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IEEE International Conference on robotics and Biomimetics

作者： Zyada, Zakarya Hayakawa, Yoshikazu Hosoe, Shigeyuki Tanta University of Egypt Egypt Robot Control Research Team RIKEN-TRI Collaboration Center for Human-Interactive Robot Research Nagoya Aichi 463-0003 Japan Department of Mechanical Science and Engineering Nagoya University Nagoya Furo-cho Chikusa-ku Nagoya 464-8603 Japan Robot Control Research Team RIKEN-TRI Collaboration Center RIKEN Nagoya Japan RIKEN-TRI Collaboration Center for Human-Interactive Robot Research Nagoya Aichi 463-0003 Japan

ISBN: (纸本)9781424493173

robots are expected to come in direct contact with human at care facilities and/or homes soon. Motivated by the application of holding and/or transferring a patient applying a robot, this paper introduces the dynamic model, static analysis and control algorithm for nonprehensile manipulation of a two-rigid-link object applying two cooperative arms. Newton-Euler equations are applied for formulating the object dynamics while a visco-elastic model is applied for modeling the interaction between the object links and the arms. Static analysis specifying the equilibrium points based on the derived dynamical model is introduced. A PD controller with a disturbance observer is designed to control the object lifting-up motion. Static analysis as well as controlled object lifting-up motion simulation results is presented which show the validity of the proposed analysis and control algorithm. © 2010 IEEE.

关键词： Static analysis

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Design of new modular walking robot MERO

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11th International Conference on Climbing and Walking robots and the Support Technologies for Mobile Machines, CLAWAR 2008

作者： Ion, Ion Simionescu, Ion Curaj, Adrian Luige, Vladareanu Vasile, Aurelian Technology of Manufacturing Department POLITEHNICA University Bucharest Romania Mechanism and Robot Theory Department POLITEHNICA University Bucharest Romania Automatic Control and System Engineering Department POLITEHNICA University Bucharest Romania Institute of Solid Mechanics Romanian Academy Romania

ISBN: (纸本)9812835768

The walking robots are built to displace the loads on the not-aligned terrain. The modular walking system protect much better the environment when its contact with the soil is discrete, a fact that limits appreciately the area that is crushed. At the Polytechnic University of Bucharest has been new developed a walking modular robot to handle farming tools. This walking robot has three twolegged modules. Every leg has three freedom degrees (RRT) and a tactile sensor to measure the contact, which consists of lower and upper levels. The body of the MERO (MEchanism robot) walking robot carries a gyroscopic bearing sensor to measure the pitch and roll angles of the platform. The legs are powered by hydraulic or electric drives and are equipped with transducers and sensors. They are used to control the walking robot in the adaptability to a natural ground. A vehicle like that is Romanian Walking robot MERO (Fig. 1).

关键词： Machine design

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Camera and LiDAR Sensor Fusion Method for Object Estimation of Intelligent robots

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Journal of Institute of control, robotics and Systems 2024年第8期30卷 810-816页

作者： Lee, Sun Ho Choi, Woo Young Department of Intelligent Robot Engineering Pukyong National University Korea Republic of Department of Control and Instrumentation Engineering Pukyong National University Korea Republic of

This study proposes a low-cost camera and LiDAR sensor fusion method to improve object recognition and estimation performance in autonomous and robot systems. We first calibrate the camera and LiDAR sensor to implement the proposed method. Then, data association is performed between the bounding box data of the object identified through the YOLOv3 algorithm from the camera sensor and the LiDAR sensor data. Afterward, a Kalman filter considering sensor characteristics is applied to improve object recognition and estimation accuracy. The usefulness of the proposed method was validated through scenario-based experiments. Experimental results revealed that the proposed sensor fusion method improved object recognition and estimation accuracy, compared to methods using single sensors. © ICROS 2024.

