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IEEE International Conference on robotics and Automation (ICRA)

作者： Dejun Guo Hesheng Wang Weidong Chen Ming Liu Zeyang Xia Kam K. Leang DARC (Design Automation Robotics & Control) Lab University of Utah Robotics Center Salt Lake City Utah USA State Key Laboratory of Robotics and System (HIT) Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong China Institute of Biomedical and Health Engineering Chinese Academy of Sciences Shenzhen China

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Cameras Robot vision systems Kinematics Mobile robots Calibration Automation

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The HRC model set for human-robot collaboration research

arXiv

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arXiv 2017年

作者： Zeylikman, Sofya Widder, Sarah Roncone, Alessandro Mangin, Olivier Scassellati, Brian Center for Engineering Innovation and Design Yale University New HavenCT06511 United States Social Robotics Lab Computer Science Department Yale University New HavenCT06511 United States

In this paper, we present a model set for designing human-robot collaboration (HRC) experiments. It targets a common scenario in HRC, which is the collaborative assembly of furniture, and it consists of a combination of standard components and custom designs. With this work, we aim at reducing the amount of work required to set up and reproduce HRC experiments, and we provide a unified framework to facilitate the comparison and integration of contributions to the field. The model set is designed to be modular, extendable, and easy to distribute. Importantly, it covers the majority of relevant research in HRC, and it allows tuning of a number of experimental variables that are particularly valuable to the field. Additionally, we provide a set of software libraries for perception, control and interaction, with the goal of encouraging other researchers to proactively contribute to our work. Copyright © 2017, The Authors. All rights reserved.

关键词： Robots

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Variable impedance walking using Time-Varying Lyapunov Stability Margins

Variable impedance walking using Time-Varying Lyapunov Stabi...

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IEEE-RAS International Conference on Humanoid Robots

作者： Emmanouil Spyrakos-Papastavridis Peter R. N. Childs Nikos G. Tsagarakis Imperial College London Dyson School of Design Engineering Knightsbridge London UK Q-Bot Ltd. Riverside Business Centre UK Department of Advanced Robotics Istituto Italiano di Tecnologia Genova Italy

ISBN: (纸本)9781538646793

This paper introduces novel methods for a humanoid robot's online balance monitoring, as well as for the tuning of its impedance parameters, based on Time-Varying Lyapunov Stability Margins (TVLSMs). It distinguishes itself from previous works by considering TVLSMs whose values evolve in real-time, in accordance with the references supplied to a trajectory tracking controller, as opposed to the previously-considered static LSMs that revolve around the use of set-point regulators. As a result, an analytical relationship between the system's energy and its Centre-of-Pressure (CoP) is derived, providing a means of predicting the robot's balancing behaviour based on the evolution of the closed-loop system's actual and critical, energy values. An appropriate manipulation of this expression facilitates a real-time tuning of the active stiffness gains, which may be viewed as a process of constraining the robot's energy to residing within a `safe region' of operation. Walking experiments performed using the COmpliant huMANoid (COMAN), reveal the proposed technique's accuracy in terms of predicting stable states, in addition to its capability of enabling an automated real-time tuning of a robot's impedance levels. The proposed strategy has permitted the stable replication of a wide range of joint impedance values, which is imperative for ground interaction during walking.

关键词： Impedance Legged locomotion Mathematical model Tuning Lyapunov methods Stability analysis

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Heat distribution in the deep drawing device components working by high temperatures

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IOP Conference Series: Materials Science and engineering 2018年第1期393卷

作者： M Tropp F Brumerčík J Šteininger P Weis A Glowacz Univerzity of Žilina Faculty of Mechanical Engineering Department of Design and Mechanical Elements Univerzitná 1 Žilina 010 26 Slovakia AGHUniversity of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics Al. A. Mickiewicza 30 30-059 Kraków Poland

The subject of the article is a simulation of heat affected components of a device for deep drawing by extreme conditions in vacuum by high temperatures required for forming of crystallization containers made from thin molybdenum sheets. The simulation is focused on the distribution of heat in particular components in relation with their shape. There are presented the design of working components and the boundary conditions of transient thermal simulations with the results.

