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15th Annual Conference on Advances in Autonomous robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

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 incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Explicit interpolation-based nonlinear model predictive control with a convex approximation of the feasible set

Explicit interpolation-based nonlinear model predictive cont...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Alexandra Grancharova Sorin Olaru Institute of System Engineering and Robotics Bulgarian Academy of Sciences Sofia Bulgaria SUPELEC Systems Sciences (E3S) - Automatic Control Department

In this paper, an approach to explicit interpolation-based MPC of constrained nonlinear systems is proposed, which is based on the ideas in [9], [10] for explicit constrained control of linear systems by applying interpolation techniques. The developed approach can be considered as an extension of the method in [9], [10] in the following directions: (i) nonlinear discrete-time systems are considered, which are regulated to the origin by solving an NMPC problem, (ii) a method for construction of a convex approximation of the feasible set for the formulated NMPC problem is suggested, (iii) the vertex control (the control values at the vertices of the approximate feasible set) is determined by solving the NMPC problem, instead of maximizing the control action, (iv) an algorithm for explicit interpolation-based NMPC is developed, where the explicit approximate solution is defined on a simplicial partition of the convex approximate feasible set. The proposed approach is illustrated on a numerical example.

关键词： Interpolation Optimization Nonlinear systems Discrete-time systems Optimal control Approximation error

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Terrain identification on a one-legged hopping robot using high-resolution pressure images

Terrain identification on a one-legged hopping robot using h...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jacob J. Shill Emmanuel G. Collins Eric Coyle Jonathan Clark Department of Mechanical Engineering Center for Intelligent Systems Control. and Robotics (CISCOR) Tallahassee FL USA Department of Mechanical Engineering Embry-Riddle Aeron University Daytona Beach FL USA Department of Mechanical Engineering Scansorial and Terrestrial Robotics and Integrated Design Lab (STRIDe) Tallahassee FL USA

For efficient and safe locomotion the gaits of legged robots should vary with the type of terrain. Hence, terrain surface classification is an important problem for this class of mobile robots. Prior research has developed approaches to proprioceptive terrain classification for both wheeled and limbed robots that use sensor measurements dependent upon the dynamics of the robot, which ultimately requires the classification system to be trained at a large number of operating conditions (e.g., vehicle speeds and loads). This research develops an approach to terrain identification based on pressure images generated through direct surface contact using a robot skin constructed around a high-resolution pressure sensing array. Terrain signatures for classification are formulated from the magnitude frequency responses of the pressure images. The methodology is used to train and test a classifier using dynamically measured pressure images from a one-legged hopping robot. Experimental tests yield high classification accuracies, which are independent with respect to changing robot dynamics (i.e., different leg gaits). The findings of this paper suggest the methodology can be extended to autonomous field robots, providing the robot with crucial information about the environment that can be used to aid stability over rough terrains and enhance motion planning over varying terrains.

关键词： Robot sensing systems Skin Legged locomotion Vectors Foot Accuracy

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Second Order Sliding Mode control of a Mobile Hydraulic Crane

Second Order Sliding Mode Control of a Mobile Hydraulic Cran...

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IEEE Annual Conference on Decision and control

作者： Carlos Vazquez Stanislav Aranovskiy Leonid Freidovich Leonid Fridman Department of Applied Physics and Electronics Umea University SE-901 87 Umea Sweden Department of Control Systems and Informatics ITMO University Saint-Petersburg Russia Department of Control Engineering and Robotics Engineering Faculty UNAM C.P. 04510 Mexico City Mexico

ISBN: (纸本)9781467360890

A second order sliding mode control design for a mobile hydraulic system, including bounded model uncertainties and external disturbances, is the subject of study. The proposed algorithm provides a continuous control signal, achieving good performance and chattering attenuation in comparison to other sliding-mode-based techniques. The design includes the formulation of a partial stability problem and we provide the required Lyapunov-function-based analysis. Experimental results are performed over an industrial setup and confirm the effectiveness of the methodology. Moreover, promising results of a comparison with the Super-Twisting and PID controllers are presented.

