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IEEE International Conference on robotics and Automation (ICRA)

作者： Ribin Balachandran Mikael Jorda Jordi Artigas Jee-Hwan Ryu Oussama Khatib Department for Analysis and Control of Advanced Robotic Systems German Aerospace Center (DLR) Germany Robotics Lab Stanford University Stanford USA BioRobotics Laboratory of Korea University of Technology and Education Cheonan Korea

Direct force control of robots is challenging, particularly since the interaction with the environment can render the robot unstable. This paper presents the results of novel approaches for passivity-based stability for a particular direct force control method, namely explicit force control. A step-by-step procedure to passivate and stabilise the control loop is presented and it explains how Time Domain Passivity Approach, a passivity-based tool widely used in teleoperation and haptics has been extended and applied in explicit force control. The electrical circuit and network-port representations derived in the process allows the analytical evaluation of the system and can be applied in other control architectures as well. The stability methods are presented both qualitatively and quantitatively with simulations and hardware experiments. A discussion about the results obtained and the energy behavior is also provided. Results are promising and suggest that these methods can be used for stable and high-bandwidth force control of robotic manipulators.

关键词： Force Force control Robots Iron Stability criteria Ports (Computers)

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Impedance matching strategy for physical human robot interaction control

Impedance matching strategy for physical human robot interac...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Xiongjun Chen Chenguang Yang Cheng Fang Zhijun Li Key Laboratory of Autonomous Systems and Networked Control South China University of Technology Guangzhou China Zienkiewicz Centre for Computational Engineering Swansea University UK Department of Advanced Robotics Istituto Italiano di Tecnologia Genova Italy

Effective and stable execution of a human-robot interaction task requires the force and position trajectories of the robot are commanded properly according to the time-varying human arm behavior. In this paper, we aim to realize a direct and physical interaction task between the human hand and robotic arm end-effector. A computationally efficient Cartesian stiffness estimation model of human arm is first employed, which accounts for the geometric and volume modifications of the Cartesian stiffness profile through the arm posture and the activation levels of the two dominant upper arm muscles (i.e., Biceps and Triceps) respectively. Two Myo armbands are attached on the upper arm and the forearm with their built-in gyroscopes and wireless electromyography sensors (EMG) tracking the arm posture and the activation levels of the two muscles respectively. This stiffness estimation model is then extended to the full impedance sense by considering the mass and damping items supplementarily. Once the impedance estimation model is available after the calibration in various arm configurations and muscle activation levels. We employed Linear Quadratic Regulator (LQR) to computing the corresponding impedance model of the robot to match the estimated human arm behavior. An adaptive controller base on Function Approximation Technique (FAT) is employed to control the robot trajectory in joint space to realize the matching impedance behavior. The corresponding simulation results show that the proposed scheme is stable and effecitve.

关键词： Manipulators Impedance Robot sensing systems Muscles Electromyography Jacobian matrices

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Robot Teaching by Teleoperation Based on Visual Interaction and Neural Network Learning

Robot Teaching by Teleoperation Based on Visual Interaction ...

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2017 9th International Conference on Modelling, Identification and control (ICMIC 2017)

作者： Yang Xu Chenguang Yang Junpei Zhong Hongbin Ma Lijun Zhao Min Wang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of Technology National Institute of Advanced Industrial Science and Technology School of Automation Beijing Institution of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology

Traditional methods of Robot teaching require human demonstrators to program with a teaching pendant,which is a complex and time-consuming *** this paper,we propose a novel method based on teleoperation which allows a demonstrator to train robot in an intuitive *** specifically,at the beginning the demonstrator controls a robot by visual *** then a learning algorithm based on radial basis function(RBF) network is used to transfer the demonstrator's motions to the *** verify the effectiveness of this developed methods,several simulation experiments have been carried out which based on Microsoft Kinect Sensor and the Virtual Robot Experimentation Platform(V-REP).The experimental results show that this method has achieved satisfactory *** the help of this method,the robot can not only complete the task autonomously after teaching,but also can learn the details of demonstrator's behavior.

