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检索条件"机构=Department of Automation and Robotics Engineering"

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Equations of Motion of a Single-Wheel Robot in a Rough Terrain

Equations of Motion of a Single-Wheel Robot in a Rough Terra...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： A. Alasty H. Pendar Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of technology Tehran Iran

In this article, dynamic equations of a single wheel robot, known as Gyrover, through Lagrange method applying a new approach will be addressed. There is no simplification on the dynamic analysis. Considering any possible differentiable function for the road’s curve, the effect of the road’s roughness is completely described in the dynamic equation evaluation. Although there are complicated relations between the wheel and rough terrain, due to the efficient generalized coordinate selection, closed form dynamic equation of the motion is derived. Because of the closed form formulation, required time for simulation will be reduced. From the proposed complete model a simplified model for the controller design could be extracted

关键词： Mobile robots Robot kinematics Wheels Stability robotics and automation Lagrangian functions Differential equations Robot control Motion control Gravity

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Synthesis of compliant mechanisms with specified equilibrium positions

Synthesis of compliant mechanisms with specified equilibrium...

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DETC2005: ASME International Design engineering Technical Conferences and Computers and Information in engineering Conference

作者： Su, Hai-Jun Michael McCarthy, J. Virtual Reality Application Center 2274 Howe Hall Iowa State University Ames IA 50011 United States Robotics and Automation Laboratory Department of Mechanical and Aerospace Engineering University of California Irvine CA 92697 United States

ISBN: (纸本)0791847446

This paper presents a synthesis procedure for a compliant four-bar linkage with three specified equilibrium configurations. The finite position synthesis equations are combined with equilibrium constraints at the flexure pivots to form design equations. These equations are simplified by modeling the joint angle variables in the equilibrium equations using sine and cosine functions. Solutions to these design equations were computed using a polynomial homotopy solver. In order to provide a design specification, we first compute the six equilibrium configurations of a known compliant four-bar mechanism. We use these results as design requirements to synthesize a compliant four-bar. The solver obtained eight real solutions which we refined using a Newton-Raphson technique. A numerical example is provided to verify the design methodology. Copyright © 2005 by ASME.

关键词： Mechanisms

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Automobile lane detection System-on-Chip integrated with mixed signal mode CMOS image sensor

Automobile lane detection System-on-Chip integrated with mix...

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9th International Symposium on Consumer Electronics 2005, ISCE 2005

作者： Hsiao, Pei-Yung Cheng, Hsien-Chein Yeh, Chun-Wei Huang, Shih-Shinh Fu, Li-Chen IEEE Department of Electronic Engineering Chang Gung University Tao-Yuan Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Genesyslogic Co. Ltd. Circuit Layout Department Dept. of Electronic Engineering and Information Management Chang Gung University Department of Electrical Engineering Department of Computer Science and Information Engineering National Taiwan University Robotics and Automation Society Automatic Control Society Chinese Automatic Control Society Chinese Institute of Automation Engineers

In this paper, we aim at developing a System-on-Chip, SoC, which can capture image as well as produce vehicle lane map at the same time. We adopt Peak-Finding based lane detection algorithm that can achieve high recognition rate about 96% even under various weather conditions. The features of the proposed SoC are a single low-cost and compact chip which implements the lane detection algorithm with mixed signal mode CMOS image sensor. Therefore, it can be easily used in thousands of consumer electronics for intelligent automobile applications. © IEEE.

关键词： Image sensors

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RHO humanoid robot bipedal locomotion and navigation using Lie groups and geometric algorithms

RHO humanoid robot bipedal locomotion and navigation using L...

