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检索条件"机构=Center for Distributed Robotics"

共 87 条记录，以下是21-30 订阅

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Robotic Tumbling Locomotion

Robotic Tumbling Locomotion

引用

2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Brett Hemes Dario Canelon Justin Dancs Nikolaos Papanikolopoulos Center for Distributed Robotics University of Minnesota Minneapolis MN 55455

In this paper we introduce tumbling, a relatively unexplored method of locomotion in which the robot utilizes net body rotations while ambulating. Tumbling for mobile robots is attractive in that it can enable increased mobility on smaller scales, often while reducing hardware requirements. As motivation for this interesting form of locomotion we provide a geometric analysis of a vertical step climbing task, one that tumbling robots perform well with respect to their size and complexity. In addition to our analysis we present results of a hardware experiment with a tumbling robot performing the task for varying combinations of frictional coefficients at the step and ground.

关键词： Wheels Trajectory Legged locomotion Collision avoidance Manipulators

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A GUI Framework for GPS-Enabled Robotic Guidance

A GUI Framework for GPS-Enabled Robotic Guidance

引用

IEEE International Symposium on Intelligent Control (ISIC)

作者： M. Janssen B.A. Miller A. Drenner N. Papanikolopoulos Center for Distributed Robotics University of Minnesota Minneapolis MN USA

A framework has been developed to address difficulties in controlling teams of heterogeneous robots built around the integration of spatial data used with GPS-enabled robots. The spatial data is in the form of an aerial photograph. This framework centers around a GUI capable of controlling single or multiple robots, displaying information from the robots, and performing large scale path planning for multiple robots. Several experiments using this system have been conducted and the results are discussed

关键词： Graphical user interfaces Robot kinematics Robot sensing systems Global Positioning System Land vehicles Unmanned aerial vehicles Humans Navigation Path planning Reconnaissance

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Increasing the Scout's effectiveness through local sensing and ruggedization

Increasing the Scout's effectiveness through local sensing a...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： A. Drenner M.A. LaPoint I. Burt K. Cannon C. Hays A.D. Kottas N. Papanikolopoulos Center for Distributed Robotics University of Minnesota Minneapolis MN USA

The Scout is a miniature robot capable of performing surveillance and reconnaissance applications. However, the small size of the Scout limits the on-board processing capability and thus requires that the primary sensing modality (vision) be processed remotely. This creates a dependence upon a video channel which can become a severe bottleneck when attempting to use large numbers of robots. This paper discusses the newest generation of the Scout, the COTS 3.0, which attempts to reduce the effect of the communication bottleneck by using more local sensing capabilities to achieve a degree of autonomous functionality. Several experiments showing the durability of the new COTS Scout and the autonomous capability are presented.

关键词： Robot sensing systems Costs Robot vision systems Cameras Production Reconnaissance Surveillance Hazardous areas Relays Communication channels

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Frictional step climbing analysis of tumbling locomotion

Frictional step climbing analysis of tumbling locomotion

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Brett Hemes Nikolaos Papanikolopoulos Center for Distributed Robotics University of Minnesota Minneapolis MN USA

Tumbling robots provide the potential to produce increased mobility on smaller scales with respect to their size and/or complexity. In this paper we explore the frictional interactions between a tumbling robot and the terrain while climbing a single vertical step to illustrate the advantages of tumbling. We present a set of parametric configuration equations that express the relationships between the robot's configuration parameters (morphology, geometry, mass, etc.), the environmental/task parameters (step geometry, available coefficients of friction, etc.), and the performance parameters (step height). The required body coefficient of friction is examined in detail for idealized tumbling and wheel-tail robots.

关键词： Friction Equations Mathematical model Robot sensing systems Legged locomotion

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Design of an improved land/air miniature robot

Design of an improved land/air miniature robot

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Alex Kossett Ruben D'Sa Jesse Purvey Nikolaos Papanikolopoulos Center for Distributed Robotics University of Minnesota Minneapolis MN USA

ISBN: (纸本)9781424450381;9781424450404

Small ground robots remain limited in their locomotion capabilities, often prevented from accessing areas restricted by tall obstacles or rough terrain. This paper presents the improved design of a hybrid-locomotion robot made to address this issue. It uses wheels for ground travel and rotary-wing flight for scaling obstacles and flying over rough terrain. The robot's initial design suffered from a number of issues that prevented it from functioning fully, such as overheating motors, inadequate control electronics, and insufficient landing gear. Several improvements have been made to the robot's design to correct these problems. These obstacles, and the solutions implemented in the improved design, have enabled several design principles to be formulated for miniature hybrid-locomotion robots. It is found that hybrid-locomotion vehicles utilizing rotary-wing flight are most useful when the design is optimized for ground mode performance. Collapsibility is necessary in such vehicles to reduce the impact of the helicopter rotor on the size of the ground mode. Finally, since a large number of actions are necessary to propel and transform the robot, integrating multiple functions into each mechanism can reduce the mass of the robot.