关键词： Robot Teaching Teleoperation radial basis function(RBF) network

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Cooperative load transport based on fuzzy logic controllers

Cooperative load transport based on fuzzy logic controllers

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IEEE/IAS International Conference on Industry Applications (INDUSCON)

作者： Marco Antonio Teixeira Higor Barbosa Santos Andre Schneider de Oliveira João Alberto Fabro Lucia Valeria Ramos de Arruda Flavio Neves-Jr Federal University of Technology — Parana Curitiba Parana Brazil Automation and Advanced Control System Laboratory (LASCA) Advanced Laboratory of Embedded Systems and Robotics (LASER)

This work presents the use of multiple mobile robots to perform a common transportation task. The main objective is to perform a navigation with a shared cargo, which allows the transport of objects with high payload or high sizes. Two robots are virtually linked through two Fuzzy controllers, one to control distance and another for orientation. A depth camera on the trailer's robot is used to measure the distance and orientation of the leader robot. The proposed approach is experimentally validated with two standard Pioneer mobile robots that collaboratively carry a large box.

关键词： Robot kinematics Robot sensing systems Mobile robots Payloads Three-dimensional displays Lasers

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On Simulation for Fuzzy control on Oxygen Concentration of the Mixed Air Supplied by Breathing Adjuster 34

On Simulation for Fuzzy Control on Oxygen Concentration of t...

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第三十四届中国控制会议

作者： SUN Hao WANG Shou-jun SUN Qing-lin Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System The College of Mechanical Engineering Tianjin University of Technology The College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics

ISBN: (纸本)9781467374439

The breathing adjuster is the core component of life support system of an aircraft and it is very important to control the valve to make the breathing adjuster supply the pilot the mixed air with the suitable oxygen concentration. In this paper the mathematical model, which describes the relation between the opening degree of the valve of the breathing adjuster and the flight altitude of the aircraft, is set up through analyzing requirement of aviation physiology and working principles of the breathing adjuster. Then a fuzzy controller is designed to control the opening degree of the valve in order to make the breathing adjuster supply to the pilot the mixed air with suitable oxygen concentration. Finally MATLAB Simulink is employed to verify the feasibility and validity of the fuzzy controlling approach. The results of simulating experiments show that the fuzzy control approach proposed in this paper can make the breathing adjuster supply the mixed air with suitable oxygen concentration to the pilot boarded on an aircraft.

关键词： Breathing adjuster,Oxygen concentration,the opening degree of the valve,Fuzzy control,Simulation

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A kind of online self-tuning smith predictor

A kind of online self-tuning smith predictor

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IEEE International Conference on Mechatronics and Automation

作者： Xu Chen Fei Meng Xiaopeng Chen Qiang Huang Intelligent Robotics Institute Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and System Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing China International Joint Research Laboratory of Biomimetic Key Laboratory of Intelligent Control and Decision of Comp lex System Beijing China

ISBN: (纸本)9781509023974

This paper presents an online self-tuning Smith Predictor for the First Order Plus Dead Time Model (FOPDT). It can tune time delay through oscillated input and output. Realtime phase difference detection is used to obtain the phase difference between the input and the output. An online tuner is used to minimize the phase difference. Once the phase difference is minimized, the exact time delay is completely compensated. Our method is suitable for both systems with constant time delay or variant time delay.

关键词： Delay effects Temperature control Delays Predictive models Oscillators Robots

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The PANDORA project: a success story in AUV autonomy

The PANDORA project: a success story in AUV autonomy

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Oceans (conference)

作者： Francesco Maurelli Marc Carreras Joaquim Salvi David Lane Maria Fox Derek Long Petar Kormushev Darwin Caldwell Kostas Kyriakopoulos George Karras Chair of Robotics and Embedded Systems (I6) Technische Universit?t München Garching bei München DE Depart. dArquitectura i Tecnologia de Computadors Universitat de Girona Girona Spain Ocean Systems Laboratory Heriot-Watt University Edinburgh Scotland UK Department of Informatics Kings College Londons London UK Advanced Robotics Department Italian Institute of Technology Genoa Italy Control Systems Laboratory National Technical University of Athens Athens Greece

