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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Pamosoaji, Anugrah K. Hong, Keum-Shik Ge, Shuzhi Sam School of Mechanical Engineering Pusan National University Busan 609-735 Korea Republic of Department of Cogno-Mechatronics Engineering Pusan National University Busan 609-735 Korea Republic of Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611813 China Department of Electrical and Computer Engineering National University of Singapore 117576 Singapore Singapore

ISBN: (纸本)9781457707223

Algorithms for trajectory planning and control for a multiple-vehicles system are investigated. An issue of designing collision-free trajectories on a group of crossing paths is tackled. The trajectories are modeled as a set of via-points coupled with their associated achieving time. Furthermore, a tracking controller design dealing with actuators constraints and all via points' achieve times is proposed. By applying the controller, each vehicle is guaranteed to get closer to the desired via-points without any obstacle-avoidance motions. Simulation results showing the generated trajectories and tracking performance is presented. © 2011 IEEE.

关键词： Trajectories

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Mechanical design of social robot Nancy

Mechanical design of social robot Nancy

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2011 IEEE/SICE International Symposium on System Integration, SII 2011

作者： Ge, S.S. Safizadeh, M.R. Li, Y. Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9781457715235

This paper presents the mechanical design of a social robot, Nancy, developed by Social robotics Laboratory, Interactive and Digital Media Institute, National University of Singapore. The objective of our project is to introduce the social robot which is capable to interact with people, especially the elderly, based on fundamental, functional and social tasks. We developed Nancy with multi-module structure and 32 degrees of freedom (DOFs), including 24 and 8 DOFs in upper-body and lower-body, respectively. 8 DOFs are considered in each arm to make Nancy able to imitate human limbs' motion. Nancy's head involves eye and eyelid motions with 3 DOFs which is on top of a 2-DOFs neck. The wheeled-base is designed in such a way to facilitate the multi-directional movements for Nancy. One of our main objectives in Nancy's mechanical design is to obtain powerful and smooth motion, light-weight joints and simple kinematics. They are achieved by Bowden cable-pulley mechanism driven by actuators located in lower-body. Accordingly, all joints are designed to have intersected axes. Most joints are driven by brushless D.C. motors embedded with electrical brake system to stabilize the robot, especially in case of power loss. © 2011 IEEE.

关键词： Digital storage

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Diagonalization of Arm Kinematics by the Use of Bi-Articular Muscles

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SICE Journal of Control, Measurement, and System Integration 2011年第2期4卷 114-119页

作者： Takashi Mitsuda Sadao Kawamura Mitsunori Uemura Masahiro Sekimoto Department of Human and Computer Intelligence Ritsumeikan University Department of Robotics Ritsumeikan University Graduate School of Science and Engineering for Research University of Toyama

Mapping from visual information to motor commands is an important issue in the study of voluntary arm movement. The joint kinematics of a human-like planar arm, which is generally described as a nonlinear function in a Cartesian coordinate system, can be approximately linearized in a head-centered polar coordinate system. This study shows that the mapping from the muscle lengths to the hand position in a head-centered polar coordinate system can also be approximately linearized. In addition, this study proposes a diagonalization of the kinematics that involves adjusting the moment arms of the muscles; in this diagonalization, the muscle lengths of two bi-articular muscles are proportional to the distance and direction from the head.

关键词： hand-eye mapping muscle moment arms bi-articular muscle linear approximation

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Beta-eigenspaces for autonomous mobile robotic trajectory outlier detection

Beta-eigenspaces for autonomous mobile robotic trajectory ou...

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2011 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2011

作者： Zaheer, Shyba Gulrez, Tauseef Deaprtment of Electrical Engineering College of Engineering and Applied Sciences Al Ghurair University Dubai Academic City United Arab Emirates Department of Computer Science Center for Intelligent Machines and Robotics Research COMSATS Institute of Information Technology Lahore Pakistan

ISBN: (纸本)9781612844824

This paper addresses the problem of robotics trajectory building for efficient navigation and consequently exploration. A concept of beta-eigenvector has been introduced to find an outlier for the existing non-point based trajectory obtained from raw laser data. We have used our paradigm of "free configuration eigenspaces" method [1], with specific focus on outlier detection. The key idea proposed in this paper is to replace the Gaussian distribution utilized by the probabilistic principal component analysis (PPCA) with the beta-distribution. It is a well known issue that the conventional PCA is sensitive to anomalous observations because the calculation of sample mean and covari-ance matrix can be significantly influenced by a small number of outliers. Similarly, PPCA is not robust to outliers since the data are assumed to follow a multivariate Gaussian distribution that is easily affected by deviant observations. An outlier detection is done using Beta-Probabilistic Principal Component Analysis (BPPCA), further more an analysis is proposed to identify which variables contribute the most to the occurrence of outliers. The proposed technique is applied on real-time robotics sensor data as well as on the real-time robotics simulation environment. © 2011 IEEE.

