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

共 264 条记录，以下是111-120 订阅

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Workspace Analysis of Tensegrity Structures with an Iterative Energy-based Algorithm

Workspace Analysis of Tensegrity Structures with an Iterativ...

引用

Nonlinearity, Information and robotics, (NIR) International Conference

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

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

The paper studies the use of energy-based forward and inverse kinematics procedures for calculation of operational space of tensegrity robotics structures. Tensegrity structures are compliant and highly dynamical, which makes them a favorable robotics component for a number of difficult tasks (such as collaborative robotics, space exploration and others), but at the same times make trajectory planning and control highly non-trivial. In the paper it is demonstrated that the studied forward and inverse kinematics methods can be used to find workspaces of tensegrity structures, using six bar structure as an example. It is shown that the method can adjust to the choice of actuated and passive elastic elements, making it a design tool which maps the actuation pattern to the resulting workspace or to the law of change of the rest lengths of the actuated elastic elements.

关键词： Trajectory planning Kinematics Iterative algorithms Trajectory Space exploration Task analysis Robots

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Energy-based local forward and inverse kinematics methods for tensegrity robots

Energy-based local forward and inverse kinematics methods fo...

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IEEE International Conference on Robotic Computing (IRC)

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

ISBN: (数字)9781728152370

ISBN: (纸本)9781728152387

This paper describes an energy-based forward kinematics method for tensegrity robotics structures. The method can be implemented as a nonlinear optimization procedure and solved with standard optimization algorithms. Based on this result, the paper proposes a local linearization-based approach to inverse kinematics for tensegrity robots, for which a gradient descent-like algorithms is formulated. A preliminary study of the algorithm numerical behavior is given, and examples of the use cases for both forward and inverse kinematics methods are provided. It is shown that the method allows planing trajectories in the Cartesian space for the end effector and discover the desired law of change of the rest lengths of the actuated elastic elements.

关键词： Planing Kinematics Trajectory Quadratic programming Robots Optimization Standards

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Attention state of children during Schulte tables task

Attention state of children during Schulte tables task

引用

2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Grubov, Vadim Maksimenko, Vladimir Kurkin, Semen Khramova, Marina Aleksandrova, Natalya Hramov, Alexander Center for Technologies in Robotics and Mechatronics Components Innopolis University Neuroscience and Cognitive Technology Lab Russia Saratov State University Faculty of Computer Science Saratov Russia

ISBN: (纸本)9781728187631

We have analyzed EEG signals of children during cognitive load of specific type in order to estimate level of attention during this task. EEG signals were recorded in accordance with proposed design of experiment. For obtained EEG data we have analyzed behavioral characteristics as well as EEG-related characteristics. We have found that behavioural characteristic changes through the task, so may the attention level. We have also found that cognitive task completion is accompanied by appearance of spatial structure-specific distribution of wavelet energy across cortex, which partially changes during completion of the task as well. We believe that changes in attention level are tied to changes in energy distribution, so we suggest this distribution to be used as the marker for attention state estimation. © 2020 IEEE.

关键词： Electroencephalography

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Design of the Parallel Spherical Manipulator for Wrist Rehabilitation 3

Design of the Parallel Spherical Manipulator for Wrist Rehab...

引用

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

作者： Valeria, Skvortsova Dmitry, Popov Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

This paper presents the most important steps of the wrist rehabilitation robot design. In this work, kinematic synthesis problem of a 3-RRR spherical parallel manipulator is considered including a solution for forward and inverse kinematic problems. In order to maximize dexterity of the parallel manipulator over its workspace, its design is developed by finding optimal link shape parameters. The CAD design for the prototype is obtained based on this optimization. © 2019 IEEE.

关键词： Manipulators

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Stiffness Parameters Idenification for Walking Robot 3

Stiffness Parameters Idenification for Walking Robot

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

作者： Popov, Dmitry Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

This paper discusses the stiffness parameters identification for an anthropomorphic walking platform. The robot stiffness model build using a virtual joint model by introducing additional springs, then the parameters of these springs are determined using identification algorithms. Two variants of a model are considered: taking into account the links and joints compliance and only joints. Numerical experiments were performed on the AR-601M robot model. © 2019 IEEE.

关键词： Stiffness

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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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Trajectory Planning for Biped Walk with Non-instantaneous Double Support Phase 3

Trajectory Planning for Biped Walk with Non-instantaneous Do...

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

作者： Khusainov, Ramil Mamedov, Shamil Dmitry, Popov Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

In this paper we present a technique for finding periodic gaits for five-link planar bipedal robot with point feet. Unlike most works that are limited to the consideration of only underactuated single support phase (SSP) we show that this phase change condition is state dependant and extend our approach to the presence of double support phase (DSP). The concept of virtual holonomic constraints is used with full set of constraints during SSP and during SSP to DSP change. © 2019 IEEE.

关键词： Robot programming

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State-based velocity profile for manipulator 3

State-based velocity profile for manipulator

引用

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

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

ISBN: (纸本)9781728124704

The study is focused on velocity control of a manipulator motion in the case when the precise execution of commands cannot be guaranteed because of the imperfection of the control system or interaction with the robot environment. The proposed approach combines the real-time state estimation with a trapezoidal velocity profile to optimize the performance of the linear Cartesian and point-to-point motions. © 2019 IEEE.

关键词： Robot applications

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Detecting Changes in Contact Interaction Regime with a Reaction Predictor and a Linear Contact Model 3

Detecting Changes in Contact Interaction Regime with a React...

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

作者： Savin, Sergei Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

This paper is focused on a problem of using reaction predictors in the control pipeline of walking robots. The use of such predictors has been proposed for bipedal robots and the main advantage of this proposal is that it allows to exclude unknown reaction forces from the dynamics equations, and hence from model-based control formulations for those robots. In this paper, an additional benefit of predictor-based control formulation is discussed, namely the possibility of using it to predict changes in the contact interaction scenario, such as slipping or take off from the supporting surface. © 2019 IEEE.

关键词： Mobile robots

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Bistable Dynamics of the Brain Extracellular Matrix in the Presence of Periodically Varying Neuronal Activity 5

Bistable Dynamics of the Brain Extracellular Matrix in the P...

引用

5th Scientific School on Dynamics of Complex Networks and their Applications, DCNA 2021

作者： Rozhnova, Maiya A. Kazantsev, Victor B. Pankratova, Evgeniya V. Department of Applied Mathematics Institute of Information Technologies Mathematics and Mechanics Lobachevsky State University of Nizhni Novgorod Nizhny Novgorod Russia Neurotechnology Department Lobachevsky State University Nizhny Novgorod Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Neuroscience Research Institute Samara State Medical University Samara Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665442824

In this work, the role of the amplitude and frequency of the periodically varying neuronal firing rate in emergence of complicated dynamical modes in recently proposed mathematical model describing the change of extracellular matrix molecules concentration, was examined. Impact of the revealed co-existence of regular and chaotic modes in the extracellular matrix activity on the whole neuronal network functioning is discussed. © 2021 IEEE

关键词： Brain

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