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A novel approach to gait synchronization and transition for reconfigurable walking platforms

Digital Communications and Networks 2015年第2期1卷 141-151页

作者： Shunsuke Nansai Nicolas Rojas Mohan Rajesh Elara Ricardo Sosa Masami Iwase Department of Advanced Multidisciplinary Engineering Tokyo Denki University Department of Mechanical Engineering and Materials Science Yale University Engineering Product Development Pillar Singapore University of Technology and Design Department of Robotics and Mechatronics Tokyo Denki University

Legged robots based on one degree-of-freedom reconfigurable planar leg mechanisms, that are capable of generating multiple useful gaits, are highly desired due to the possibility of handling environments and tasks of high complexity while maintaining simple control schemes. An essential consideration in these reconfigurable legged robots is to attain stability in motion, at rest as well as while transforming from one configuration to another with the minimum number of legs as long as the full range of their walking patterns, resulting from the different gait cycles of their legs, is achieved. To this end, in this paper, we present a method for the generation of input joint trajectories to properly synchronize the movement of quadruped robots with reconfigurable legs. The approach is exemplified in a four-legged robot with reconfigurable Jansen legs capable of generating up to six useful different gait cycles. The proposed technique is validated through simulated results that show the platform's stability across its six feasible walking patterns and during gait transition phases, thus considerably extending the capabilities of the non-reconfigurable design.

关键词： Legged robot Static stability Reconfigurable mechanism Jansen mechanism Walking platform

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design and fuzzy control of a robotic gripper for efficient strawberry harvesting

Design and fuzzy control of a robotic gripper for efficient ...

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作者： Dimeas, Fotios Sako, Dhionis V. Moulianitis, Vassilis C. Aspragathos, Nikos A. Robotics Group Department of Mechanical Engineering and Aeronautics University of Patras Patras26504 Greece Department of Product and Systems Design Engineering University of the Aegean Syros84100 Greece

Strawberry is a very delicate fruit that requires special treatment during harvesting. A hierarchical control scheme is proposed based on a fuzzy controller for the force regulation of the gripper and proper grasping criteria, that can detect misplaced strawberries on the gripper or uneven distribution of forces. The design of the gripper and the controller are based on conducted experiments to measure the maximum gripping force and the required detachment force under a variety of detachment techniques. It is demonstrated that the hand motion for detaching the fruit from the stem has a significant role in the process because it can reduce the required force. By analysing those results a robotic gripper with pressure profile sensors is developed that demonstrates an efficiency comparable to the human hand for strawberry grasping. The designed gripper and fuzzy controller performance is tested with a considerable number of fresh fruits to demonstrate the effectiveness to the uncertainties of strawberry grasping. © 2014 Cambridge University Press.

关键词： Grippers

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Analysis of Difference in Center-of-Pressure Positions between Experts and Novices during Asymmetric Lifting

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IEEE Journal of Translational engineering in Health and Medicine 2016年 4卷 2100311页

作者： Jeong, Hieyong Yamada, Kenji Kido, Michiko Okada, Shima Nomura, Taishin Ohno, Yuko Department of Robotics and Design for Innovative Healthcare Graduate School of Medicine Osaka University Osaka565-0871 Japan Division of Health Sciences Graduate School of Medicine Osaka University Osaka565-0871 Japan Department of Mechanical Engineering Graduate School of Engineering Kindai University Osaka577-8502 Japan Department of Mechanical Science and Bioengineering Graduate School of Engineering Science Osaka University Osaka560-0043 Japan

Although numerous studies have analyzed the relationship between manual material handling (MMH) and the forces acting on the lumbar spine, the difference in the MMH between experts and novices through the analysis of measured data has not been well studied. The purpose of this paper was to analyze the difference in the MMH positions between ten skilled experts working at a freight transport company (Group 1) and five unskilled novices without any experience (Group 2) during asymmetric lifting. All the human subjects performed asymmetric lifting experiments with closed eyes;the experiments involved moving loads (6 and 18 kg) to the left side. Time series data of the vertical ground reaction force were measured, using a Wii Balance Board, and then, the center-of-pressure (CoP) trajectories were calculated. The balance board was used for the measurement, because it was reliable, inexpensive, and portable and provided good repeatability even on rough surfaces, and all the information pertaining to the load and worker under various conditions was captured without any omissions. Under the 18 kg load condition, the CoP positions for Group 2 were located on the same side during left asymmetric lifting;however, those for Group 1 were located on the opposite side during left asymmetric lifting ( P © 2013 IEEE.