关键词： Variable structure systems mobile hydraulics stability problems model uncertainty continuous control external disturbance

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Fault tolerant predictive control for multi-agent dynamical systems: Formation reconfiguration using set-theoretic approach

Fault tolerant predictive control for multi-agent dynamical ...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： M.T. Nguyen C. Stoica Maniu S. Olaru A. Grancharova SUPELEC Systems Sciences (E3S) - Automatic Control Department Gif-sur-Yvette France Bulgarian Academy of Sciences Institute of System Engineering and Robotics Sofia Bulgaria

This paper deals with the task assignment problem, which represents a major issue in dynamical formation control. The formation is defined in terms of a group of homogeneous dynamical agents. The position of each agent in the formation is predetermined by pre-imposing the distance between each pair of agents. Recently by using set-theoretic methods, the task assignment has been formulated in terms of an optimization problem allowing to keep the agents in a tight formation in real-time. In this paper we revisit these results and propose a new algorithm for the task assignment formulation in view of real-time control by including fault detection and isolation capabilities. The proposed methods will be illustrated by means of a numerical example.

关键词： Safety Trajectory Optimization Silicon Fault detection Equations Real-time systems

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Optimal Sensor Trajectories for Mobile Underwater Target Positioning with Noisy Range Measurements

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IFAC Proceedings Volumes 2014年第3期47卷 5139-5144页

作者： D. Moreno-Salinas A.M. Pascoal J. Aranda Department of Computer Science and Automatic Control National University Distance Education (UNED) Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico (IST) University of Lisbon Portugal Adjunct Scientist National Institute of Oceanography (NIO) Goa India

There is considerable interest in reducing the number of sensors/beacons involved in underwater positioning/navigation systems since this has the potential to drastically reduce the costs and the time spent in deploying, calibrating, and recovering acoustic equipment at sea. Motivated by these considerations, we address the problem of single underwater target positioning based on acoustic range measurements between the target and a moving sensor at the sea surface. In particular, the goal of the present work is to compute optimal geometric trajectories for the surface sensor that will, in a well defined sense, maximize the range-related information available for underwater target positioning and tracking. To this effect, the Fisher Information Matrix and the maximization of its determinant are used to determine the sensor trajectory that yields the most accurate positioning of the target, while the latter describes a preplanned trajectory. It is shown that the optimal trajectory depends on the velocity of the sensor, the velocity and trajectory of the target, the sampling time between measurements, the measurement error model, and the number of measurements used to compute the FIM. Simulation examples illustrate the key results derived.

关键词： Autonomous underwater vehicles Fisher information matrix Cramer-Rao Bound optimization positioning single tracker

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Bipedal walking with toe-off, heel-strike and compliance with external disturbances

Bipedal walking with toe-off, heel-strike and compliance wit...

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IEEE-RAS International Conference on Humanoid Robots

作者： Xuechao Chen Yuhang Zhou Qiang Huang Zhangguo Yu Gan Ma Libo Meng Chenglong Fu Key Laboratory of Intelligent Control and Decision of Complex System China Ministry of Education Key Laboratory of Biomimetic Robots and Systems China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Department of Mechanical Engineering Tsinghua University Beijing

ISBN: (纸本)9781479971756

Both disturbance rejection and human-like motions, like toe-off and heel-strike, are important for a biped robot to enhance its performance. However, the required motions for them may influence each other, which is why few studies consider them simultaneously. This paper presents a method to realize stable walking with toe-off and heel-strike even when the robot experiences disturbances. We propose a walking controller which can constrain the desired ground reaction force. On the one hand, the controller can adjust the torso acceleration to make the supporting leg compliant with the external disturbances on the torso. On the other hand, it can rotate the supporting foot by adjusting the ZMP to an appropriate location. The linear inverted pendulum is utilized to generate the CoM trajectory and the foot placement. Meanwhile, its ZMP can be predefined as required so that the toe-off and heel-strike can be achieved by the controller. The effectiveness of the proposed method is demonstrated by simulations.