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Strength estimation of teeth reinforced with different types of post systems

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engineering Transactions 2017年第1期65卷 147-154页

作者： Ryniewicz, Wojciech Ryniewicz, Anna Maria Madej, Tomasz Wiśniewska, Grażyna Department of Dental Prosthodontics Dental Institute Faculty of Medicine Medical College Jagiellonian University Montelupich 4 Kraków31-104 Poland Department of Machine Design and Technology Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. Mickiewicza 30 Kraków30-059 Poland

Posts are permanent, single-tooth and periodontal restorations. During chewing, forces make teeth with posts to undergo complex stresses. The aim of this work is to compare and estimate the upper medial incisors restored with custom posts and prefabricated composite posts reinforced with fibreglass using the finite element method. Modelling and numerical analyses provide the opportunity to evaluate the reconstruction of teeth using custom and prefabricated posts. © 2017, Polish Academy of Sciences. All rights reserved.

关键词： Finite element method

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design and realization of a 6 degree of freedom robotic extrusion platform 27

Design and realization of a 6 degree of freedom robotic extr...

引用

27th Annual International Solid Freeform Fabrication Symposium - An Additive Manufacturing Conference, SFF 2016

作者： Kubalak, Joseph R. Mansfield, Craig D. Pesek, Taylor H. Snow, Zachary K. Cottiss, Edward B. Ebeling-Koning, Oliver D. Price, Matthew G. Traverso, Mark H. Tichnell, L. David Williams, Christopher B. Wicks, Alfred L. Design Research and Education for Additive Manufacturing Systems Laboratory Mechatronics and Autonomous Vehicles Laboratory Terrestrial Robotics Engineering and Controls Laboratory Department of Mechanical Engineering Polymer Processing Laboratory Department of Chemical Engineering Virginia Tech United States

The layer-wise deposition of Additive Manufacturing (AM) processes allows for significant freedom in the design of product geometry;however, the use of 3-axis deposition tools results in layer interfaces that reduce material properties in the build direction. Adding additional degrees-of-freedom (DOF) to the AM tool could remove this limitation by enabling out of plane material deposition. For example, multi-DOF tool paths could align material extrusion with a part's stress contours to circumvent inter-layer delamination. As a step towards this goal, the authors designed, fabricated, and tested an AM extrusion system that leverages a 6-DOF robotic arm. In this paper, the authors detail the realization of this system including the design of a high-temperature filament extruder, kinematics and tool path generation, and user interface. The performance of the system is evaluated through layered deposition of ABS thermoplastic. © 2016 The department of Energy’s Kansas City National Security Campus is operated and managed by Honeywell Federal Manufacturing Technologies, LLC under contract number DE-NA0002839.

关键词： 3D printers

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Particularities of the turning process for the titanium alloy Ti6Al4V

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Academic Journal of Manufacturing engineering 2017年第2期15卷 51-64页

作者： Trif, Adrian Nedezki, Claudiu Mihai Bugnar, Florin Technical University of Cluj-Napoca Department of Manufacturing Engineering Bd. Muncii nr.103-105 Romania Technical University of Cluj-Napoca Department of Design Engineering and Robotics Bd. Muncii nr.103-105 Romania Technical University of Cluj-Napoca Faculty of Machine Building Bd. Muncii nr.103-105 Romania

The purpose of this paper is to analyze the influence of the temperature in case of dry turning of an titanium alloy - Ti6Al4V. The measured temperature in turning process was compared with the temperature obtained af... 详细信息

关键词： Computer software

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Climbing over Large Obstacles with a Humanoid Robot via Multi-Contact Motion Planning

Climbing over Large Obstacles with a Humanoid Robot via Mult...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Pavan Kanajar Darwin G. Caldwell Petar Kormushev Department of Advanced Robotics Istituto Italiano di Tecnologia Via Morego 30 16163 Genova Italy Robot Intelligence Lab Dyson School of Design Engineering Imperial College London South Kensington London SW7 2AZ UK