关键词： Gaussian distribution

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Humanoid robot control using depth camera

Humanoid robot control using depth camera

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Halit Bener Suay Sonia Chernova Department of Robotics Engineering and Computer Science Worcester Polytechnic Institute Worcester MA USA

Most human interactions with the environment depend on our ability to navigate freely and to use our hands and arms to manipulate objects. Developing natural means of controlling these abilities in humanoid robots can significantly broaden the usability of such platforms. An ideal interface for humanoid robot teleoperation will be inexpensive, person-independent, require no wearable equipment, and will be easy to use, requiring little or no user training. This work presents a new humanoid robot control and interaction interface that uses depth images and skeletal tracking software to control the navigation, gaze and arm gestures of a humanoid robot. To control the robot, the user stands in front of a depth camera and assumes a specific pose to initiate skeletal tracking. The initial location of the user automatically becomes the origin of the control coordinate system. The user can then use leg and arm gestures to turn the robot's motors on and off, to switch operation modes and to control the behavior of the robot. We present two control modes. The body control mode enables the user to control the arms and navigation direction of the robot using the person's own arms and location, respectively. The gaze direction control mode enables the user to control the focus of attention of the robot by pointing with one hand, while giving commands through gestures of the other hand. We present a demonstration of this interface, in which a combination of these two control modes is used to successfully enable an Aldebaran Nao robot to carry an object from one location to another. Our work makes use of the Microsoft Kinect depth sensor.

关键词： Robot kinematics Humanoid robots Cameras Robot vision systems Navigation

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Report on the AAAI 2010 robot exhibition

Report on the AAAI 2010 robot exhibition

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作者： Anderson, Monica D. Chernova, Sonia Dodds, Zachary Thomaz, Andrea L. Touretzky, David S. Computer Science Department University of Alabama United States Robotics Engineering Program Worcester Polytechnic Institute United States Department of Computer Science Harvey Mudd College United States School of Interactive Computing Georgia Institute of Technology United States Center for the Neural Basis of Cognition Carnegie Mellon University United States

The 19th robotics program at the annual AAAI conference was held in Atlanta, Georgia, in July 2010. In this article we give a summary of three components of the exhibition: the Small-Scale Manipulation Challenge: Robotic Chess;the Learning by Demonstration Challenge;and the Education Track. In each section we detail the challenge task. We also describe the participating teams, highlight the research questions they tackled, and briefly describe the systems they demonstrated. Copyright © 2011, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Exhibitions

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Design of interval type-2 fuzzy logic controllers for flocking algorithm

Design of interval type-2 fuzzy logic controllers for flocki...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Seung-Mok Lee Jong-Hwan Kim Hyun Myung Department of Civil and Environmental Engineering Robotics Program KAIST Daejeon South Korea Department of Electrical Engineering and Computer Science Robotics Program KAIST Daejeon South Korea

This paper presents a novel interval type-2 fuzzy logic control architecture for flocking system when the system has noisy sensor measurements. The traditional type-1 fuzzy logic controller (FLC) using precise type-1 fuzzy sets cannot fully model and handle the uncertainties of sensor data. However, type-2 FLC using type-2 fuzzy sets with a footprint of uncertainty (FOU) produces better performances under noisy environments. In this paper, therefore, we present a reactive control architecture for flocking algorithm that is based on interval type 2 FLC to implement the flocking behaviors consisting separation, obstacle avoidance, and velocity matching behaviors. The type-2 based control system could cope with the uncertainties of noisy sensor measurements and resulted in good performances that outperformed the type-1 FLC.