关键词： Legged locomotion Foot Torso Robot kinematics Acceleration Joints

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Whole-Body Pose Estimation in Physical Rider-Bicycle Interactions with a Monocular Camera and a Set of Wearable Gyroscopes

Whole-Body Pose Estimation in Physical Rider-Bicycle Interac...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Xiang Lu Kaiyan Yu Yizhai Zhang Jingang Yi Jingtai Liu Institute of Robotics and Automatic Information Systems Nankai University Tianjin 300071 P. R. China Department of Mechanical and Aerospace Engineering Rutgers University Piscataway NJ 08854 USA Department of Control and Information Northwestern Polytechnical University Xi'an Shaanxi China

ISBN: (纸本)9781479969357

We report the development of a human whole-body pose estimation scheme with application to rider-bicycle interactions. The estimation scheme is built on the fusion of measurements of a monocular camera on the bicycle and a set of small wearable gyroscopes attached to the rider's upper- and lower-limb and the trunk. A single feature point is collocated with each wearable gyroscope and also on the segment link where the gyroscope is not attached. An extended Kalman filter is designed to fuse the vision-inertial measurements to obtain accurate whole-body poses. The estimation design also incorporates a set of constraints from human anatomy and the physical rider-bicycle interactions. We demonstrate and compare the performance of the estimation design through multiple subjects riding experiments.

关键词： Gyroscopes Estimation Bicycles Joints Cameras Wrist Quaternions

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Fall detection for elderly by using an intelligent cane robot based on center of pressure (COP) stability theory

Fall detection for elderly by using an intelligent cane robo...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Pei Di Jian Huang Shotaro Nakagawa Kosuke Sekiyama Toshio Fukuda Department of Micro-Nano Systems Engineering Nagoya University Aichi Nagoya Japan Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Institute for Advanced Research Nagoya University Chikusa-ku Nagoya Japan The Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology China The Faculty of Science and Engineering Meijo University Japan

An intelligent cane robot was designed for aiding the elderly and handicapped people walking. The robot consists of a stick, a group of sensors and an omni-directional basis driven by three Swedish wheels. Multiple sensors were used to recognize the user's “walking intention”, which is quantitatively described by a new concept called intentional direction (ITD). Based on the guidance of filtered ITD, a novel intention-based admittance motion control (IBAC) scheme was proposed for the cane robot. To detect the fall of user, a detection method based on Dubois possibility theory was proposed using the combined sensor information from force sensors, a laser ranger finder (LRF) and an on-shoe load sensor. The human fall model was represented in a two-dimensional space, where the relative position between the center of pressure (COP) and the center of support triangle was utilized as a significant feature. The effectiveness of proposed fall detection method was also confirmed by experiments.

关键词： Legged locomotion Robot sensing systems Senior citizens Artificial intelligence

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System of geometric parameters monitoring during cutting of steel plates process

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Diagnostyka 2013年第3期14卷 23-28页

作者： Kwasniewski, Jerzy Grzybowski, Józef Kordos, Damian AGH University of Science and Technology in Kraków Faculty of Mechanical Engineering and Robotics Department of Rope Transport Poland Rzeszów University of Technology Faculty of Mechanical Engineering and Aeronautics Department of Avionics and Control Systems Poland

The steel plate cutting is performed on a special pro-duction lines to enable longitudinal and lateral cut. Input material is usually a metal ring of weight about 32 tons. The cutting process is preceded by an operation of straightening the cutting section. So far, during this operation parameters such as wave cut off sheets, the thickness of the material were not monitored. This paper presents a system of continuous monitoring of sheets parameters constructed by the authors. It was mounted on the process line-cutting and slitting of one of the companies cutting sheet metal. Such approach allows to improve quality control.

关键词： Metal cutting

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