关键词： Mobile robots Rotors Leg robotics and automation Legged locomotion Land vehicles Road vehicles Unmanned aerial vehicles Helicopters Shafts

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Solar powered unmanned aerial vehicle for continuous flight: Conceptual overview and optimization

Solar powered unmanned aerial vehicle for continuous flight:...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Scott Morton Luke Scharber Nikolaos Papanikolopoulos Center for Distributed Robotics University of Minnesota Minneapolis MN USA

An aircraft that is capable of continuous flight offers a new level of autonomous capacity for unmanned aerial vehicles. We present an overview of the components and concepts of a small scale unmanned aircraft that is capable of sustaining powered flight without a theoretical time limit. We then propose metrics that quantify the robustness of continuous flight achieved and optimization criteria to maximize these metrics. Finally, the criteria are applied to a fabricated and flight tested small scale high efficiency aircraft prototype to determine the optimal battery and photovoltaic array mass for robust continuous flight.

关键词： Aircraft Arrays Drag Batteries Photovoltaic systems Aircraft propulsion

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A Robust Miniature Robot Design for Land/Air Hybrid Locomotion

A Robust Miniature Robot Design for Land/Air Hybrid Locomoti...

引用

2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Alex Kossett Nikolaos Papanikolopoulos Center for Distributed Robotics University of Minnesota Minneapolis MN 55455

The utility of miniature ground robots has long been limited by reduced locomotion capabilities compared to larger robots. Many avenues of research have been pursued to improve ground locomotion to alleviate this issue. In this paper, another option is explored in which a small ground robot is equipped with the ability to fly, allowing it to move to previously unreachable areas if necessary. The robot design is presented with an emphasis on mechanical aspects. The design utilizes a minimalistic two-wheeled ground mode to minimize weight, and a rotary-wing flight mode, enabling transformations at will. The transition between modes requires a transformation wherein the robot tips itself on-end and unfolds rotors or vise versa. The design presented herein is an improvement upon previous designs using the same concept;it is more robust in both its transformation process and locomotion capabilities [1], [2]. In addition to a new robot design, two new principles for the design of such robot are proposed: protection of flight mode components and isolation of the two modes’ drivetrains.

关键词： Rotors Force Actuators Springs Mobile robots Wheels

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No fear: University of Minnesota robotics Day Camp introduces local youth to hands-on technologies

No fear: University of Minnesota Robotics Day Camp introduce...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： K. Cannon M.A. LaPoint N. Bird K. Panciera H. Veeraraghavan N. Papanikolopoulos M. Gini Center for Distributed Robotics University of Minnesota Minneapolis MN USA

Women and minorities are underrepresented in the IT field at the high school, university, and industry levels. Efforts to address this imbalance are often too late to solve underlying problems such as perceived ineptitude and actual inexperience. By designing and hosting a program for these underrepresented students in the middle grades, the center for distributed robotics at the University of Minnesota hopes to establish a successful annual robotics day camp which would inspire both women and minorities to pursue careers in technology. Detailed accounts of the goals and methodology are provided. Initial survey results reveal a very positive response from the campers as well as strengths and weaknesses which would be useful in designing or refining similar camps

关键词： Educational institutions Birds Service robots Robot sensing systems Computer science Engineering profession Urban areas Hardware Reflection Employment

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Aquapod: A small amphibious robot with sampling capabilities

Aquapod: A small amphibious robot with sampling capabilities

引用

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Sandeep Dhull Dario Canelon Apostolos Kottas Justin Dancs Andrew Carlson Nikolaos Papanikolopoulos Center for Distributed Robotics University of Minnesota Minneapolis MN USA

Mobile robots are often proposed as a favorable substitute to human correspondence in emergency response, disaster relief, and environmental monitoring scenarios. In this work, the next iteration of the Aquapod is proposed as a method to facilitate collection of subsurface liquid samples in order to assess toxicity levels in a body of water. This amphibious small form-factor robot is equipped with a buoyancy control unit, detachable fluidic sampling unit, and a wide range of sensing and processing capabilities. The robot was designed to move and collect water samples to a maximum depth of ten meters. Its unique form of tumbling locomotion results in a versatile platform that can be used in both terrestrial and aquatic environments leveraging its high mobility-to-size ratio.

关键词： Robot sensing systems Seals Structural rings Chemicals Servomotors Batteries

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Closed dynamic contour models that split and merge

Closed dynamic contour models that split and merge

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S.A. Stoeter N. Papanikolopoulos Center for Distributed Robotics University of Minnesota Minneapolis MN USA

Classical dynamic contours (snakes) suffer from their inability to properly address the crossover problem. In the closed contour case, a part of the snake inverts and expands without bounds. This paper proposes a novel approach to handle inversions by splitting the contour at the points of self-intersection. Separated parts that are inverted are destroyed while the remaining parts are used to seed new snakes. Collisions of snakes cause them to merge. The probability of crossovers is further reduced by an efficient reparameterization procedure. The method is successfully applied to the challenging task of tracking the globule in a motion lamp.

关键词： Computer vision Active contours Noise shaping Humans Shape Convergence Robots Tracking Lamps Mathematical model

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