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Analysis of Gait Control of Wall-Climbing Caterpillar Robot

Analysis of Gait Control of Wall-Climbing Caterpillar Robot

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： G. H. Zong W. Wang K. Wang D. Z. Li X. Y. Ma H. X. Zhang Robotics Institute School of Mechanical Engineering and AutomationBeihang University100191Beijing Institute of Technical Aspects of Multimodal Systems Department of Computer ScienceUniversity of Ha

ISBN: (纸本)9781424447749

In order to verify the benefit of four links kinematical method, the mathematical model of four links kinematics is established. The kinematical parameters of passive joints can be calculated according to the rotation of active joint. Then the wall-climbing robot can climb the vertical wall through the coordinated rotation of active joint and passive joints. To testify the feasibility of the four links kinematical method, a wall-climbing caterpillar robot based on vibrating suction method is developed. An experiment of wall-climbing confirms the kinematical method mentioned above. The result shows that the four links kinematical method is simple and reliable although some errors exist. At last, the conclusions and future works are present.

关键词： CLIMBING WALL Gait control Caterpillar Joints Joints Robot Analysis kinematics

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Outer shape classification in rotation manipulation by Universal Robot Hand

Outer shape classification in rotation manipulation by Unive...

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IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS

作者： Hiroyuki Nakamoto Wataru Fukui Futoshi Kobayashi Fumio Kojima Nobuaki Imamura Hidenori Shirasawa Department of Computer Science and Systems Engineering Kobe University Kobe Japan Department of Mechanics and Robotics Hiroshima International University Kure Japan Advanced Materials Processing Institute Amagasaki Japan

We propose a method for shape classification in continuous rotation manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Each tactile sensor can measure a pressure distribution once every 10(ms) while the robot hand rotates the object continuously. Our proposed classification method consists of the following processes: A kurtosis is calculated from each pressure distribution, and it quantifies shape of the current contact surface. By rotating an object and measuring a time-series pressure distribution, the hand obtains a time-series kurtosis. Finally, a evaluated value is calculated between the time-series kurtosis and reference patterns through a continuous dynamic programming (CDP) matching scheme. The contact shape is classified if the evaluated value is lower than a threshold. We show the effectiveness of our method through experiments.

关键词： Shape Robot sensing systems Tactile sensors Humans Humanoid robots Fingers Service robots Rotation measurement Pressure measurement Pattern matching

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An Intelligent Assistant for Power Plants Based on Factored MDPs

An Intelligent Assistant for Power Plants Based on Factored ...

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International Conference on Intelligent systems Applications to Power systems (ISAP)

作者： Alberto Reyes Matthijs T. J. Spaan L. Enrique Sucar Instrumentation and Control Department Instituto de Investigaciones Eléctricas of Mexico Cuernavaca Mexico Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Computer Science Department INAOE Puebla Mexico

Making good operation decisions during abnormal power plant conditions represents in many cases the possibility to avoid a unit trip or having economical losses. This paper introduces AsistO, an intelligent assistant for the decision support based on decision theoretic planning techniques. It provides power plant operators with useful recommendations to (i) maintain a plant running under safe conditions, or (ii) deal with process transients when an unexpected event occurs. We present the formalism of Markov decision processes as the core of the intelligent assistant which uses a factored representation of plant states. We also show a very intutive algorithm to approximate decision models based on training data collected through random exploration routines in a simulated environment. We have tested our system in the steam generation system of a combined power plant to deal with load disturbances.

关键词： Power generation Power system modeling Intelligent robots Control systems System testing Knowledge based systems Knowledge acquisition Knowledge management Traffic control Management training

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Crawling Locomotion of Modular Climbing Caterpillar Robot with Changing Kinematic Chain

Crawling Locomotion of Modular Climbing Caterpillar Robot wi...

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： W. Wang H. X. Zhang J. W. Zhang Department of Informatics University of Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany

Based on the modular concept, this paper presents two caterpillar robot prototypes which are inspired by two typical caterpillars: inchworm and pine caterpillar. The inchworm robot prototype features simplest kinematics and open chain architecture. Due to the fact that there is only one attachment module supporting the inchworm robot during crawling, we apply an unsymmetrical phase method (UPM) to realize a stable crawling gait for it. A pine caterpillar robot is derived from combining two inchworm robots together. The crawling gait of it features a repetitive changing chain: open-closed-open. Besides the UPM in open chain states, a four-links kinematic model is applied to control the corresponding joints to transfer the crawling wave along the robot body in the closed chain state. These two prototypes are all constructed and, and their crawling locomotion abilities have been tested on vertical glasses respectively.