关键词： Kalman filters

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Robust image-based landing control of a quadrotor on an unknown moving platform using circle features

Robust image-based landing control of a quadrotor on an unkn...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Lin, Jie Wang, Yaonan Miao, Zhiqiang Zhong, Hang Nie, Jingmou Fierro, Rafael College of Electrical and Information Engineering Hunan University Changsha410082 China National Engineering Laboratory for Robot Visual Perception and Control Changsha China University of New Mexico MARHES Lab Department of Electrical and Computer Engineering AlbuquerqueNM87131-0001 United States

ISBN: (纸本)9781665436786

This paper addresses the robust image-based landing control problem for a landing system, including an underactuated quadrotor and an unknown moving platform. Firstly, an image kinematics is constructed by using an image moment based on a circle feature in the virtual image plane, which decouples the landing system into a translation and a rotation control module. Exploiting the funnel control techniques with barrier Lyapunov functions (BLFs), the proposed IBVS control law does not depend on relative height needed by IBVS-like approaches and the explicit knowledge of moving platforms. Besides, it guarantees feature errors with prescribed transient and steady-state behavior. Finally, A simulation study is presented to verify the efficacy of the proposed control scheme. © 2021 IEEE.

关键词： Lyapunov functions

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System Design and Experiment of a Laryngeal Surgical robotic System 15

System Design and Experiment of a Laryngeal Surgical Robotic...

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15th International Conference on Ubiquitous robots, UR 2018

作者： Kim, Sang-Hwa Seo, Jong-Tae Woo, Jae Hong Yoon, Hyun-Soo Tae, Kyung Yi, Byung-Ju Division of Electrical Engineering Hanyang University Ansan Korea Republic of Department of Intelligent Robot Engineering Hanyang University Ansan Korea Republic of Department of Electronic Electrical Control and Instrumentation Engineering Hanyang University Ansan Korea Republic of Department of Otolaryngology-Head Hanyang University Neck Surgery College of Medicine Seoul Korea Republic of

ISBN: (纸本)9781538663349

A laryngeal surgical robotic system equipped with high quality 3-dimensional images and robot arms is developed to help the surgeon treat general diseases located at head and neck area. This paper is to describe a system configuration and demonstrate effectiveness of the laryngeal surgical robotic system. A mechanical construction of this system is based on a novel stackable parallel mechanism architecture. The EtherCAT communication protocol is used for real-time control. In order to confirm the effectiveness of the laryngeal surgical robotic system, experiments using phantom and cadaver were performed. © 2018 IEEE.

关键词： Real time control

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NCV-PWM Method for the Phase Current Reconstruction With DC Link Single Sensor

NCV-PWM Method for the Phase Current Reconstruction With DC ...

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作者： Shen, Yongpeng Wu, Kexuan Yuan, Xiaofang Wu, Chengzhong Liang, Weihua Chen, Zhiwei The College of Electric and Information Engineering Zhengzhou University of Light Industry Zhengzhou450002 China The Department of Electric and Information Engineering Hunan University Changsha410082 China The National Engineering Laboratory for Robot Visual Perception and Control Technology Hunan University Changsha410082 China

The DC link current sampling with a single sensor is a promising solution in the electric drive field due to its low cost and small volume. However, limited by the minimum sampling time, the current reconstruction unobservable area is the most intractable challenge in the traditional single sensor reconstruction method, especially in sector boundary areas, where the phase current cannot be reconstructed completely. In this article, a new non-zero compensation vector pulse width modulation (NCV-PWM) method is proposed to eliminate the current unobservable area. Firstly, by introducing the definition of minimum sampling time, the voltage space vector plane is accurately divided into different modulation areas. Then, by applying non-zero compensation vector in the sector boundary, the current sampling window is extended, and the sampling time requirement for the DC link current is satisfied. Finally, the practicability and accuracy of the NCV-PWM method are verified by experiments, and results show that the current reconstruction error is less than 2.86%, which provides accurate current feedback for high-performance motor control. © 2023 IEEE.

关键词： Electric drives

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Correction method for geometric image distortion with application to printed circuit board inspection systems

Correction method for geometric image distortion with applic...

