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Interactive mobile robot in a dynamic environment1

IFAC-PapersOnLine 2018年第30期51卷 354-359页

作者： Rehman, Bakhtawar Yagfarov, Rauf Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

In this work we introduced a robotic system to work in a sociable environment alongside humans. The robot is able to recognize information through sound and it is capable to speak in order to response or provide significant information. We implemented and compared different simultaneous localization and mapping (SLAM) algorithms available in Robot Operating System (ROS). We compared their results and showed performance in real time in an indoor environment using lidars as the core sensing module. Thus we came up with a mobile robot autonomously navigating in a dynamic environment capable of interaction and manipulation intelligently. © 2016

关键词： Indoor positioning systems Mobile robots Navigation robotics Dynamic environments humanoid Indoor environment interaction Interactive control Robot operating systems (ROS) Simultaneous localization and mapping algorithms SLAM

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Development of typical collision reactions in combination with algorithms for external impacts identification

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IFAC-PapersOnLine 2019年第13期52卷 253-258页

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

This study is focused on the problem of robot interaction with dynamically changing environment for contact and non-contact operations. Robot reaction is based on classification the results, obtained from force sensors. Particular attention is paid to the problem of contact localization in the case of single and multi-contact collisions. Localization algorithms presented for simplified shapeless model of the robot and more complex model that's also consider real shape of the robot links. Numerical experiments for external force estimation and collision point identification are provided using Kuka iiwa model. © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robots Changing environment Collision reactions Contact localization External force estimation Localization algorithm Multi contact Numerical experiments Robot controls

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Control of actuators with linearized variable stiffness

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IFAC-PapersOnLine 2019年第13期52卷 713-718页

作者： Savin, Sergei Khusainov, Ramil Klimchik, Alexandr Innopolis University Center for Technologies in Robotics and Mechatronics Components 420500 Universitetskaya St 1 Innopolis Russia

In this paper, a new model of variable stiffness actuators (VSA) is presented. In the proposed model, the stiffness and deformation of the elastic element can be controlled independently. The structure of the model allows the use of optimal control methods, such as linear quadratic regulator, as is demonstrated in the paper. The model can be used in studying mechanical systems with VSA and in control design for such systems. In order to connect controllers designed for the proposed model with actual VSA, a map of control actions is needed. Such map is provided for the case of Qbmove bidirectional antagonistic VSA. © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Stiffness Actuators Linearization Machine design Control actions Elastic element Linear quadratic regulator Mechanical systems Model based controls Optimal control methods Optimal controls Variable stiffness

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

Path Planning Followed by Kinodynamic Smoothing for Multirot...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

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

ISBN: (纸本)9781728187631

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. © 2020 IEEE.

关键词： Motion planning

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Exploration and mapping of an indoor environment using Multirotor Aerial Vehicle

Exploration and mapping of an indoor environment using Multi...

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

作者： Hassan, Mohamed Ahmed Kulathunga, Geesara Klimchik, Alexandr Innopolis University Center for Technologies in Robotics and Mechatronics Components Russia

ISBN: (纸本)9781665424066

Self-exploration of unknown environments using mobile robots is an important aspect in order to achieve complete automation of the tasks done by robots. The key idea of the exploration is to find a pose at which the robot will gain more information about the environment. By moving from such a pose to another the robot builds a map using the information gained during motion. A frontier based exploration algorithm for 3D spaces is introduced. The algorithm is an extension of the classic frontier exploration algorithm. The space is represented in an octree structure for faster access and efficient memory management. At every iteration of the exploration algorithm, the Multirotor Aerial Vehicle (MAV) performs a 360° rotation to increase the information gain about the environment, this rotation is dependent on the sensor's field of view. If a rotating sensor which can cover a 360° of the environment is used, the 360° rotation can be skipped without affecting the methodology. The distance moved by the MAV is specified at each iteration of the exploration process depending on the environment. Simulations were conducted to compare the effect of different parameters in the algorithm. © 2021 IEEE.

关键词： Robots

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Segmification: Solving road segmentation and scene classification tasks for self-driving cars using one neural network 2020

Segmification: Solving road segmentation and scene classific...

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3rd International Conference on Applications of Intelligent Systems, APPIS 2020

作者： Ostankovich, Vladislav Yagfarov, Rauf Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

ISBN: (纸本)9781450376303

In this work we show our developed model for a self-driving car that solves a road segmentation task and at the same time classifies whether the vehicle is moving in or off the lane. We demonstrate how scene classifier can be efficiently embedded into a segmentation neural network model by the means of branching additional layers with small number of trainable parameters. The model was trained and tested on our own dataset with good accuracy performance. Experiment with external dataset proves efficiency of the proposed approach and shows reasonable results in both segmenation and classification tasks. © 2020 ACM.

关键词： Autonomous vehicles

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EEG features during maintaining a human body balance.

EEG features during maintaining a human body balance.

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Khorev, Vladimir Grubov, Vadim Badarin, Artem Maksimenko, Vladimir Innopolis University Center for Technologies in Robotics and Mechatronics Components Russia

ISBN: (纸本)9781728187631

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. © 2020 IEEE.

关键词： activity balance EEG EMG posture

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Interactive mobile robot in a dynamic environment1

Interactive mobile robot in a dynamic environment1

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作者： Rehman, Bakhtawar Yagfarov, Rauf Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

关键词： Mobile robots

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Robust energy aware output controller for uncertain plant

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IFAC-PapersOnLine 2019年第13期52卷 259-264页

作者： Dobriborsci, Dmitrii Margun, Alexey Kolyubin, Sergey Control systems and Robotics faculty ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

Nowadays, safety guarantee during physical Human-Robot Interaction (pHRI) is important problem. Control over energy becomes very useful approach and provides possibility of safety conditions implementation but requires measurement of energy variables. In this paper we extend our previous results for discrete robust output control algorithm by insertion of energy aware mechanism in the structure of control system. It is proven earlier that this way make the controller aware of the energy that they inject into the plant. By combining this approaches we introduce here a robust discrete-time output controller for uncertain plant that provides exponential convergence of tracking error to the bounded area and passivity of the closed loop system. The proposed approach is validated through simulation and experiments using Ball-and-Plate setup. © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Controllers Budget control Closed loop systems Human robot interaction Man machine systems Plates (structural components) Power management Robust control Energy aware Energy budgets Exponential convergence Output controllers Passive systems Physical humanrobot interaction (phri) Safety guarantees Uncertain plants

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