关键词： Biophysics

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Stewart Platform Manipulator: State Estimation Using Inertia Sensors and Unscented Kalman Filter

Stewart Platform Manipulator: State Estimation Using Inertia...

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International Conference on Information Science and Control engineering (ICISCE)

作者： Shady A. Maged A. A. Abouelsoud Ahmed M. R. Fath El Bab Toru Namerikawa Mechatronics and Robotics Eng. Dept Egypt Japan University of Science and Technology New Borg ElArab Alexandria Egypt Electronics and Communications Eng. Dept Cairo University Egypt Mechanical Engineering Department Assiut University Assiut Egypt Department of System Design Engineering Keio University Yokohama Japan

ISBN: (纸本)9781509025367

This manuscript presents the estimation of both position and velocity of Stewart manipulator using leg length measurements and MEMS inertial sensors. The estimation by using Unscented Kalman Filter (UKF) is based on the combination of different sensors. UKF is used as a nonlinear state estimator to the Stewart platform which is modeled as a stochastic differential equation due to measurement noise. The experimental results of the UKF are verified on the Stewart platform DELTALAB EX800 using LABVIEW real time software. The desired trajectories are compared with the estimated states (position and orientation) obtained using UKF. Moreover, the estimated leg lengths are compared with the real measured output from the potentiometer sensors of the six legs of the parallel manipulator. The experimental results show that the estimation error is bounded with small bound depending on the covariance matrices. This proves the effectiveness of the proposed Unscented Kalman Filter (UKF) as a nonlinear estimator with integration between inertial sensors and leg potentiometers.

关键词： Legged locomotion Manipulators Sensors Kalman filters Trajectory Potentiometers

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Linearized PID control in a nonlinear model of an active hydromagnetic journal bearing

Linearized PID control in a nonlinear model of an active hyd...

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作者： Farmakopoulos, Michael G Thanou, Michalis D Nikolakopoulos, Pantelis G Papadopoulos, Chris A Tzes, Anthony P Machine Design Laboratory Department of Mechanical Engineering and Aeronautics University of Patras Patras26504 Greece Automation and Robotics Laboratory Electrical and Computer Engineering Department University of Patras Patras Greece

A proportional-integral-derivative (PID) control model of an active hydromagnetic journal bearing (AHJB) is presented here and its design guidelines are explicitly described. The nonlinear rotor equations of motion, is introduced. Then, the linearization of these equations in the bearing specific equilibrium point is performed and presented along with the appropriate PID gains. Consequentially, the linear equation is transformed via Laplace method and the control model of the AHJB is finally developed. The multiphysics module of Ansys is used to calculate the forces that the hydrodynamic lubrication applies to the rotor, in every position of the rotor, during its movement inside the bearing. This has been done, in order not to have linear equations of the hydrodynamic forces, but the real, nonlinear equations. The nonlinear equations are used for the electromagnetic forces too. The Matlab software is used to simulate the components that the AHJB is consisted of. The P, I, and D gains are the obtained results of this simulations, which are produced via robust control method, in single-input-single-output tool module. Finally, the Simulink module of Matlab is energized to check the control characteristics of the developed AHJB system, taking into account the nonlinear equations of motion of the system, in combination with the rotor unbalance and gyroscopic effects and the saturation of the coils. The rotor response, the overshoot, the rotor center vibration are controlled using the above produced P, I, and D gains. Several plots are constructed and presented, such as the rotor orbits, to show the possibility of the AHJB control. © 2014 IMechE.

关键词： Simulink

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Vision- aided navigation for a free-flying unmanned robotic system to support interplanetary bodies prospecting and characterization missions

Vision- aided navigation for a free-flying unmanned robotic ...