ISBN: (纸本)9781538635193

Incremental progress in humanoid robot locomotion over the years has achieved important capabilities such as navigation over flat or uneven terrain, stepping over small obstacles and climbing stairs. However, the locomotion research has mostly been limited to using only bipedal gait and only foot contacts with the environment, using the upper body for balancing without considering additional external contacts. As a result, challenging locomotion tasks like climbing over large obstacles relative to the size of the robot have remained unsolved. In this paper, we address this class of open problems with an approach based on multi-body contact motion planning guided through physical human demonstrations. Our goal is to make the humanoid locomotion problem more tractable by taking advantage of objects in the surrounding environment instead of avoiding them. We propose a multi-contact motion planning algorithm for humanoid robot locomotion which exploits the whole-body motion and multi-body contacts including both the upper and lower body limbs. The proposed motion planning algorithm is applied to a challenging task of climbing over a large obstacle. We demonstrate successful execution of the climbing task in simulation using our multi-contact motion planning algorithm initialized via a transfer from real-world human demonstrations of the task and further optimized.

关键词： size surrounding climbing task

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Visuospatial skill learning for robots

arXiv

引用

arXiv 2017年

作者： Ahmadzadeh, S. Reza Mastrogiovanni, Fulvio Kormushev, Petar School of Interactive Computing Georgia Institute of Technology AtlantaGA United States Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova via Opera Pia 13 Genova16145 Italy Dyson School of Design Engineering Imperial College London LondonSW7 2AZ United Kingdom

A novel skill learning approach is proposed that allows a robot to acquire human-like visuospatial skills for object manipulation tasks. Visuospatial skills are attained by observing spatial relationships among objects through demonstrations. The proposed Visuospatial Skill Learning (VSL) is a goal-based approach that focuses on achieving a desired goal configuration of objects relative to one another while maintaining the sequence of operations. VSL is capable of learning and generalizing multi-operation skills from a single demonstration, while requiring minimum prior knowledge about the objects and the environment. In contrast to many existing approaches, VSL offers simplicity, efficiency and user-friendly human-robot interaction. We also show that VSL can be easily extended towards 3D object manipulation tasks, simply by employing point cloud processing techniques. In addition, a robot learning framework, VSL-SP, is proposed by integrating VSL, Imitation Learning, and a conventional planning method. In VSL-SP, the sequence of performed actions are learned using VSL, while the sensorimotor skills are learned using a conventional trajectory-based learning approach. such integration easily extends robot capabilities to novel situations, even by users without programming ability. In VSL-SP the internal planner of VSL is integrated with an existing action-level symbolic planner. Using the underlying constraints of the task and extracted symbolic predicates, identified by VSL, symbolic representation of the task is updated. Therefore the planner maintains a generalized representation of each skill as a reusable action, which can be used in planning and performed independently during the learning phase. The proposed approach is validated through several real-world *** Codes 68T40 Copyright © 2017, The Authors. All rights reserved.

关键词： Demonstrations

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Leader-following consensus of multi-agent systems under hierarchical nearly cyclic pursuit

Leader-following consensus of multi-agent systems under hier...

引用

2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016

作者： Iqbal, Muhammad Leth, John Ngo, Trung-Dung More-Than-One Robotics Laboratory University of Brunei Darussalam Brunei Department of Electronic Systems Aalborg University Denmark School of Sustainable Design Engineering University of Prince Edward Island Canada

ISBN: (纸本)9781509020652

In this paper, we solve the leader-following consensus problem using nearly cyclic pursuit (NCP) and a two-layer hierarchical nearly cyclic pursuit (HNCP). First, we design a control strategy based on the nearly cyclic pursuit(NCP) to enable the agents to rendezvous at a point. Second, we propose a two-layer HNCP for a leader-following consensus problem to increase the convergence rate of the network. We show that the two-layer HNCP outperforms the original NCP. Simulations illustrate the key theoretical results. © 2016 IEEE.

关键词： Multi agent systems

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