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检索条件"机构=Automation Robotics Technology"

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Motion control system in a hybrid architecture for middle-size soccer robot

Motion control system in a hybrid architecture for middle-si...

引用

International Conference on Control, automation, robotics and Vision (ICARCV)

作者： Zhuang Yan Tang Shu-bo Liu Lei Wang Wei Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences China Research Center of Information and Control Dalian University of Technology Dalian China

ISBN: (纸本)0780386531

This paper proposes the motion control system in a hybrid architecture for middle-size soccer robot. A hybrid architecture combining hierarchical architecture and subsumption architecture is composed of four levels, such as the central control unit, the sensor information processing unit, the motion control system and the execution level. A local path planning algorithm fitting for autonomous soccer robot in dynamic environment is applied, and several actions and behaviors are properly designed for soccer robot motion control. The effectiveness of the proposed motion control system is validated by simulating and implementing it in a real soccer robot platform SmartROB2.

关键词： Motion control Robot sensing systems Centralized control Control systems Sensor systems Information processing Path planning Algorithm design and analysis Robot motion Robot control

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Mobile robot indoor map building and pose tracking using laser scanning

Mobile robot indoor map building and pose tracking using las...

引用

IEEE International Conference on Mechatronics and automation

作者： Zhuang Yan Tang Shubo Liu Lei Wang Wei Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Research Center of Information and Control Dalian University of Technology Dalian China

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Safety concept for robotic gait trainers

Safety concept for robotic gait trainers

引用

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

作者： H. Schmidt S. Hesse R. Bernhardt Department of Neurological Rehabilitation University Hospital Charité Berlin Germany Department of Automation & Robotics Fraunhofer Institute of Production Systems and Design Technology (IPK) Berlin Germany

The work presents a newly developed safety concept for application of robotic walking simulators based on the principle of programmable footplates in gait rehabilitation. Unlike robotic hand devices or exoskeleton robots for gait training on treadmills, which can be built relatively lightweight and require only small drives which can hardly do harm to the patient, a programmable footplate walking simulator with permanent foot fixture essentially needs to have powerful drives in order to carry and move the full body weight of the patient. The developed safety concept comprises several redundant algorithms and devices in the real-time robot control software, electrical emergency stop circuitry and machine mechanics. The mechanical core is a machine design offering maximum passive security by covering all moving parts (i.e. robot drives and linkages) and a newly developed foot safety release binding, which is mounted on each footplate. The release binding allows a safe release from the footplate in all directions in any degree of freedom in the sagittal plane. It is combined with an ankle goniometer which is equipped with adjustable emergency stop limit switches, thus ensuring that the allowed ankle range-of-motion is not exceeded.

关键词： Railway safety Robots Legged locomotion Rehabilitation robotics Foot Software safety Exoskeletons Circuit simulation Fixtures Electrical safety

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Locomotion control of a novel snake-like robot

Locomotion control of a novel snake-like robot

引用

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Ye, Changlons Ma, Shugen Li, Bin Wang, Yuechao Robotics Laboratory Shenyang Institute of Automation Nanta Street Shenyang 110016 China Shenyang University of Technology Xinghua Street Shenyang 110023 China Faculty of Engineering Ibaraki University 4-12-1 Naka-Narusawa-Cho Hitachi-Shi 316-8511 Japan Graduate School Chinese Academy of Sciences 100039 China

ISBN: (纸本)0780384636

It is essential to design a joint mechanism for snake-like robots to exhibit more mobility, no singularity and powerful actuation for many applications. By adding a series of passive wheels to the perimeter of the newly designed joint mechanism with 3 DOFs, a snake-like robot provided with the characteristic of omnidirectional mechanism can traverse rough terrain and compensate the lack of actuation due to passive wheels. The nonholonomic constraints and kinematics are analyzed as well as the redundancy. The composite motion method and grouping alternation motion control method are thus proposed for the locomotion of robot and the avoidance of singularity. Also, the grouping alternation motion adds a new explanation to the sinus lifting locomotion of natural snake. Computer simulations validate both mobility of mechanism and effectiveness of control methods.

关键词： Mobile robots

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Upper and lower extremity robotic devices to promote motor recovery after stroke -recent developments

Upper and lower extremity robotic devices to promote motor r...

引用

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

作者： H. Schmidt S. Hesse C. Werner A. Bardeleben Department of Neurological Rehabilitation University Hospital Charité Berlin Germany Department of Automation & Robotics Fraunhofer Institute of Production Systems and Design Technology (IPK) Berlin Germany

Successful motor rehabilitation of stroke, TBI and SCI subjects requires an intensive and task-specific therapy approach. Budget constrains limit a hand-to-hand therapy approach, so that intelligent machines may offer a solution to further promote motor recovery and to better understand motor control. This new field of automated or robot-assisted motor rehabilitation has emerged since the nineties. The article presents clinically viable devices for the upper and lower extremity rehabilitation, which have been developed by our group. The Bi-Manu-Track, enables the bilateral practice of a forearm and wrist movement, and is currently tested. For gait rehabilitation after stroke, the electromechanical gait trainer GT I has proven effective as compared to treadmill training with body weight support (BWS). The latest development is the HapticWalker, a robotic walking simulator for gait training, which allows the training of arbitrary daily life foot trajectories. The foot trajectories can be individually adjusted to each patient, in addition the machine will offer a sophisticated patient-machine-interaction. A prototype of the machine has been designed and built succesfully and is being evaluated at present. Technical possibilities are one aspect, but multi-centre trials and the consideration of unsubstantiated fears among therapists of being replaced by the machines will decide on the successful implementation of this most promising field to the benefit of patients.