关键词： Kinematics Mobile robots Climbing robots Intelligent robots Prototypes Joining processes USA Councils Testing Glass Gravity

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High stiffness pneumatic actuating scheme and improved position control strategy realization of a pneumatic climbing robot

High stiffness pneumatic actuating scheme and improved posit...

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IEEE International Conference on robotics and Biomimetics

作者： H. X. Zhang W. Wang J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Shenzhen Institute of Advanced Technology Shenzhen China

The improved full pneumatic climbing robot Sky Cleaner IV has recently been developed as an intelligent demonstrator and test bed for the implementation of nonlinear locomotion control. Pneumatic actuators control the robot's movement, reducing its weight and increasing its dexterity. The pneumatic system of the robot includes X, Y and Z cylinders, a waist cylinder, brush cylinders and vacuum suckers. The major challenge of the pneumatic system is to achieve precise position control of the two rodless linear X and Y cylinders since the system is nonlinear. Two novel ideas are introduced to the pneumatic actuating system. Firstly, the X and Y cylinders feature an improved pneumatic scheme that drives two groups of four 2-position-2-port high speed on-off valves to adjust the pressure in the two chambers of each cylinder. This improves the pneumatic stiffness of the cylinders remarkably. Secondly, considering the effects of friction and movement acceleration of the cylinder, a compensating variable bang-bang controller is presented to control the cylinders' movement and keep the merits while eliminating the oscillation. The experimental results prove that the two approaches can effectively improve the system's stiffness and control its quality.

关键词： Position control Climbing robots Pneumatic systems Intelligent robots Intelligent actuators Testing Pneumatic actuators Robot control Brushes Vacuum systems

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Cooperative Autonomous Marine Vehicle motion control in the scope of the EU GREX Project: Theory and Practice

Cooperative Autonomous Marine Vehicle motion control in the ...

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OCEANS - Europe

作者： A. Aguiary J. Almeiday M. Bayaty B. Cardeiray R. Cunhay A. Hauslery P. Mauryay A. Oliveiray A. Pascoaly A. Pereira M. Rufinoy L. Sebastiaoy C. Silvestrey F. Vanniy Dept. Electrical Engineering and Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) Lisbon Portugal Department Computer Science University슠of슠Southern California USA Dept. Computer Science Univ. Southern California (USC) USA

This paper describes the core of the research work done by the ISR/IST team on cooperative autonomous marine vehicle (AMV) motion control in the scope of the EU Project GREX - coordination and control of cooperating heterogeneous unmanned systems in uncertain environments. The first part of the paper affords the reader a concise introduction to the general problem of cooperative motion control of fleets of AMVs by highlighting illustrative mission scenarios developed collectively by the GREX partners and summarizing the main challenges that they pose to system engineers. This is followed by the description of a general architecture for cooperative autonomous marine vehicle control in the presence of time-varying communication topologies and communication losses that is rooted in a solid control-theoretic framework. The results of simulations with the NetMar SyS - networked marine systems simulator - of ISR/IST are presented and show the efficacy of the algorithms developed for cooperative motion control. The last part of the paper focuses on practical issues and describes the results of tests at sea in the Azores, in the Summer of 2008. The paper concludes with a critical review of the work done and a discussion of theoretical and practical implementation issues that warrant further research and development effort.

关键词： Marine vehicles Motion control Communication system control Control systems Automotive engineering systems engineering and theory Network topology Solids Testing Research and development

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Docking manipulator for a reconfigurable mobile robot system

Docking manipulator for a reconfigurable mobile robot system

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Wei Wang Wenpeng Yu Houxiang Zhang Jianwei Zhang Dept of Informatics University of Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany

JL-2, as a new version of the JL reconfigurable mobile robot system, features not only a docking and 3D posture adjusting capability between its robots, but also a multi-functional docking gripper. The basic concept of JL is that the robots in the system can simultaneously perform basic tasks in flat terrains, and in the case of rugged terrains, the robots can interconnect to enhance their locomotion capabilities. This paper introduces new designs for JL-2 by which the docking mechanism can be used as a simple gripper with 3 DOFs. Then the technologies of the docking mechanism are discussed in detail, including the workspace of the docking gripper, the docking procedure and analyses of the self-aligning ability. Then the workspaces of the posture adjusting mechanisms between two docked robots are analyzed to clarify the reconfiguration ability of JL-2. At last, a series of real experiments are proposed to test the designs and analyses and the basic performance of JL-2.

