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检索条件"机构=Center for Technologies in Robotics and Mechatronics Components"

共 242 条记录，以下是121-130 订阅

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Numerical Optimisation-Based Control Pipeline for Robot Arm for Machine Learning Experiments

Numerical Optimisation-Based Control Pipeline for Robot Arm ...

引用

International Russian Automation Conference (RusAutoCon)

作者： Sergei Savin Svyatoslav Golousov Mikhail Ivanov Alexander Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

In this paper, a control pipeline for an industrial robot arm is presented. The robot is proposed as a test bench for machine learning experiments, where it is important to have a reliable and repeatable behavior of the robot while its control system needs to be flexible. The proposed controller is model-based, and is implemented as a quadratic program, imitating feedback linearization and computed torque controller with stable control error dynamics. The paper discusses practical aspects of the software suit developed for the project and presents a favorable set of the third party packages which allowed to create a fast and reliable implementation of the proposed control scheme. The properties of the proposed control were studied using simulation in the Gazebo environment.

关键词： Manipulators Service robots Control systems Task analysis Robot kinematics Pipelines

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Unmanned Aerial Vehicle Path Planning for Exploration Mapping

Unmanned Aerial Vehicle Path Planning for Exploration Mappin...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Victor Massague Respall Dmitry Devitt Roman Fedorenko Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

This paper presents a new path planner for the exploration of previously unknown environments. The proposed algorithm uses a Next-Best-View (NBV) fashion to decide the movements ahead. A Rapidly-Exploring Random Tree (RRT) is built and the node with the highest gain is the next configuration to execute, based on the amount of unmapped volume in the field of view (FoV) of the sensor employed. The proposed planner is able to send online a 3D occupancy map of the volume and work with a variety of different depth sensors. The performance is analyzed in various challenging simulations, such as exploration of a city street or a narrow tunnel. Moreover, real experiments indoor and outdoor were conducted to further validate the proposed approach results. In cases with large scale volumes, it can cover a wide range in affordable flight time.

关键词： Three-dimensional displays Laser radar Urban areas Robot sensing systems Sampling methods Path planning Unmanned aerial vehicles

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Mean phase coherence modified for piecewise constant phase difference data 3

Mean phase coherence modified for piecewise constant phase d...

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3rd School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2019

作者： Khorev, Vladimir Department of Dynamic Modeling and Biomedical Engineering Saratov State University Saratov Russia Neuroscience and Cognitive Technology Lab Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

We propose a modification of the mean phase coherence method based on the statistics arrange of phase difference data. The modification aimed towards better analysis of data of coupled oscillators under influence of s... 详细信息

ISBN: (纸本)9781728124704

关键词： Synchronization Coherence Oscillators Couplings Indexes Time series analysis Delays

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Walking Robot Control with a Machine Learning-based Ground Reaction Force Predictor and Generated Linear Contact Model∗

Walking Robot Control with a Machine Learning-based Ground R...

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2021 International Conference "Nonlinearity, Information and robotics", NIR 2021

作者： Savin, Sergei Golousov, Svyatoslav Zalyaev, Eduard Salikhzyanov, Alek Klimchik, Alexandr Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis420500 Russia Technology Arrival Ltd Banbury United Kingdom Edge Vision Ltd. Innopolis420500 Russia

ISBN: (纸本)9781665424066

This paper aims to present a comprehensive view on a new control method for legged robot: data-driven ground reaction predictor-based control. The idea of the method is to use machine learning tools to build a reliable predictor for ground reaction forces and then exclude them from the control formulation by building local contact interaction models. The advantage of this approach is twofold: first, it allows to avoid making models for every contact scenario, which become less accurate as the robot changes during its life cycle;instead it relies on the data gathered by the robot's sensors. Second, it allows the use of the wealth of the control methods designed for the serial robots, as is demonstrated in the paper. The paper shows three experiments: with a planar walking robot, with a simplified three dimensional model tailored for optimization-based control, and with AR-601 humanoid robot. © 2021 IEEE.

关键词： Anthropomorphic robots

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Algebraic approach to the stiffness model reduction for manipulators with double encoders

Algebraic approach to the stiffness model reduction for mani...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Stanislav Mikhel Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

The paper is focused on the problem of the stiffness model estimation that could be used in combination with double encoders for the detection of the compliance errors and applied forces. Algebraic approach is proposed based on knowledge of link stiffness parameters and kinematics of the robot. The application of this technique is demonstrated in the example of a 3-link manipulator.

关键词： Jacobian matrices Parameter estimation Robot kinematics Kinematics Manipulators Reduced order systems Numerical models

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Human-robot interaction for robotic manipulator programming in Mixed Reality

Human-robot interaction for robotic manipulator programming ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mikhail Ostanin Stanislav Mikhel Alexey Evlampiev Valeria Skvortsova Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

The paper presents an approach for interactive programming of the robotic manipulator using mixed reality. The developed system is based on the HoloLens glasses connected through Robotic Operation System to Unity engine and robotic manipulators. The system gives a possibility to recognize the real robot location by the point cloud analysis, to use virtual markers and menus for the task creation, to generate a trajectory for execution in the simulator or on the real manipulator. It also provides the possibility of scaling virtual and real worlds for more accurate planning. The proposed framework has been tested on pick-and-place and contact operations execution by UR10e and KUKA iiwa robots.

