Driven by the needs of safe human-robot interaction, this paper presents control designs for tracking control of robot system with uncertain manipulator dynamics and joint actuator dynamics subject to constrained task...
详细信息
ISBN:
(纸本)9781467374439
Driven by the needs of safe human-robot interaction, this paper presents control designs for tracking control of robot system with uncertain manipulator dynamics and joint actuator dynamics subject to constrained task space. The integral Barrier Lyapunov Functional(i BLF) is employed to guarantee the constraint satisfaction, in which a conservative mapping of original constraint into new constraints on tracking errors is removed. Neural Networks(NN) are adopted to approximate the unknown packaged terms in desired control. Appropriate adapting parameters are constructed to estimate the unknown bounds on NN approximation. It is proved that the task space vector of end-effector converge to a small neighborhood around a desired trajectory without violating the predefined constrained region. Simulation results are provided to illustrate the performance of proposed control.
In this paper we present an evaluation study on project "Vir-tuous Cycles of Well-Being", aimed at exploring technology-based wound-care services, solutions and products to sup-port older adults in managing ...
详细信息
The task of computing approximate Nash equilibria in large zero-sum extensive-form games has received a tremendous amount of attention due mainly to the Annual computer Poker Competition. Immediately after its incepti...
详细信息
In this paper, the smiling behavior of participants when they instruct a robot to assist them assembling a wooden toolbox is analyzed. The results show that participants smile more when interacting with the robot than...
详细信息
Open source bug tracking systems provide a rich information suite that is actively used by software engineering researchers to design solutions to triaging, duplicate classification and developer assignment problems. ...
详细信息
Open source bug tracking systems provide a rich information suite that is actively used by software engineering researchers to design solutions to triaging, duplicate classification and developer assignment problems. Today, open repositories often contain in excess of 100, 000 reports, and in cases of RedHat and Mozilla, over a million. Obtaining and analyzing the contents of such datasets are both time and resource consuming. By summarizing the related work we demonstrate that researchers often focused on smaller subsets of the data, and seldom embrace the “big-dataism”. With the emergence of cloud based computation systems such as Amazon EC2, one expects it to be easier to perform large scale analyses. However, our detailed time and cost analysis indicates that significant challenges still remain. Acquiring the open source data can be time intensive, and prone to being misinterpreted as Denial of Service attacks. Generating similarity scores for all prior reports, for example, is a polynomial time problem. In this paper, we present actual costs that we incurred when analyzing the complete repositories from Eclipse, Firefox and Open Office. In our approach, we relied on computing clusters to process the data in an attempt to reduce the cost of analyzing large datasets on the cloud. We present estimated costs for a researcher attempting to analyze complete datasets from Eclipse, Mozilla, Novell and RedHat using the best possible resources. In an ideal situation, with no bottlenecks, a researcher investing just over $40, 000 and 2 weeks of non stop computing time would be able to measure similarity of problem reports within all four datasets.
This paper addresses the problem of distributed state estimation in formations of vehicles with time-varying measurement topology. One or more vehicles have access to measurements of their own state, while the rest mu...
详细信息
We study the problem of object recognition on robotic platforms where large image collections of target objects are unavailable and where new models of previously unseen objects must be added dynamically. This situati...
详细信息
We study the problem of object recognition on robotic platforms where large image collections of target objects are unavailable and where new models of previously unseen objects must be added dynamically. This situation is common in robotics, where task related objects can require recognition over multiple viewpoints and training examples are sparse. The proposed framework uses pre-trained convolutional neural network layers to support aspect object models while emphasizing a minimal computational footprint. In this paper, we maintain an object model database consisting of aspect and class descriptors computed from images of target objects at varying view points. By querying the model database we show how to recognize objects with respect to previously seen exemplars. We investigate the effectiveness of different dimensionality reduction techniques for key generation on query efficiency and accuracy. We also demonstrate a working system with a small collection of objects including classes that do not appear in the network's pre-training data set.
robotics research often focuses on increasing robot capability. If end users do not perceive these increases, however, user acceptance may not improve. In this work, we explore the idea of perceived capability and how...
详细信息
robotics research often focuses on increasing robot capability. If end users do not perceive these increases, however, user acceptance may not improve. In this work, we explore the idea of perceived capability and how it relates to true capability, differentiating between physical and social capabilities. We present a framework that outlines their potential relationships, along with two user studies, on robot speed and speech, exploring these relationships. Our studies identify two possible consequences of the disconnect between the true and perceived capability: (1) under-perception: true improvements in capability may not lead to perceived improvements and (2) over-perception: true improvements in capability may lead to additional perceived improvements that do not actually exist.
One long term goal of robotic research is the development of robot systems, which have approximately the same cognitive, communicational, and manipulative abilities like humans and which can be operated by non-experts...
详细信息
One long term goal of robotic research is the development of robot systems, which have approximately the same cognitive, communicational, and manipulative abilities like humans and which can be operated by non-experts. The usage by non-experts sets additional requirements to the abilities of a robot system. For instance, the system should be able to understand natural language as one of the primary communication forms. This requires knowledge about actions, which shall be executed, or about objects, which shall be manipulated. In this work, we focus on grounding knowledge for actions within the domain of object manipulation. Our approach is based on the concept of verbalized physical effects and manipulation primitives. Therefore, we introduce the concept of verbalized physical effects, describe the relations between verbal instructions, verbalized physical effects and sensor based robot motions, and evaluate our approach using a robot manipulator.
In high-speed locomotion, control is best shared between \brain" and \body": if the natural body dynamics already exhibit desired behaviour, control action can be restricted to stabilising this behaviour, or...
详细信息
In high-speed locomotion, control is best shared between \brain" and \body": if the natural body dynamics already exhibit desired behaviour, control action can be restricted to stabilising this behaviour, or providing energy to keep it going. This morphological computation can be modelled and designed using Port-Hamiltonian systems (PHS) theory, since the basis of both is the interconnection of dynamic elements. In this paper, we explore the application of PHS to morphological computation, showing that a three degrees-of-freedom elastic spring functioning as spine in a quadrupedal robot can lead to forward locomotion|without any complicated control action whatsoever.
暂无评论