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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Vladimir Khorev Vadim Grubov Artem Badarin Vladimir Maksimenko Center for technologies in robotics and mechatronics components Innopolis University Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

We have conducted an experiment involving keeping balance on a platform to research the perception of maintaining body posture. The objective of the present work was to characterize the common features of cortical activity during postural control. Regarding the cortical basis of performance differences during unstable conditions, EEG analysis suggest that central-frontal areas may underlie the cortical interaction including oscillations in general, maybe underlie cortical monitoring of changes in postural state of the body. The obtained results show that the neuronal activity in the β-frequency band can be utilized as the neurophysiological marker of the subject's ability to maintain the equilibrium state.

关键词： Training Process control Robot sensing systems Electroencephalography Stability analysis Task analysis Oscillators

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Error Analysis in Solving the Inverse Problem of the Cable-driven Parallel Underactuated Robot Kinematics and Methods for their Elimination

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IFAC-PapersOnLine 2019年第13期52卷 1156-1161页

作者： Maloletov, Alexander V. Fadeev, Mikhail Y. Klimchik, Alexandr S. Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Volgograd State Technical University Volgograd Russia

An analysis of the geometry of a cable-driven parallel robot is carried out. The influence of the design of the guide rollers and the winding mechanisms on the errors in the determination of the cable length control laws was investigated. Two variants of the arrangement of the spools in the winch mechanisms are considered. The analysis of the magnitudes of the resulting errors is given, the conclusion is made that it is necessary to take into consideration the design of the guide rollers and the winding mechanism with the vertical position of the spool, and also the permissibility to ignore the influence of the winding mechanism with the horizontal position of the spool. © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Inverse problems Cables Errors Inverse kinematics Reels Robots Rollers (machine components) Winding Cable driven robots Cable length Cable driven Geometric analysis Guide rollers Parallel robots Underactuated robot Vertical positions

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Real-Time Long Range Trajectory Replanning for MAVs in the Presence of Dynamic Obstacles

Real-Time Long Range Trajectory Replanning for MAVs in the P...

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Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)

作者： Geesara Kulathunga Roman Fedorenko Sergey Kopylov Alexandr Klimehik Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

ISBN: (数字)9781728198187

ISBN: (纸本)9781728198194

Real-time long-range local planning is a challenging task, especially in the presence of dynamics obstacles. We propose a complete system which is capable of performing the local replanning in real-time. Desired trajectory is needed in the system initialization phase; system starts initializing sub-components of the system including point cloud processor, trajectory estimator and planner. Afterwards, the multi-rotary aerial vehicle starts moving on the given trajectory. When it detects obstacles, it replans the trajectory from the current pose to pre-defined distance incorporating the desired trajectory. Point cloud processor is employed to identify the closest obstacles around the vehicle. For replanning, Rapidly-exploring Random Trees (RRT*) is used with two modifications which allow planning the trajectory in milliseconds scales. Once we replanned the desired path, velocity components(x,y and z) and yaw rate are calculated. Those values are sent to the controller at a constant frequency to maneuver the vehicle autonomously. Finally, we have evaluated each of the components separately and tested the complete system in the simulated and real environments.

关键词： Trajectory Planning Three-dimensional displays Real-time systems Splines (mathematics) Smoothing methods Message systems

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Path planning followed by kinodynamic smoothing for multirotor aerial vehicles (MAVs)

arXiv

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arXiv 2020年

作者： Kulathunga, Geesara Prathap Devitt, Dmitry Fedorenko, Roman Savin, Sergei Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique "RRT*" for this purpose. In the proposed technique, we modified original RRT* introducing an adaptive search space and a steering function which help to increase the consistency of the planner. Moreover, we propose multiple RRT* which generates a set of desired paths, provided that the optimal path is selected among them. Then, apply kinodynamic smoothing, which will result in dynamically feasible as well as obstacle-free path. Thereafter, a b spline-based trajectory is generated to maneuver vehicle autonomously in unknown environments. Finally, we have tested the proposed technique in various simulated environments. Copyright © 2020, The Authors. All rights reserved.