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AIAA Guidance, Navigation, and Control Conference, 2016

作者： Prazenica, Richard J. Kern, Zachery John, Tennyson Samuel Moncayo, Hever Zacny, Kris Mueller, Robert P. Ebert, Tom DuPuis, Michael Aerospace Engineering Department Embry-Riddle Aeronautical University Daytona BeachFL32114 United States Embry-Riddle Aeronautical University Daytona BeachFL32114 United States Exploration Technology Group Honeybee Robotics Company CA United States NASA Kennedy Space Center FL United States Testing and Design Branch NASA Kennedy Space Center FL United States NASA Kennedy Space Center FL United States

ISBN: (数字)9781624103896

ISBN: (纸本)9781624103896

This paper investigates vision-aided navigation strategies for an autonomous free-flying robotic vehicle designed to explore interplanetary bodies, such as moons or asteroids, for the purposes of In Situ Resource Utilization (ISRU). ISRU has the potential to facilitate planetary exploration by drawing needed resources, such as water, from the local environment. The realization of ISRU requires the development of advanced unmanned space systems integrated with sample-capture devices and guidance, navigation, and control systems capable of supporting autonomous exploration of challenging environments such as craters and lava tubes. Navigation on interplanetary bodies is challenging due to the unavailability of traditional navigation sesnors such as GPS and magnetometers. This paper focuses on the use of one or more vision sensors to augment an onboard inertial measurement unit, which is composed of accelerometers and rate gyros, in order to provide vision-aided navigation solutions for the free-flyer robotic system. In this study, a vision-aided navigation strategy is considered that entails using object detection and tracking algorithms to identify known landmarks in the scene, which provides information that can be used to estimate the position of the vehicle within the environment. Vision-aided navigation filters are developed for a stereo implementation of landmark detection and tracking, and the algorithms are implemented on video obtained from flights of a quadrotor UAV at the Hazard Field at the NASA Kennedy Space Center. © 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： NASA

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A novel SMA-based micro tactile display device for elasticity range of human soft tissues: design and simulation

A novel SMA-based micro tactile display device for elasticit...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015

作者： Mansour, Nader A. Fath El-Bab, Ahmed M.R. Assal, Samy F.M. Mechatronics and Robotics Department Egypt-Japan University of Science and Technology Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Assiut Egypt Production Engineering and Mechanical Design Department Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467391078

A novel micro tactile display device to display the elasticity of human soft tissues is presented in this paper. The device consists of 16 units in the form of a 4 × 4 units array. Each unit consists of two substrates separated by a 1.75 mm spacer. The first substrate holds a stiffness display pin (1 mm × 1 mm) which is supported by two Shape Memory Alloy (SMA) springs in parallel to provide tunable stiffness. A strain gauge on top of this substrate is used to measure the force applied on that pin. The other substrate includes a planar coil forming a non-contact eddy current sensor that is used to measure the deflection of the pin when subjected to an external force. Both the strain gauge and the eddy current sensors provide feedback signals that are used for characterization and control of the stiffness. Finite element simulation shows that the stiffness range of the designed device matches the range of elasticity of human soft tissues and the eddy current sensor detects up to 1.75 mm deflection which is suitable for characterization purposes. The simulation also studies the cross talk that possibly happen among the eddy current sensors due to the magnetic field. © 2015 IEEE.

关键词： Substrates

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CSP and 'omics' technology apllied on versatile and intelligent portable platform for modeling complex bio-medical data

CSP and 'omics' technology apllied on versatile and intellig...

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2016 International Conference on Advanced Mechatronic Systems, ICAMechS 2016

作者： Vladareanu, Luige Iliescu, Mihaiela Wang, Hongbo Yongfei, Feng Vladareanu, Victor Yu, Hongnian Smarandache, Florentin Robotics and Mechatronics Department Institute of Solid Mechanics of the Romanian Academy 010141 C-Tin Mille 15 Romania Romania Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Oinhuangdao China Faculty of Electronics II University Politehnica of Bucharest 313 Splaiul Independentei Bucharest060042 Romania School of Design Engineering and Computing Bournemouth University Poole DorsetBH12 5BB United Kingdom Department of Mathematics University of New Mexico 705 Gurley Avenue GallupNM87301 United States

