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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Yuyi Liu J. M. Montenbruck P. Stegagno F. Allgower A. Zell Department of Computer Science University of Tubingen Tubingen Germany Autonomous Robotics and Human-Machine Systems group Max Planck Institute for Biological Cybernetics Tubingen Germany Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Eberhard Karls Universitat Tubingen Tubingen Baden-WÃ¼rttemberg DE

This paper presents a nonlinear control approach for quadrotor Micro Aerial Vehicles (MAVs), which combines a backstepping-like regulator based on the solution of a certain class of global output regulation problems for the rigid body equations on SO(3), a robust controller for the system with bounded disturbances, as well as a trajectory generator using a model predictive control method. The proposed algorithm is endowed with strong convergence properties so that it allows the quadrotor MAVs to reach almost all the desired attitudes. The control approach is implemented on a high-payload-capable quadcopter with unstructured dynamics and unknown disturbances. The performance of our algorithm is demonstrated through a series of experimental evaluations and comparisons with another control method on normal and aggressive trajectory tracking tasks.

关键词： Attitude control Trajectory Robustness Heuristic algorithms Mathematical model Tracking Aerodynamics

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TRACKING DOMAINS FOR UNSTABLE PLANTS WITH SATURATING-LIKE ACTUATORS

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Asian Journal of control 2008年第4期1卷

作者： V.A. Yakubovich S. Nakaura K. Furuta Vladimir A. Yakubovich is a corresponding member of Russian Academy of Science. Vladimir A. Yakubovich was born in Novosibirsk Russia in 1926. he entered Moscow University in 1946 and graduated in 1949. he received the Candidate of Science degree (Ph.D.) in 1953 and the Doctor of Science degree in 1959 from Leningrad University. In 1959 he joined the Leningrad University and he has remained since then. He is the author of more than 270 papers and a coauthor of seven books in different areas of applied mathematics and control theory. he has worked in parametric resonance theory in the theory of stability of nonlinear systems and in optimization theory. Dr. Yakubovich has served on many scientific committees and editorial boards. he is a member of several scientific socienties in Russia. He was awarded the Norbert Wiener Prize (1991) a prize from the international editorial company “Nauka” for best publication in its journals (1995) and the IEEE Control Systems Award (1996). Since 1991 he has been a corresponding member of the Russian Academy of Sciences. Dept. of Control Engineering Tokyo Institute of Technology Japan. Shigeki Nakaura received his B.S. and M.S. degrees in Control Engineering from the Tokyo Institute of Technology in 1995 and 1997 respectively. He is currently a PhD student of the Tokyo Institute of Technology. His research interests include robotics and intelligent machining. He is a member of SICE JSPE and IEEE. Katsuhisa Furuta was born in Tokyo Japan in 1940. He received his B.S. M.S. and Ph.D. degrees in Engineering from the Tokyo Institute of Technology in 1962 1964 and 1967 respectively. he was a post doctoral fellow at Laval University (Quebec Canada) from July 1967 to August 1969. Since then he has been a member of the teaching staff of the Tokyo Institute of Technology Department of Control Engineering where he is currently a Professor Graduate School of Information Science and Engineering. He was a Russell Severance Springer Professor University of California at

In many mechanical systems, the tracking control is one of the most important issues. Therefore for the unstable system subject to actuator saturation, the domain of the initial states corresponding to an arbitrary reference signal, within which tracking condition can be achieved, is interesting to be considered. In this paper, an approximate tracking domain is derived analytically. First in Theorem 1, for simple case, it is constructed by using the partial Lyapunov function and the absolute stability theory. In the following Theorems 2 and 3, a new idea is used to obtain larger domains. Finally in the last section, a simple numerical example is given.

