检索结果-内蒙古大学图书馆

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： Duck-Young Lee Dong-Soo Kwon Soo-Yeong Yi Yeh-Sun Hong Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Taejon South Korea Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea

Presents a gait control algorithm for teleoperation of a quadruped walking robot using gait convergence. A leg trajectory of the walking robot is generated in real-time according to the 3 DOF planar moving velocity command. Initially, the aperiodic gait is applied to follow the unpredictable command, since the periodic gait is known to be optimal and it requires an initial foot position. However, given an arbitrary initial foot position, the proposed algorithm leads the support pattern of the legs to converge from the aperiodic gait to a wave-crab gait or a wave-spinning gait. Further it avoids a deadlock after the directional change of the velocity command. The proposed algorithm has been applied to the walking robot, CENTAUR of KIST that has heavy legs and a large moving area of the gravity center. To compensate the moving gravity center, a sway motion is proposed to transfer the leg of which the kinematic margin is almost zero and the leg trajectory for the sway motion is overlapped with the operator command.

关键词： Legged locomotion Leg Stability System recovery Kinematics Mobile robots Foot Gravity robotics and automation mechanical engineering

来源：评论

学校读者我要写书评

暂无评论

Characteristics of optimal solutions in resolving manipulator redundancy under inequality constraints

Characteristics of optimal solutions in resolving manipulato...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Ki-Cheol Park Pyung-Hun Chang Seung-Ho Kim Department of Advanced Robotics Development Korea Atomic Energy Research Institute Taejon South Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Taejon South Korea

Presents our finding of a critical point that has not been reported thus far in the inverse kinematics of redundant manipulators under inequality constraints. The critical point, named algorithmic barrier was first encountered in the form of peculiar phenomena in our experiment with an 8-DOF robot, which we believe to have significance in the order of so-called algorithmic singularity. In addition, the paper deals with the characteristics of optimal solutions (COS) in resolving manipulator redundancy under inequality constraints. In order to analyze the COS, analytic functions of sufficient conditions and critical point conditions are derived. As a result, we find that COS is drastically affected by the introduction of inequality constraints. That is, COS under no inequality constraints is known to change only at algorithmic singularity while COS under inequality constraints turns out to change at semi-singularity and algorithmic barrier as well as algorithmic singularity. We prove the existence the critical points and present their analytical properties by using a planar 3-DOF manipulator.

关键词： Kinematics Manipulators Robots mechanical engineering Algorithm design and analysis Topology Path planning Constraint optimization Jacobian matrices Extraterrestrial measurements

来源：评论

学校读者我要写书评

暂无评论

Two-arm cooperative assembly using force-guided control with adaptive accommodation

Two-arm cooperative assembly using force-guided control with...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Jong-Dho Choi Sungchul Kang Munsang Kim C.W. Lee Jae-Bok Song Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Department of Mechanical Engineering Korea University Seoul South Korea

A two-arm cooperative assembly (or insertion) algorithm is proposed. As a force-guided control method for the cooperative assembly, the adaptive accommodation controller is adopted since it does not need any complicated contact state analysis nor depends on the geometrical complexity of the assembly parts. Also, the RMRC (resolved motion rate control) method using a relative Jacobian is used to solve inverse kinematics for two manipulators. By using the relative Jacobian, the two cooperative redundant manipulators can be structured as a new single redundant manipulator. The two arms can perform a variety of insertion task by a relative motion between their end effectors. A force/torque sensing model, using an approximated penetration depth calculation algorithm is developed and used to compute a contact force/torque in the graphic assembly simulation. By using the adaptive accommodation controller and the force/torque sensing model, a spatial cooperative assembly tasks have been successfully executed in the graphic simulation. Finally, through a cooperative assembly task experiment using a humanoid robot, CENTAUR, which inserts a spatially bent pin into a hole, its feasibility and applicability are verified.

关键词： Force control Robotic assembly Programmable control Adaptive control Jacobian matrices Torque Graphics Computational modeling Motion control Kinematics

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Cobots for the automobile assembly line

Cobots for the automobile assembly line

引用

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

来源：评论

学校读者我要写书评

暂无评论

A novel sensing and control system of artificial eye-implant

引用

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

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Determination of three dimensional curvature of convex object via active touch

Determination of three dimensional curvature of convex objec...

引用

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

作者： H.R. Choi J.H. Kim S.R. Oh School of Mechanical Engineering Sungkyunkwan University Suwon South Korea Advanced Robotics Research Center KIST Seoul South Korea

In this paper we propose a method of determining the local curvature of a three dimensional convex object using the force and torque information obtained from the active touch of a robot finger. A technique for estimating two dimensional curvature of a convex object are introduced and the way of computing the three dimensional curvature from the two dimensional curvature is presented. Also, we develop an experimental system consisting of a finger and verify the effectiveness of the proposed method experimentally.

关键词： Torque Force sensors Fingers Shape Tactile sensors Haptic interfaces Tiles Robot sensing systems Force control Geometry

来源：评论

学校读者我要写书评

暂无评论

An unified approach to teleoperation: human and robot integration

An unified approach to teleoperation: human and robot integr...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Sooyong Lee Dae-Seong Choi Munsang Kim Chong-Won Lee Jae-Bok Song Advanced Robotics Research Center Korea Institute of Science and Technology (KIST) Seoul Korea Department of Mechanical Engineering Korea University Seoul Korea

ISBN: (纸本)0780344650

To increase the accuracy and the reliability of teleoperation, close interaction between human and the slave robot is required. Korea Institute of Science and Technology (KIST) is developing a Humanoid robot, which has two 9-DOF arms, two 4-DOF hands, a 3-DOF waist and a 2-DOF neck. An automatic path planner which takes advantage of redundancy is also developed, but it requires huge computational power and time. For tasks which are very complex, or interacting with environments, robot path can be generated very easily and accurately by human teaching, hence the automatic path planner is not required. Using sensors, human motion is analyzed and converted to robot joint angles. For tasks interacting with unknown environment, teleoperation with force feedback is more useful. A simple platform-type master arm is designed based on the kinematic analysis of human. For force reflection, the pneumatic actuators are used. This device is integrated with KIST Humanoid robot as well as graphic simulator, so that the master arm can be used for teaching the robot or as the virtual reality device integrated with the graphic simulator. Force reflecting master hand is also developed. These force reflecting master arm and hand are very light and compact so that a human can wear easily while he feels the same force as the robot does while giving position command to the slave robot. In addition to master arm/hand, visual information is feedback to human through HMD for higher interaction. Therefore, a new way of integration of human and the robot is developed.

关键词： robotics and automation Humanoid robots Human robot interaction Robot sensing systems Educational robots Education Graphics Manipulators Neck Redundancy

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Ki Cheol Park Pyung Hun Chang Seung Ho Kim Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Taejon South Korea Department of Advanced Robotics Development Korea Atomic Energy Research Institute Taejon South Korea

ISBN: (纸本)078034300X

关键词： Quadratic programming Redundancy Kinematics Manipulator dynamics Delay estimation mechanical engineering Torque control Velocity control Trajectory Constraint optimization

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：