ISBN: (纸本)9781509053469

This paper presents relevant aspects of the idea of using the digital medicine in cancer, so that to shape a viable strategy for creating and implementing an interactive digital platform, NEO-VIP, that should be the basic support to design the strategy for integration of basic, clinical and environmental research on neoplasia progression to cancer. The two main components of the VIPRO Platform are represented by the workstation 'engineering Station' for CPS (Cyber Physical System) and 'omics' technology and by the 'Graphical Station' for the development of a virtual mechatronic system environment and virtual reality for system components' motion. The NEO-VIP Platform will consolidate the collaboration of specialized institutions in IT, medicine, health, life standards so that to enhance their capabilities to work as a consortium. The results lead to the possibility developing NEO-VIP Platform in the IT modelling field, applied on bio-medical data, as a new player alongside with the existing ones. So, new improved methodologies for investigating social implications of machines working with and for people will be applied. © 2016 IEEE.

关键词： Cyber Physical System

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CSP and “omics” technology apllied on versatile and intelligent portable platform for modeling complex bio-medical data

CSP and “omics” technology apllied on versatile and intell...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Luige Vladareanu Mihaiela Iliescu Hongbo Wang Feng Yongfei Victor Vladareanu Hongnian Yu Florentin Smarandache Robotics and Mechatronics Department Institute of Solid Mechanics of the Romanian Academy Bucharest Romania Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Faculty of Electronics II University Politehnica of Bucharest Romania School of Design Engineering and Computing Bournemouth University Poole Dorset UK Department of Mathematics University of New Mexico USA

This paper presents relevant aspects of the idea of using the digital medicine in cancer, so that to shape a viable strategy for creating and implementing an interactive digital platform, NEO-VIP, that should be the basic support to design the strategy for integration of basic, clinical and environmental research on neoplasia progression to cancer. The two main components of the VIPRO Platform are represented by the workstation “engineering Station” for CPS (Cyber Physical System) and “omics” technology and by the “Graphical Station” for the development of a virtual mechatronic system environment and virtual reality for system components' motion. The NEO-VIP Platform will consolidate the collaboration of specialized institutions in IT, medicine, health, life standards so that to enhance their capabilities to work as a consortium. The results lead to the possibility developing NEO-VIP Platform in the IT modelling field, applied on bio-medical data, as a new player alongside with the existing ones. So, new improved methodologies for investigating social implications of machines working with and for people will be applied.

关键词： Cancer Neoplasms Solid modeling Data models Bioinformatics Genomics Real-time systems

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A three-degree-of-freedom parallel manipulator for concentrated solar power towers: Modeling, simulation and design

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AIP Conference Proceedings 2016年第1期1734卷

作者： Ashitava Ghosal R. B. Ashith Shyam 1Professor Robotics and Design Lab Department of Mechanical Engineering Indian Institute of Science Bangalore 560012 India 2Research Scholar Robotics and Design Lab. Department of Mechanical Engineering Indian Institute of Science Bangalore 560012 India

There is an increased thrust to harvest solar energy in India to meet increasing energy requirements and to minimize imported fossil fuels. In a solar power tower system, an array of tracking mirrors or heliostats are used to concentrate the incident solar energy on an elevated stationary receiver and then the thermal energy converted to electricity using a heat engine. The conventional method of tracking are the Azimuth-Elevation (Az-El) or Target-Aligned (T-A) mount. In both the cases, the mirror is rotated about two mutually perpendicular axes and is supported at the center using a pedestal which is fixed to the ground. In this paper, a three degree-of-freedom parallel manipulator, namely the 3-RPS, is proposed for tracking the sun in a solar power tower system. We present modeling, simulation and design of the 3-RPS parallel manipulator and show its advantages over conventional Az-El and T-A mounts. The 3-RPS manipulator consists of three rotary (R), three prismatic (P) and three spherical (S) joints and the mirror assembly is mounted at three points in contrast to the Az-El and T-A mounts. The kinematic equations for sun tracking are derived for the 3-RPS manipulator and from the simulations, we obtain the range of motion of the rotary, prismatic and spherical joints. Since the mirror assembly is mounted at three points, the wind load and self-weight are distributed and as a consequence, the deflections due to loading are smaller than in conventional mounts. It is shown that the weight of the supporting structure is between 15% and 65% less than that of conventional systems. Hence, even though one additional actuator is used, the larger area mirrors can be used and costs can be reduced.

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