analysis Lyapunov method

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Dynamical trajectory generation with collision free using neural networks

Dynamical trajectory generation with collision free using ne...

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Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)

作者： Xianyi Yang Max Meng ART (Advanced Robotics & Teleoperation) Lab Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

ISBN: (纸本)0780344650

To dynamically generating trajectory with collision free is very important but difficult for the robots in a nonstationary environment. In this paper, the real-time trajectory generation and obstacle avoidance are studied using biologically motivated neural network approaches. The optimal trajectory is generated through the neural dynamics of a topologically organised neural network. Each neuron of the neural net is characterised by a shunting equation or an additive equation. This model is computationally efficient and its stability is guaranteed. These neural network approaches were applied for solving maze-type problems, dynamically tracking moving target, and avoiding varying obstacles. The model parameter sensitivity and model variations are discussed. Simulations are included to demonstrate the proposed approaches.

关键词： Neural networks Equations Biomembranes Neurons Biological system modeling Robot sensing systems Computational modeling State-space methods Subspace constraints Electronic mail

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A unified distributed cooperation strategy for multiple object handling robots

A unified distributed cooperation strategy for multiple obje...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.N. Ahmadabadi N. Eiji Department of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran Advanced Robotics Lab GSIS University of Tohoku Sendai Japan

Based on the constrain-move concept, previously introduced by the authors (1997), a unified approach to develop cooperation strategies for a group of multiple robots to lift/lower the object and to carry it along a desired path is introduced. In this method, when transferring the load, a group of robots, called constrain making robots, constrain the object's movements which are orthogonal to its desired path. To lift/lower the object, these robots confine angular and horizontal movements of the load by constraining its sides. The remaining robots push the object toward its goal. It is discussed that, the weight of the load can be used by the robots as a natural constrain on the object. Doing so, there is no need for the robots to confine the object any more. Instead, the object lifting robots must lift the object in such a way that the natural constraint on the object is held. A distributed cooperation strategy for the robots to fulfil this requirement is reexamined. Some experimental results are also given to show the effectiveness of the proposed approach.

关键词： Robot kinematics Intelligent robots Robustness Protocols Capacitive sensors Costs Fault tolerant systems Redundancy Collaboration Information systems

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