关键词： Actuator constraint tracking control nonlinear analysis absolute stability

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Experimental Validation of a Self-Adjusting Active Compliance controller for Multiple Robots Handling an Object

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IFAC Proceedings Volumes 1998年第33期31卷 59-64页

作者： Christian von Albrichsfeld Henning Tolle Darmstadt University of Technology Institute of Control Engineering Department of Control Systems Theory & Robotics Landgraf-Georg-Strasse 4 D-64283 Darmstadt

This paper presents the experimental validation of a self-adjusting active compliance controller for n robots handling a concerning its compliant behaviour partly unknown flexible object. The control strategy is based on the decomposition of the 6n-dimensional position/force space and includes a feedforward and feedback level. For adjusting the controller to the in general unknown flexible behaviour, which is the main problem of the controller design. a quasi-static model of the system is derived for different contact cases of the object and a procedure is presented, which by use of this model is capable of determining the compliance of the considered system and therefore of adjusting the controller. Experiments with two pumatype robots show the applicability of the self-adjusting control strategy.

关键词： self-tuning control force-position control admittance control compliance control decoupling problems multi-arm robots intelligent control robot control

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Capturing pyramidal-like objects

Capturing pyramidal-like objects

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Kaneko M. Kessler A. Weigl H. Tolle Control Systems Theory and Robotics Department Darmstadt University of Technology Germany Hiroshima University Japan

This paper discusses a grasp scheme for a pyramidal-like object placed on a table under the gravitational field. We assume that the contact friction is small enough to ensure that any direct grasp fails in achieving an equilibrium grasp. For an idealized 2D triangle object placed vertically on a table, we first show that a planar two-fingered hand can always achieve an equilibrium grasp under frictional contact. We also extend the basic idea to a polyhedron whose face is triangle and show two possible procedures leading to equilibrium grasps. Finally, we verify our idea experimentally for the polyhedra.

关键词： Fingers Friction Humans Robots Grasping Gravity Geometry Kinematics Interference

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Mobile robot localization using a selforganized visual environment representation

Mobile robot localization using a selforganized visual envir...

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Euromicro Workshop on Advanced Mobile Robot

作者： G. von Wichert Control Systems Theory & Robotics Department Darmstadt University of Technology Darmstadt Germany

Due to the upcoming applications in the field of service robotics mobile robots are currently receiving increasing attention in industry and the scientific community. Applications in the area of service robotics demand a high degree of system autonomy, which robots without learning capabilities will not be able to meet. Learning is required in the context of action models and appropriate perception procedures. Both are extremely difficult to acquire especially with high bandwidth sensors (e.g. video cameras) which are needed in the envisioned unstructured worlds. Self-localization is a basic requirement on mobile robots. This paper therefore proposes a new methodology for image based self-localization using a self-organized visual representation of the environment. It allows for the seamless integration of active and passive localization.

关键词： Mobile robots Layout Feature extraction Image segmentation Cameras Robustness Quantization Pixel Robot vision systems Orbital robotics

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FasBack: matching-error based learning for automatic generation of fuzzy logic systems

FasBack: matching-error based learning for automatic generat...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： J.M.C. Izquierdo Y.A. Dimitriadis J.L. Coronado Group of Vision and Robotics. Department of Automatic Electronic and Industrial Electricity School of Industrial Engineering. University of Murcia Murcia Spain Department of Signal Theory Telecommunications and Telematics Enginnering School of Telecommunications Engineering. University of Valladolid Spain Department of Systems Engineering and Control School of Industrial Engineering. University of Valladolid Spain

Many research works have been reported with respect to the relation between neural and fuzzy systems. Looking for a synergistic relation of these technologies, an important property of neural network-based systems is their learning capacity, that permits to embed self-organization in fuzzy logic systems. In this paper, a new neuro-fuzzy system, called FasBack, is proposed, that combines learning based on prediction error minimization and pattern matching. FasBack adds error-based learning to a previously proposed model, called FasArt, which extended and formalized neural networks models of the ART family, as fuzzy logic systems. Experimental results are presented in nonlinear systems identification problems, typically used in the literature.

关键词： Fuzzy logic control systems Fuzzy systems Hardware Industrial engineering Neural networks Subspace constraints System performance Service robots Robot vision systems

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Self-organizing visual perception for mobile robot navigation 1

Self-organizing visual perception for mobile robot navigatio...