引用

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： J.M. Pardos C. Balaguer Robotics Lab Department of Systems Engineering and Automation Universidad Carlos III de Madrid Madrid Spain

The humanoid bipedal locomotion requires computationally efficient solutions of the navigation and inverse kinematics problems. This paper presents analytic methods, using tools from computational geometry and techniques from the theory of Lie groups, to develop new geometric algorithms for the navigation path planning, locomotion movement, and kinematics modeling of humanoid robots. To solve the global navigation problem, we introduce the new fast marching method modified (FM3) algorithm, based on the fast marching methods (FMM) used to study interface motion, that gives a close-form solution for the humanoid collision-free whole body trajectory (WBT) calculation. For the bipedal locomotion, we build the new geometric algorithm one step to goal (OSG), to produce a general solution for the body and footstep planning which make the humanoid to move a single step towards a defined objective. We develop the new approach called sagittal kinematics division (SKD), for the humanoid modeling analysis, to allow us to solve the humanoid inverse kinematics problem using the mathematical techniques of Lie groups, like the product of exponentials (POE). The works are presented along with computed examples of the humanoid robot RHO at the University Carlos III of Madrid. We remark that this paper introduces only closed-form solutions, numerically stable and geometrically meaningful, suitable for real-time applications.

关键词： Humanoid robots Navigation Kinematics Biological system modeling Algorithm design and analysis Computational geometry Path planning Solid modeling Motion planning Mathematical model

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Adaptive inverse microstep tracking control of a hybrid stepper motor using RBF and MLP neural networks

Adaptive inverse microstep tracking control of a hybrid step...

引用

IEEE International Conference on Mechatronics and automation

作者： Y. Bastani G.R. Vossoughi Center of Excellence in Design Robotics and Automation Mechanical Engineering Department Sharif University of Technology Tehran Iran

In this paper, a radial basis function neural network-based (RBFNN) adaptive inverse controller for real-time position tracking control of a two phase hybrid stepper motor in microstep mode is presented. To ensure system's robustness and closed loop stability and to improve the performance of the controller, the RBF based adaptive inverse control is combined with a closed loop PID controller. Experimental results are provided for various types of trajectories, comparing the performance of the proposed controller to the same neuro-controller using feed forward back-propagation neural networks (FFBP) proposed previously by the authors. The results show the superior performance of RBFNN over FFBP neural networks. Also the comparison of neuro controllers with a conventional fixed gain stand-alone PID controller show the improvement of the controller performance from 80% up to 99.7% decrease in the mean squared error (MSE) for different trajectories. Trajectories were tracked with the maximum error of 0.02 up to 0.06 degrees. Also the robustness of the method is confirmed through experimental results comparing neuro-controllers and the conventional PID controller by varying the load's inertia and disturbance torques. For this purpose two methods were examined. First using the same neuro-controllers trained by the initial training data and in the second method, neuro-controllers were adapted by new training data according to the new working conditions.

关键词： Programmable control Adaptive control Micromotors Neural networks Control systems Three-term control Robust control Robust stability Training data Adaptive systems

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A case study of 3D stereoscopic vs. 2D monoscopic tele-reality in real-time dexterous teleoperation

A case study of 3D stereoscopic vs. 2D monoscopic tele-reali...

引用

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Wai-keung Fung Wang-tai Lo Yun-hui Liu Ning Xi Networked Sensors and Robotics Laboratory Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China Robotics and Automation Laboratory Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA

This paper reports a case study of using single 3D stereoscopic visual feedback for real-time teleoperation of dexterous tasks. In traditional teleoperation systems, real-time visual feedbacks of multiple monoscopic views of the robot workspace are provided for remote operator. However, it is difficult for the operator to control remote robot to perform dexterous tasks by looking at multiple video feedbacks at the same time. During teleoperation, remote operators usually find multiple 2D visual feedbacks confusing, especially when performing dexterous tasks that require accurate positioning and orientating of robot end-effectors. In this paper, we propose to provide single real-time 3D stereoscopic visual feedback for remote operators so that they perceive remote robot workspace with the sense of depth. This sense of 3D empowers remote operators to accurately position and orient robot end-effector with confidence. Experiments have been conducted to reveal the usefulness of real-time 3D stereoscopic video feedback over multiple monoscopic video feedback in real-time teleoperation.

关键词： Computer aided software engineering robotics and automation Feedback Robot sensing systems Delay effects System performance IP networks Control systems Real time systems Laboratories

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Internet-based teleoperation of a mobile robot using shared impedance control scheme: a pilot study

Internet-based teleoperation of a mobile robot using shared ...