关键词： Collision avoidance Robot sensing systems Trajectory Fuzzy sets Fuzzy logic Noise measurement

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System design and hardware integration of social robot Nancy

System design and hardware integration of social robot Nancy

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IEEE/SICE International Symposium on System Integration

作者： Shuzhi Sam Ge Chun Fui Liew Yanan Li Jiaqiang Yang Robotics Institute and School of Computer Science and Engineering University of Electronic Science and Technology Chengdu China Social Robotics Laboratory Interactive Digital Media Institute and the Department of Electrical and Computer Engineering National University of Singapore Singapore

This paper gives insight into the system design and hardware architecture of Nancy, which is a social robot in humanoid form that is currently being developed in Social robotics Lab (SRL), Interactive and Digital Media Institute, National University of Singapore. In contrast to industrial robots, the design of Nancy focuses on safety issue, social interaction and attractive appearance. In order to achieve these objectives, Nancy is designed to be user-friendly and approachable. The mechanical structure of Nancy is presented in the beginning. After that, the hardware architecture which includes processor system, vision system, audio system, communication system, power system, and motion system, is described systematically. Finally, the roles of integrated sensors are described and implemented works are summarized.

关键词： Sensors Service robots Universal Serial Bus Joints Brushless motors Educational institutions

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Target object identification and localization in mobile manipulations

Target object identification and localization in mobile mani...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Jiang, Yong Xi, Ning Zhang, Qin Jia, Yunyi Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang 110016 China Mechatronic Engineering Beijing University of Posts and Telecommunications Beijing 100876 China

ISBN: (纸本)9781457721373

How to make mobile manipulator autonomously identify and locate target object in unknown environment, this is a very challenging question. In this paper, a multi-sensor fusion method based on camera and laser range finder (LRF) for mobile manipulations is proposed. Although the camera can acquire rich perceptual information, the image processing is very complex and easily influenced from the change in ambient light. Moreover, it can not directly provide the depth information of the environment. Since the LRF has the ability to directly measure 3D coordinates and the stability against the ambient light influence, meanwhile, the camera has the ability to acquire color information, the combination of the two sensors by making use of their advantages is utilized to obtain more accurate measurements as well as to simplify information processing. To overlay the camera image with the measurement points of the LRF pitching scan and to reconstruct the 3D image which includes the depth-of-field information, the model and the calibration of the system are built. Based on the combination of the color features extracted from the color image and the shape, size features extracted from the 3D depth-of-field image, the target object identification and localization are implemented autonomously. In order to extract the shape and size features, a triangular facet normal vector clustering (TFNVC) algorithm is introduced. The effectiveness of the proposed method and algorithm are validated by some experimental testing and analysis carried out on the mobile manipulator platform. © 2011 IEEE.

关键词： Cameras

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Motion planning of uncertain fully-actuated dynamical systems - An inverse dynamics formulation

Motion planning of uncertain fully-actuated dynamical system...

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ASME 2011 International Design engineering Technical Conferences and computers and Information in engineering Conference, IDETC/CIE 2011

作者： Hays, Joe Sandu, Adrian Sandu, Corina Hong, Dennis Mechanical Engineering Virginia Tech Blacksburg VA 24061 United States Computational Science Laboratory Computer Science Department Virginia Tech Blacksburg VA 24061 United States Advanced Vehicle Dynamics Laboratory Mechanical Engineering Virginia Tech Blacksburg VA 24061 United States Robotics and Mechanisms Laboratory Mechanical Engineering Virginia Tech Blacksburg VA 24061 United States

ISBN: (纸本)9780791854815

This work presents a novel nonlinear programming based motion planning framework that treats uncertain fully-actuated dynamical systems described by ordinary differential equations. Uncertainty in multibody dynamical systems comes from various sources, such as: system parameters, initial conditions, sensor and actuator noise, and external forcing. Treatment of uncertainty in design is of paramount practical importance because all real-life systems are affected by it;ignoring uncertainty during design may lead to poor robustness and suboptimal performance. System uncertainties are modeled using Generalized Polynomial Chaos and are solved quantitatively using a least-square collocation method. The computational efficiency of this approach enables the inclusion of uncertainty statistics in the nonlinear programming optimization process. As such, new design questions related to uncertain dynamical systems can now be answered through the new framework. Specifically, this work presents the new framework through an inverse dynamics formulation where deterministic state trajectories are prescribed and uncertain actuator inputs are quantified. The benefits of the ability to quantify the resulting actuator uncertainty are illustrated in a time optimal motion planning case-study of a serial manipulator pick-and-place application. The resulting design determines a feasible time optimal motion plan - subject to actuator and obstacle avoidance constraints - for all possible systems within the probability space. The forward dynamics formulation (using deterministic actuator inputs and uncertain state trajectories) is presented in a companion paper. Copyright © 2011 by ASME.

关键词： Dynamics

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