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1st Euromicro Workshop on Advanced Mobile Robots, EUROBOT 1996

作者： Von Wichert, Georg Control Systems Theory and Robotics Department Technical University Darmstadt Landgraf-Georg-Str.4 DarmstadtD-64283 Germany

ISBN: (纸本)0818676957

Visual navigation for mobile robots is almost always performed on the basis of complex CAD models which have to be given to the system in advance. There are some approaches that map visual information more or less directly to robot actions in order to implement some basic capabilities like road following or docking. Complex navigation task, e.g. in buildings, however, are usually solved using three dimensional models of the environment or the objects within it. This paper presents a method for self-organizing the visual perception of a mobile robot in order to adapt it to the surroundings without the need to define and model the relevant aspects of the environment. The system uses a self-organization process to transform the continuous pour of images into a limited number of discrete perceptions which can be used far navigation purposes. Results obtained in an indoor office environment are presented. Nevertheless, the approach is suited also for outdoor navigation. © 1996 IEEE.

关键词： Mobile robots

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Object manipulation by a multifingered gripper: on the transition from precision to power grasp

Object manipulation by a multifingered gripper: on the trans...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K.P. Kleinmann J.-O. Hennig C. Ruhm H. Tolle Department of Control Systems Theory and Robotics Darmstadt University of Technology Darmstadt Germany

Whereas the emphasis of precision grasping only using the fingertips is placed on dexterity and sensitivity, power grasps guarantee high security and stability. But even if the task requires a power grasp, in the initial configuration the complete enveloping by the fingers is often impossible due to the position of the object in the workspace and only a fingertip grasp can be applied. Then a transition from precision to power grasping has to be performed. Based on an experimental study this paper discusses several possibilities to realize this transition by using a three-fingered dextrous hand mounted on a 6DOF robot. In particular it is distinguished between strategies requiring a coordination of robot and hand and strategies performing the transition only by the fingers like humans do.

关键词： Grippers Humans Fingers Grasping Medical robotics Robust stability control systems Robot sensing systems Power system security Humanoid robots

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Generation of structured process models using genetic programming 3rd

Generation of structured process models using genetic progra...

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3rd Workshop on Artificial Intelligence and Simulation of Behaviour, AISB 1996

作者： Pohlheim, Hartmut Marenbaeh, Peter Daimler Benz AG Systems Technology Research Alt-Moabit 96a BerlinD-10559 Germany Darmstadt University of Technology Institute of Control Engineering Department of Systems Theory and Robotics Landgraf-Georg-Strare 4 DarmstadtD-64283 Germany

ISBN: (纸本)3540617493

The design of structured mathematical models of processes in a certain level of abstraction defined by the given task appears to be difficult and time consuming even for experienced experts. This paper reports on a new method for the design of structured process models based on the metaphor of Genetic Programming. This new methodology allows the automatic generation of non-linear process models in a self-organizing way. © Springer-Verlag Berlin Heidelberg 1996.

关键词： Genetic algorithms

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Multi-fingered grasping experiments using real-time grasping force optimization

Multi-fingered grasping experiments using real-time grasping...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Buss K.P. Kleinmann Department of Automatic Control Engineering Technical University Munich Munchen Germany Department of Control Systems Theory & Robotics Darmstadt University of Technology Darmstadt Germany

A common approach to control multi-fingered grippers during stable grasping is the stiffness control scheme. "Internal" stiffness parameters and suitable references for internal grasping forces-often determined heuristically-ensure a stable grasp. In this paper, optimal internal forces are obtained in real-time by linearly constrained gradient flows on the smooth manifold of positive definite matrices. This optimization approach is a generic one for any number of fingers in contact with the object. Experiments with the 3-fingered Darmstadt hand show the simplicity and efficiency of the approach.

关键词： Force control Grasping Friction Fingers Automatic control control systems Ear Linear programming Robot programming System performance

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