In this paper, a modular designed automatic screw tightening shaft system, which is based on enhanced variable gain PID control, is proposed. Designed for the autonomous screw tightening operation, the screw tightenin...
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We developed a software system for operating the humanoid robot DRC-HUBO+ in disaster circumstances that the US Defense advanced Research Projects Agency suggested. This system was developed under the consideration of...
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ISBN:
(纸本)9781479968862
We developed a software system for operating the humanoid robot DRC-HUBO+ in disaster circumstances that the US Defense advanced Research Projects Agency suggested. This system was developed under the consideration of the stability of whole system, the systemic software environment for multiple developers, and the recovery routine when the system encounters a seriously abnormal situation. With these design goals, we devised our strategy for three domains: system, vision, and communication. Following the strategy we made two software frameworks (PODO and VPC) and one logical flow of data for remote process management. With this software system, we conducted all Tasks in the DARPA robotics Challenge Finals, and we won the competition.
This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering ...
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ISBN:
(纸本)9781479968862
This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.
Falls of the elderly are a major public health concern. In this paper, we develop an effective fall detection algorithm for application in continuous-wave radar systems. The proposed algorithm exploits time-frequency ...
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Falls of the elderly are a major public health concern. In this paper, we develop an effective fall detection algorithm for application in continuous-wave radar systems. The proposed algorithm exploits time-frequency characteristics of the radar Doppler signatures, and the motion events are classified using the joint statistics of three different features. The effectiveness of the proposed technique is verified through measurement data.
In cloud manufacturing system, the distributed stored knowledge is in multiple forms and structure, and its contents are in multiple fields. In this paper, a semantic search engine method based on shared ontology is p...
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A new control scheme for position-orientation tracking of underactuated quadrotor robotic vehicle is proposed. A quaternion-based sliding surface parametrizes the open-loop error equation of orientation dynamics, then...
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ISBN:
(纸本)9781457710957
A new control scheme for position-orientation tracking of underactuated quadrotor robotic vehicle is proposed. A quaternion-based sliding surface parametrizes the open-loop error equation of orientation dynamics, then a second order sliding mode (SOSM) is synthesized for global exponential stabilization of attitude coordinates along an orientation equilibrium manifold. This SOSM for any initial condition leads to a simplified design of a torque PD controller for position dynamics, for globally uniformly ultimately bounded of position trajectories. The SOSM reacts to the effect of the PD as if it were an endogenous persistent disturbance, which vanishes until it reaches its equilibrium position manifold. In contrast to other results that consider the full model without linearization nor further simplifications, our proposal yields a controller which is smooth and does not require the dynamic model. Since the parametrization of attitude representation is global, aggressive maneuvering capabilities are exhibited. Simulations are presented for a variety of flight regimes, including carry out helixes and loops at high angular velocities. Real-time experiments provide a glimpse of the closed-loop performance for a custom made quadrotor.
The AAAI-11 workshop program was held Sunday and Monday, August 7-18, 2011, at the Hyatt Regency San Francisco in San Francisco, California USA. The AAAI-11 workshop program included 15 workshops covering a wide range...
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In order to approach human hand performance levels, artificial anthropomorphic hands/fingers have increasingly incorporated human biomechanical features. However, the performance of finger reaching movements to visual...
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ISBN:
(纸本)9781424441198
In order to approach human hand performance levels, artificial anthropomorphic hands/fingers have increasingly incorporated human biomechanical features. However, the performance of finger reaching movements to visual targets involving the complex kinematics of multijointed, anthropomorphic actuators is a difficult problem. This is because the relationship between sensory and motor coordinates is highly nonlinear, and also often includes mechanical coupling of the two last joints. Recently, we developed a cortical model that learns the inverse kinematics of a simulated anthropomorphic finger. Here, we expand this previous work by assessing if this cortical model is able to learn the inverse kinematics for an actual anthropomorphic humanoid finger having its two last joints coupled and controlled by pneumatic muscles. The findings revealed that single 3D reaching movements, as well as more complex patterns of motion of the humanoid finger, were accurately and robustly performed by this cortical model while producing kinematics comparable to those of humans. This work contributes to the development of a bioinspired controller providing adaptive, robust and flexible control of dexterous robotic and prosthetic hands.
The improved full pneumatic climbing robot Sky Cleaner IV has recently been developed as an intelligent demonstrator and test bed for the implementation of nonlinear locomotion control. Pneumatic actuators control the...
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The improved full pneumatic climbing robot Sky Cleaner IV has recently been developed as an intelligent demonstrator and test bed for the implementation of nonlinear locomotion control. Pneumatic actuators control the robot's movement, reducing its weight and increasing its dexterity. The pneumatic system of the robot includes X, Y and Z cylinders, a waist cylinder, brush cylinders and vacuum suckers. The major challenge of the pneumatic system is to achieve precise position control of the two rodless linear X and Y cylinders since the system is nonlinear. Two novel ideas are introduced to the pneumatic actuating system. Firstly, the X and Y cylinders feature an improved pneumatic scheme that drives two groups of four 2-position-2-port high speed on-off valves to adjust the pressure in the two chambers of each cylinder. This improves the pneumatic stiffness of the cylinders remarkably. Secondly, considering the effects of friction and movement acceleration of the cylinder, a compensating variable bang-bang controller is presented to control the cylinders' movement and keep the merits while eliminating the oscillation. The experimental results prove that the two approaches can effectively improve the system's stiffness and control its quality.
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