关键词： Extremities Rehabilitation robotics Medical treatment Legged locomotion Foot Intelligent robots Machine intelligence Motor drives robotics and automation Wrist

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引用

IEEE International Conference on robotics and Biomimetics

作者： Changlong Ye Shugen Ma Bin Li Yuechao Wang Shenyang University of Technology China Graduate School of Chinese Academy of Sciences China Robotics Laboratory Shenyang Institute of Automation China Faculty of Engineering Ibaraki University Japan

As a hyper-redundant robot, a 3D snake-like robot can perform many other configurations and types of locomotion adapted to environment except for mimicking the natural snake locomotion. The natural snake locomotion usually limits locomotion capability of the robot because of inadequacy in the mechanism and actuation to imitate characters of natural snake such as the too many DOFs and the characteristics of the muscle. In order to apply snake-like robots to the unstructured environment, the researchers have designed many gaits for increasing the adaptability to a variety of surroundings. The twist-related locomotion is an effective gait achieved by jointly driving the pitching-DOF and yawing-DOF, with which the snake-like robot can move on rough ground and even climb up some obstacles. In this paper, the twist-related locomotion function is firstly solved, and simplified to be expressed by sine or cosine function. The 2D locomotion such as V-shape and U-shape is achieved. Also by applying it to the serpentine locomotion or other types of locomotion, the snake-like robot can complete composite locomotion that combines the serpentine locomotion or others with twist-related locomotion. Then we extend the twist related locomotion to 3D space. Finally, the experimental results are presented to validate all above analyses

关键词： Propulsion robotics and automation Mobile robots Orbital robotics Kinematics Content addressable storage Muscles Animals Parallel robots Spine

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Turning and side motion of snake-like robot

Turning and side motion of snake-like robot

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Changlong Ye Shugen Ma Bin Li Yuechao Wang Shenyang University of Technology China Graduate School of Chinese Academy of Sciences China Robotics Laboratory Shenyang Institute of Automation Shenyang China Faculty of Engineering Ibaraki University Japan

With high adaptability to environments snakelike robots offer a variety of advantages over other mobile robots. Such a robot with passive wheels has quite different mechanism in locomotion from that of other locomotion systems. We have developed a snakelike robot for rescue applications. The unit composing the snakelike robot of Shenyang Institute of automation (SIA) is a module including actuating system and control system. To let the snakelike robot perform turning motion and compensate offset and orientation errors of the robot, we propose an amplitude modulation method and a phase modulation method based on analysis of the serpenoid curve. The side motion of the snakelike robot can also be generated by the amplitude modulation. The tracking control method is also proposed based on sensor information. Computer simulations and experimental tests are performed to show the validity of the proposed methods.

关键词： Turning Mobile robots robotics and automation Robot sensing systems Amplitude modulation Wheels Automatic control Control systems Motion analysis Computer errors

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An intelligent system for Aerial image Retrieval and Classification

引用

3rd Hellenic Conference on Artificial Intelligence, SETN 2004

作者： Gasteratos, Antonios Zafeiridis, Panagiotis Andreadis, Ioannis Laboratory of Robotics and Automation Section of Production Systems Department of Production and Management Engineering Democritus University of Thrace Building of University’s Library Kimmeria XanthiGR-671 00 Greece Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering Democritus University of Thrace Vassilisis Sophias 12 XanthiGR-671 00 Greece

ISBN: (纸本)3540219374

Content based image retrieval is an active research area of pattern recognition. A new method of extracting global texture energy descriptors is proposed and it is combined with features describing the color aspect of texture, suitable for image retrieval. The same features are also used for image classification, by its semantic content. An exemplar fuzzy system for aerial image retrieval and classification is proposed. The fuzzy system calculates the degree that a class, such as sea, clouds, desert, forests and plantations, participates in the input image. Target applications include remote sensing, computer vision, forestry, fishery, agricultures, oceanography and weather forecasting. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Fuzzy systems

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Autonomous mobile robot localization based on monocular vision in RoboCup

Autonomous mobile robot localization based on monocular visi...

引用

WCICA 2004 - Fifth World Congress on Intelligent Control and automation, Conference Proceedings

作者： Wang, Ke Guo, Xianjiu Zhuang, Yan Wang, Wei Res. Ctr. of Information and Control Dalian University of Technology Dalian 116024 China Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Science Shenyang 110016 China

Self-localization is an essential task for a robot operating in the RoboCup Middle-size league competition. A monocular vision method is proposed to re-position the mobile robot without prior pose estimate. The static environment is described as the global geometrical map consisting of field lines, which are projected into the image. By integrating the line direction derived from edge detector with the simplified Randomized Hough Transform, the proposed approach extracts the line segments to build the local map. Then via the map matching process, the mobile robot estimates its absolute position. Experimental results demonstrate the practicability. Performance of the approach suggested is also given.

关键词： Mobile robots

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Locomotion control of a novel snake-like robot

Locomotion control of a novel snake-like robot

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Changlong Ye Shugen Ma Bin Li Yuechao Wang Shenyang University of Technology Shenyang China Robotics Laboratory Shenyang Institute of Automation Shenyang China Graduate School Chinese Academy and Sciences China Faculty of Engineering Ibaraki University Hitachi Japan

关键词： Mobile robots Wheels Motion control Kinematics Tracking Computer simulation Animals Parallel robots Spine Lyapunov method

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