关键词： Motion planning

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Real-time long range trajectory replanning for MAVs in the presence of dynamics obstacles

arXiv

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arXiv 2020年

作者： Kulathunga, Geesara Fedorenko, Roman Kopylov, Sergey Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

—Real-time long-range local planning is a challenging task, especially in the presence of dynamics obstacles. We propose a complete system which is capable of performing the local replanning in real-time. Desired trajectory is needed in the system initialization phase;system starts initializing sub-components of the system including point cloud processor, trajectory estimator and planner. Afterwards, the multi-rotary aerial vehicle starts moving on the given trajectory. When it detects obstacles, it replans the trajectory from the current pose to pre-defined distance incorporating the desired trajectory. Point cloud processor is employed to identify the closest obstacles around the vehicle. For replanning, Rapidly-exploring Random Trees (RRT*) is used with two modifications which allow planning the trajectory in milliseconds scales. Once we replanned the desired path, velocity components(x,y and z) and yaw rate are calculated. Those values are sent to the controller at a constant frequency to maneuver the vehicle autonomously. Finally, we have evaluated each of the components separately and tested the complete system in the simulated and real environments. Copyright © 2020, The Authors. All rights reserved.

关键词： Polynomial approximation

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Path Planning Followed by Kinodynamic Smoothing for Multirotor Aerial Vehicles (MAVs)

Path Planning Followed by Kinodynamic Smoothing for Multirot...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Geesara Kulathunga Dmitry Devitt Roman Fedorenko Sergei Savin Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

关键词： Smoothing methods Planning Trajectory Vehicle dynamics Splines (mathematics) Robots

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

Workspace Analysis of Tensegrity Structures with an Iterativ...

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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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Regions of Interest Segmentation from LiDAR Point Cloud for Multirotor Aerial Vehicles

Regions of Interest Segmentation from LiDAR Point Cloud for ...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Geesara Kulathunga Roman Fedorenko Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

ISBN: (数字)9781728142784

ISBN: (纸本)9781728142791

We propose a novel filter for segmenting the regions of interest from LiDAR 3D point cloud for multirotor aerial vehicles. It is specially targeted for real-time applications and works on sparse LiDAR point clouds without preliminary mapping. We use this filter as a crucial component of fast obstacle avoidance system for agriculture drone operating at low altitude. As the first step, each point cloud is transformed into a depth image and then identify places near to the vehicle (local maxima) by locating areas with high pixel densities. Afterwards, we merge the original depth image with identified locations after maximizing intensities of pixels in which local maxima were obtained. Next step is to calculate the range angle image that represents angles between two consecutive laser beams based on the improved depth image. Once the corresponding range angle image is constructed, smoothing is applied to reduce the noise. Finally, we find out connected components within the improved depth image while incorporating smoothed range angle image. This allows separating the regions of interest. The filter has been tested on various simulated environments as well as an actual drone and provides real-time performance. We make our source code, dataset 2 and real world experiment 3 available online.

关键词： Three-dimensional displays Laser radar Laser beams Smoothing methods Two dimensional displays Real-time systems Robot sensing systems

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Stabilization of a spherical robot rolling on an oscillating underlying surface

Stabilization of a spherical robot rolling on an oscillating...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Karavaev, Yury Kilin, Alexander Klekovkin, Anton Pivovarova, Elena Kalaschnikov Izhevsk State Technical University Department of Mechatronics Systems Izhevsk Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia Udmurt State University Department of Theoretical Physics Izhevsk Russia

ISBN: (纸本)9781728187631

This paper is devoted to investigations of a spherical robot rolling on an oscillating underlying surface. The model of spherical robot of combined type is considered. Based on analysis of equations of motion taking into account the oscillation of the underlying surface, a control algorithm for stabilization of the spherical robot is proposed. The influences of oscillations in horizontal and vertical directions are evaluated. The design of the spherical robot and its control system for fabrication of a prototype are described. © 2020 IEEE.

关键词： Feedback

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