The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operati...
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ISBN:
(纸本)9781509045839
The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of environmental conditions. Due to their small size, low weight, and low speeds, they require the capability of coping with wind speeds that are approaching or even faster than the nominal airspeed. In this paper we present a principled nonlinear guidance strategy, addressing this problem. More broadly, we propose a methodology for the high-level control of non-holonomic unicycle-like vehicles in the presence of strong flowfields (e.g. winds, underwater currents) which may outreach the maximum vehicle speed. The proposed strategy guarantees convergence to a safe and stable vehicle configuration with respect to the flowfield, while preserving some tracking performance with respect to the target path. Evaluations in simulations and a challenging real-world flight experiment in very windy conditions confirm the feasibility of the proposed guidance approach.
In this paper, we present a P300 model for control of Cerebot - a mind-controlled humanoid robot, including a procedure of acquiring P300 signals, topographical distribution analysis of P300 signals, and a classificat...
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This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremen...
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In this paper, we present a N200 model for control of a humanoid robot with mind. N200 is a major component of the motion visual evoked potential (mVEP) which can be used to detect the subject's intention. In orde...
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In this paper, we present a N200 model for control of a humanoid robot with mind. N200 is a major component of the motion visual evoked potential (mVEP) which can be used to detect the subject's intention. In order to acquire N200, we design a visual stimulus interface in which the activation of a stimulus is a bar scanning above the image of a humanoid robot behavior. By analyzing brain signals induced by this kind of stimulus and calculating some system indexes, the results of this study demonstrate that the designed interface can induce prominent N200 potentials, and another component P300 induced by this experiment can be considered as another characteristic of the feature vector to contribute to the classification. To our best knowledge, this paper would be the first report on an application of N200 model to control a humanoid robot with visual feedback in real time.
In this paper,we investigate a system for on-line controlling a humanoid robot through brainwaves based on non-invasive BCI *** system consists of a NAO humanoid robot and a CerebusTM Data Acquisition System with a 64...
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In this paper,we investigate a system for on-line controlling a humanoid robot through brainwaves based on non-invasive BCI *** system consists of a NAO humanoid robot and a CerebusTM Data Acquisition System with a 64 microelectrodes *** develop the experiment procedures for acquiring the neural signals during subjects’ mental activities corresponding to robot’s six *** collecting signals,we use some video clips of robot walking behaviors to train subjects so that they are able to memorize the pictures of robot’s *** experiments,the subjects are instructed to imagine the pictures which represent the subject’s intended *** use a steady-state Kalman Filter to estimate subjects’ imaginations by using phase relationships between the delta waves recorded at specific *** results show that all the four subjects can control the six behaviors of a humanoid robot:walking forward,walking backward,walking leftward,walking rightward,turning left and turning *** also report the problems we face during our experiments.
This paper presents a P300 model for controlling a humanoid robot with mind, including an off-line phase with a fixed trial number for training the model and an on-line phase with an adaptive strategy for generating c...
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ISBN:
(纸本)9781479927456
This paper presents a P300 model for controlling a humanoid robot with mind, including an off-line phase with a fixed trial number for training the model and an on-line phase with an adaptive strategy for generating commands to the humanoid robot. Our control scheme includes a procedure of acquiring P300 signals, topographical distribution analysis of P300 signals, and a classification approach to identifying subjects' mental activities regarding robot-walking behavior. Our study shows that the adaptive model is fast and practical to control humanoid robot via brainwaves.
th This volume is an edition of the papers selected from the 12 FIRA RoboWorld C- gress, held in Incheon, Korea, August 16–18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is ...
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ISBN:
(数字)9783642039836
ISBN:
(纸本)9783642039829
th This volume is an edition of the papers selected from the 12 FIRA RoboWorld C- gress, held in Incheon, Korea, August 16–18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is a non-profit organization, which organizes robotic competitions and meetings around the globe annually. The RoboSoccer competitions started in 1996 and FIRA was - tablished on June 5, 1997. The Robot Soccer competitions are aimed at promoting the spirit of science and technology to the younger generation. The congress is a forum in which to share ideas and future directions of technologies, and to enlarge the human networks in robotics area. The objectives of the FIRA Cup and Congress are to explore the technical dev- opment and achievement in the field of robotics, and provide participants with a robot festival including technical presentations, robot soccer competitions and exhibits - der the theme “Where Theory and Practice Meet. ” th Under the umbrella of the 12 FIRA RoboWorld Congress Incheon 2009, six int- national conferences were held for greater impact and scientific exchange: th • 6 International Conference on Computational Intelligence, robotics and autonomous Systems (CIRAS) th • 5 International Symposium on autonomous Minirobots for Research and Edutainment (AMiRE) • International Conference on Social robotics (ICSR) • International Conference on Advanced Humanoid robotics Research (ICAHRR) • International Conference on Entertainment robotics (ICER) • International robotics Education Forum (IREF) This volume consists of selected quality papers from the six conferences.
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