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SICE Annual Conference

作者： Wan-young Lee Tae-Hyoung Park Department of Control and Robot Engineering Chungbuk National University Cheonghu Chungbuk South Korea

Geometric distortion of an image is one of the most important parameters affecting the accuracy of optical inspection systems. We propose a new image distortion correction method to increase the accuracy of printed circuit board (PCB) inspection systems. Our model-free method is applied to correct the randomly distorted images that cannot be represented by a mathematical model. To reduce the correction time of the inspection system, we propose a control area-merging algorithm that minimizes the number of control areas using the quad-tree approach. We apply the proposed method to a PCB inspection system, and verify its usefulness through experiments using actual inspection images.

关键词： Printed circuits Inspection Optical distortion Mathematical model control systems Geometrical optics Productivity Cameras Optical control robot control

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EKF-based simultaneous localization and mapping using laser corner-pattern matching

EKF-based simultaneous localization and mapping using laser ...

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International Conference on Information and Automation (ICIA)

作者： Tae-Hyeong Kim Tae-Hyoung Park Department of Control and Robot Engineering Chungbuk National University Cheongju Chungbuk South Korea

ISBN: (纸本)9781509041039

In this paper, we propose an extended Kalman filter (EKF)-based simultaneous localization and mapping (SLAM) method using laser corner-pattern matching for mobile robots. SLAM is one of the most important problems for mobile robots. To solve the problem, an EKF is often used. However, the existing EKF-based SLAM using landmarks method has the disadvantage of increased computation time, depending on the number of corner points. To improve SLAM computation time, we produce a corner pattern using classified and detected corner points. After producing corner patterns, the mobile robot's global position is estimated by matching them. The estimated position is used as a measurement model in the EKF. To evaluate the proposed method, we performed experiments in indoor environments. Experimental results from the proposed method show that it maintains accuracy and decreases computation time.

关键词： Simultaneous localization and mapping Mobile robots Pattern matching Lasers Measurement by laser beam

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Research on and education for navigation control of an exploration rover with microwave Doppler sensors (fabrication of the signal processing electrical circuit)

Research on and education for navigation control of an explo...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Masahiro Isogai Yuya Takada Department of Electronic Control and Robot Engineering Aichi University of Technology Gamagori Aichi Japan

ISBN: (纸本)9781509027866

Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of ±3° at a frequency of 24 GHz was emitted from a sensor (A) on a dish antenna 30 cm in diameter. Another sensor (B), which works as a detector, was installed on the rover. The rover was programmed to make a right turn when the microwave signal was above a specified level and to make a left turn when the signal was below that level. In this study, we fabricated a signal processing electrical circuit for the fourth prototype rover. To confirm the performance of the fabricated electrical circuit, we carried out some experiments on the frequency response of the electrical circuit. Finally, we had a questionnaire for the student who collaborated with this study to investigate how this study had an educational effect on the student.

关键词： Sensors Microwave circuits Microwave filters Band-pass filters Microwave antennas Low-pass filters

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Fast 3D detection of vehicles using density image of lidar

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Journal of Institute of control, robotics and Systems 2018年第12期24卷 1161-1169页

作者： Kim, Tae-Hyeong Park, Tae-Hyeong Department of Control and Robot Engineering Chungbuk National University Korea Republic of School of Electronics Engineering Chungbuk National University Korea Republic of

The deep-learning-based method is a costly method that requires the addition of a lot of learning data and hardware. This paper proposes a 3D vehicle detection method using only 3D lidar in autonomous vehicles. The proposed method generates density image and height image using point clouds. Candidates of the vehicle are detected from the complex image, and images for extracting features are generated from each candidate. In addition, we use the SVM (Support Vector Machine) instead of deep-learning, a low-cost learning method, to classify HOG (Histogram of Oriented Gradient) feature vectors. The proposed method can reduce the amount of computation as well as the execution time. The vehicle can be detected and the distance to the vehicle can be measured. Experimental results show the performance of the proposed method. © ICROS 2018.

关键词： Support vector machines

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