关键词： Manipulators Mobile robots robotics and automation Navigation Grippers Intelligent robots Space technology Orbital robotics Mechanical engineering computer science

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Noncontact manipulation of Ni nanowires using a rotating magnetic field

Noncontact manipulation of Ni nanowires using a rotating mag...

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IEEE Conference on Nanotechnology

作者： Li Zhang Yang Lu Lixin Dong R. Pei Jun Lou Bradley E. Kratochvil Bradley J. Nelson Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Department of Mechanical Engineering & Materials Science Rice University Houston TX USA Department of Electrical & Computer Engineering Michigan State University East Lansing MI USA

ISBN: (纸本)9781424448326

Ni nanowires (NWs) are driven in water using a rotating magnetic field. The NWs show various locomotion performances under different boundary conditions. Pure rotation occurs when the two ends of the NWs are homogenously constrained. However, if the boundary conditions are different at the two ends of the NWs, tumbling motion, i.e., rotation plus translation, will be generated, which leads to the propulsion of NWs near a wall. These motions of NWs can be steered by the magnetic field. In addition, we present that the two NWs self-assemble to form a single NW with the magnetic field. The results imply that magnetic field is a promising approach for noncontact manipulation of Ni NWs or other 1-D ferromagnetic nanostructures at low Reynolds number aqueous environment in a controllable fashion.

关键词： Nanowires Magnetic fields Nanostructures Propulsion Boundary conditions Intelligent robots Biomedical optical imaging Optical sensors Magnetic liquids Electrodes

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Metal-filled carbon nanotubes for nanofluidic systems: Modes of melting and evaporation

Metal-filled carbon nanotubes for nanofluidic systems: Modes...

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Lixin Dong Xinyong Tao Li Zhang Xiaobin Zhang Bradley J. Nelson Department of Electrical & Computer Engineering Michigan State University East Lansing MI USA ETH Zurich Institute of Robotics and Intelligent Systems Zurich Switzerland College of Chemical Engineering and Materials Science Zhejiang University of Technology Hangzhou China Department of Materials Science and Engineering University of Zhejiang Hangzhou China

Modes of melting and evaporation of metal at attogram level from individual carbon nanotubes (CNTs) are investigated experimentally using nanorobotic manipulation inside a transmission electron microscope. We compared the melting and evaporation induced by electric current, Joule heating, charge, and ionization. Experiments show that the most effective method is by positively ionizing the encapsulated metal, therefore, an electrostatic field can be used to guide the flow. Applications and potential applications of mass transport and deposition in nanofluidic systems have been presented including self-welding, actuation, and storage.

关键词： Carbon nanotubes Copper Transmission electron microscopy Current Materials science and technology Probes Intelligent robots Resistance heating Thermal conductivity Ionization

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Modeling and motion stability analysis of skid-steered mobile robots

Modeling and motion stability analysis of skid-steered mobil...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Hongpeng Wang Junjie Zhang Jingang Yi Dezhen Song Suhada Jayasuriya Jingtai Liu Institute of Robotics and Automation Information Systems Nankai University Tianjing China Department of Mechanical Engineering Texas A and M University College Station TX USA Department of Mechanical and AeroSpace Engineering Rutgers University Piscataway NJ USA Department of Computer Science Texas A and M University College Station TX USA

Skid-steered mobile robots are widely used because of the simplicity of mechanism and high reliability. However, understanding of the kinematics and dynamics of such a robotic platform is challenging due to the complex wheel/ground interactions and kinematic constraints. In this paper, we attempt to develop a kinematic and dynamic modeling scheme to analyze the skid-steered mobile robot. We model wheel/ground interaction and analyze the robot motion stability. As an application example, we present how to utilize the kinematic and dynamic modeling and analysis for robot localization and slip estimation using only low-cost strapdown inertial measurement units (IMU). The extended Kalman filter (EKF)-based localization scheme incorporates the kinematic constraints. The performance of the EKF-based localization and slip estimation scheme are presented. The estimation methodology is tested and validated on a robotic testbed.

关键词： Motion analysis Stability analysis Mobile robots Kinematics Wheels Aerodynamics Robot motion Testing robotics and automation Robot localization

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