ISBN: (纸本)9781467397254

This paper presents some of the results of the EU-funded project PANDORA - Persistent Autonomy Through Learning Adaptation Observation and Re-planning. The project was three and a half years long and involved several organisations across Europe. The application domain is underwater inspection and intervention, a topic particularly interesting for the oil and gas sector, whose representatives constituted the Industrial Advisory Board. Field trials were performed at The Underwater Centre, in Loch Linnhe, Scotland, and in harbour conditions close to Girona, Spain.

关键词： PANDORA project AUV

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[email protected] : Analysis and results of evolving competitions for domestic and service robots

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Artificial Intelligence 2015年 229卷 258-281页

作者： Luca Iocchi Dirk Holz Javier Ruiz-del-Solar Komei Sugiura Tijn van der Zant Department of Computer Control and Management Engineering Sapienza University of Rome Italy Autonomous Intelligent Systems Group University of Bonn Germany Department of Electrical Engineering & Advanced Mining Technology Center Universidad de Chile Chile Information Services Platform Laboratory National Institute of Information and Communications Technology Japan Cognitive Robotics Laboratory University of Groningen The Netherlands

Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences. One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions. In this article, we present the [email protected] competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that [email protected] robots can solve but also the increased performance for all of the functionalities addressed in the competition. We believe that the methodology used in [email protected] for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and robotics.

关键词： Robotic competitions Artificial intelligence and robotics Benchmarking

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Co-simulation Research of Autonomous Landing control System 33

Co-simulation Research of Autonomous Landing Control System

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第三十三届中国控制会议

作者： WANG Zhaoning WU Shengxi DUN Xiangming GU Xingsheng Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Research Institute of Robotics Shanghai Jiao Tong University

ISBN: (纸本)9781479947249

In this paper, a control simulation of the autonomous landing process of a Vertical Take-Off and Landing(VTVL) Reusable Launch Vehicle(RLV) is proposed and we consider the effects of the inner liquid propellant sloshing, elastic vibration, disturbance force, disturbance torque and other complex conditions in the virtual RLV model. On the basis of dynamics modeling of the RLV, we analyzed RLV's landing process. The landing control system was designed under certain conditions. Co-simulation Research was achieved by ADAMS and MATLAB/Simulink. The simulation results show that the control system performs well.

关键词： vertical take-off and landing autonomous landing reusable launch vehicle control system co-simulation research

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Aerodynamic analysis and performance of a mini airplane UAV

Aerodynamic analysis and performance of a mini airplane UAV

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： F. Guerrero V. Martinez O. Garcia A. Sanchez E. S. Espinoza CIIIA-FIME-UANL Aerospace Engineering Research and Innovation Center Monterrey Nuevo Leon Mexico CINVESTAV Laboratory of Non-inertial Robots and Man-machine Interfaces Monterrey Nuevo Leon Mexico Robotics and Advanced Manufacturing Division CINVESTAV Saltillo Coahuila Mexico LAFMIA-UMI CNRS 3175 French-Mexican Laboratory on Computer Science and Control Mexico D.F. Mexico

ISBN: (纸本)9781479960118

This paper focuses on the aerodynamic design and performance of a mini airplane UAV. The mini aerial vehicle is based on a conceptual design considering a high aerodynamic finesse (a high ratio between lift and drag), flying and handling qualities in order to perform a reliable and stable flight. The equations of motion are described using the Newton-Euler formulation and the stability derivatives are obtained from the aerodynamic design of the aerial vehicle. A static analysis is presented in order to study the mini airplane in trim condition. Simulations illustrate the performance for the closed-loop system of the aerial vehicle. The platform and its avionics are developed using low-cost, easy operation, sensors and components.

关键词： Aerodynamics Airplanes Vehicles Mathematical model Stability analysis Vehicle dynamics

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