关键词： Virtual reality Trajectory Collision avoidance Manipulators Programming Service robots

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Convex Optimization-based Stiffness Control for Tensegrity Robotic Structures

Convex Optimization-based Stiffness Control for Tensegrity R...

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Mediterranean Conference on Control and Automation (MED)

作者： Sergei Savin Oleg Balakhnov Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728157429

ISBN: (纸本)9781728157436

In this paper, the problem of controlling compliance of a robotic tensegrity structure (finding the state of the structure which produces desired stiffness) is discussed. Tensegrity structures have a number of unique properties: they are well suited for uncertain environments, are easily deployed, impact resistant, foldable and light-weight and thus provide a desirable component for a number of robotics applications. They are currently being studied as a structural element of robotic extraterrestrial probes, crawling robots, swimming robots and others. The compliance control problem here is solved by a convex relaxation of the original nonconvex program, which in turn is done by introducing two linear models: one for the stiffness matrix and one for the elastic forces. Solution accuracy is controlled by introducing an iterative scheme, solving the convex problem on each iteration. Proposed algorithm converges providing accuracy better than 10 -2 N/m in terms of stiffness using only 10 iterations of the algorithm, and the accuracy of force equilibrium is better than 1 N.

关键词： Robots Force Collision avoidance Optimization Mathematical model Jacobian matrices Task analysis

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Convex Optimization-based Motion Planner for Linear Variable Stiffness Actuators 2019

Convex Optimization-based Motion Planner for Linear Variable...

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Proceedings of the 2019 2nd International Conference on Control and Robot Technology

作者： Sergei Savin Svyatoslav Golousov Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781450372527

This paper is focused on control of variable stiffness actuators (VSA). One of the new approaches in this area is based on a linear VSA model, whose main features are the directly controlled linear stiffness dynamics and bilinear output torque model. The paper tackles the problem of motion planning for linear VSA. While the problem appears to be non-convex, the study demonstrates that it is possible to introduce a new parametrization of the model that produces a convex optimization formulation. It is proposed to limit the power input allowed for the controller, making sure that it does not exceed the physical capabilities of the motors implementing the trajectories. The paper shows the behavior of the planer when it reaches the limits of the allowed power input. The paper demonstrates the use of the proposed planner in planning trajectories for a lower-limb exoskeleton performing sit-to-stand transfer.

关键词： linear variable stiffness actuator trajectory planning convex optimization

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Differences in optimal community structure in brain connectivity organization in major depressive disorder 8

Differences in optimal community structure in brain connecti...

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8th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2024

作者： Khorev, Vladimir Kurkin, Semen Paunova, Rositsa Bukina, Tatiana Stoyanov, Drozdstoy Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Baltic Center for Neurotechnology and Artificial Intelligence Immanuel Kant Baltic Federal University Kaliningrad Russia Plovdiv Medical University Plovdiv Bulgaria

ISBN: (纸本)9798350390834

We analyzed fMRI data from healthy control subjects (94 subjects) and patients with major depressive episode (70 patients). The preprocessed activity signals extracted with statistical parametric mapping from fMRI were divided into parcellations according to the anatomical labeling atlas. Our findings indicate that patients with major depressive disorder exhibit network organization that is both less locally specialized and less globally integrated. Specifically, our research reveals differences in network segregation rather than integration in patients. The discrepancies between our results and previous studies may be attributed to differences in methodology, depression diversity, sample sizes, and co-occurring factors such as stress and anxiety. © 2024 IEEE.

关键词： Brain mapping

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On Choosing Structure for a Machine Learning-based Reaction Force Predictor for Walking Robots

On Choosing Structure for a Machine Learning-based Reaction ...

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2020 International Conference on robotics and Artificial Intelligence, RoAI 2020

作者： Zalyaev, E. Savin, S. Salikhzyanov, A. Golousov, S. Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis420500 Russia Edge Vision Ltd. Innopolis420500 Russia Technology Arrival Ltd Banbury London United Kingdom

This paper focuses on the topic of contact reaction prediction for walking robots, namely on the analysis of performances on different structures of the machine-learning-based predictors. Predicting reaction forces is important due to the fact that it can allow us to retrieve a simplified model of the contact scenario, as was proposed in the literature preciously. This allows to turn the problem of contact model identification into a data collection and processing problem. In order to do it effectively, both a data compression (feature extraction) and regression strategies might be used. This research provides an analysis of both with respect to the discussed problem. © Published under licence by IOP Publishing Ltd.

关键词： Machine learning

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