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： I. Hassan-Zadeh F. Janabi-Sharifi M.R. Akhavan X. Yang Department of Control Engineering University of Tabriz Iran Department of Mechanical and Industrial Engineering Robotics and Manufacturing Automation Laboratory (RMAL) Ryerson University Toronto Ontario Canada Robotics and Manufacturing Automation Laboratory (RMAL) Ryerson University Toronto Ontario Canada Department of Electrical and computer Engineering University of western Ontario Canada

In this paper, a shared impedance control scheme is proposed for Internet-based teleoperation of mobile robots. Also, pilot study is conducted to evaluate the effect of different teleoperation parameters. In particular, the effects of time delay, human operator training history, operator-machine interface modalities such as degree of haptic versus visual integration, and performance of virtual model versus real images were studied. The scheme was implemented using Matlab XPC Target and Simulink. Several measures were introduced for the evaluation of teleoperation performance. The study confirmed the significance of haptic cues integration for improving teleoperation of mobile robots. The results suggest that appropriate integration of haptic feedback to a proper image feedback could result in a relatively reliable teleoperation in unstructured environments, e.g., for dynamic obstacle avoidance

关键词： Internet Mobile robots Impedance Force feedback robotics and automation Haptic interfaces Manufacturing automation Laboratories Delay effects Humans

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Step-climbing analysis of a novel tracked robot

Step-climbing analysis of a novel tracked robot

引用

IEEE International Conference on robotics and Biomimetics

作者： Guangping Lan Shugen Ma Department of Systems Engineering Faculty of Engineering Ibaraki University Hitachi Japan Robotics Laboratory CAS Shenyang Institute of Automation Shenyang China

In this paper, we introduce a novel crawler-driven module that is capable of climbing over high steps autonomously, and present the cooperative driving of these two crawler-driven modules for increasing the robot mobility of step-climbing. The proposed mechanism of the crawler-driven module equipped with planetary gear reducers can provide two outputs in different form only be one actuator. Through experimental tests, it is known that the developed crawler-driven module can not only move on the even ground but also pass over high steps without any sensors for discriminating obstacles and any extra actuators or mechanisms for assistance. It is also shown by experimental tests that the mobility of the crawler-driven mechanism can be highly improved by cooperatively driving two of these crawler-driven modules

关键词： Mobile robots robotics and automation Actuators Crawlers Orbital robotics Gears Testing Joining processes Vehicles Systems engineering and theory

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Formation control of robotic vehicles

Formation control of robotic vehicles

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IEEE International Conference on robotics and Biomimetics

作者： Zheng Wang Dalong Tan P.B. Goldsmith Department of Mechanical Engineering University of Calgary Canada Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences China

In this paper, the problem of formation control of robotic vehicles is studied. For a general formation (path, tree, or net) with one leader, a decentralized controller is proposed that yields exponential stability of... 详细信息

关键词： Robot control Vehicles robotics and automation Automatic control Robot kinematics Content addressable storage Mobile robots Stability Equations Helium

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A fast digital fuzzy logic controller: FPGA design and implementation

A fast digital fuzzy logic controller: FPGA design and imple...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： K.M. Deliparaschos F.I. Nenedakis S.G. Tzafestas Intelligent Robotics and Automation Laboratory Department of Electrical Engineering and Computer Science National and Technical University of Athens Athens Greece

This paper describes an improved approach to design a Takagi-Sugeno zero-order type fast parameterized digital fuzzy logic controller (DFLC) processing only the active rules (rules that give a non-null contribution for a given input data set), at high frequency of operation, without significant increase in hardware complexity. To achieve this goal, an improved method of designing the fuzzy controller model is proposed that significantly reduces the time required to process the active rules and effectively increases the input data processing rate. The DFLC discussed in this paper achieves an internal core processing speed of at least 200 MHz, featuring two 8-bit inputs and one 12-bit output, with up to seven trapezoidal shape membership functions per input and a rule base of up to 49 rules. The proposed architecture was implemented in a field programmable gate array (FPGA) chip with the use of a very high-speed integrated-circuits hardware-description-language (VHDL) and advanced synthesis and place and route tools

关键词： Fuzzy logic Digital control Field programmable gate arrays Takagi-Sugeno model Process control Frequency Hardware Design methodology Fuzzy control Data processing

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