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检索条件"机构=Division of Robotics and Automation Engineering"

共 111 条记录，以下是61-70 订阅

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Diamagnetically levitated robots: An approach to massively parallel robotic systems with unusual motion properties

Diamagnetically levitated robots: An approach to massively p...

引用

2012 IEEE International Conference on robotics and automation, ICRA 2012

作者： Pelrine, Ron Wong-Foy, Annjoe McCoy, Brian Holeman, Dennis Mahoney, Rich Myers, Greg Herson, Jim Low, Tom Robotics Automation and Transducers Group Engineering Research and Development Division SRI International Menlo Park CA 94025 United States

ISBN: (纸本)9781467314039

Using large numbers of micro robots to build unique macrostructures has long been a vision in both popular and scientific media. This paper describes a new class of machines, DiaMagnetic Micro Manipulator (DM3) systems, for controlling many small robots. The robots are diamagnetically levitated with zero wear and zero hysteresis and are driven using conventional circuits. System test results have reported unusual motion properties, including exceptional open loop repeatability of motion (200 nm rms) and relative speeds (37.5 cm/s or 217 body lengths/s) [1]. A system using 130 micro robots as small as 1.7 mm with densities up to 12.5 robots/cm2 has been demonstrated. This paper reports initial data on robot trajectories, and shows that open loop trajectory repeatabilities on the order of 0.8 μm rms or better are feasible in a levitated state compared with 15 μm rms repeatability in a non-levitated state with surface contact. These results suggest an encouraging path to complex micro-robotic systems with broad capabilities. © 2012 IEEE.

关键词： Micromanipulators

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Dynamic modelling of a skid-steered twelve wheeled Mobile Robot using a 'slip'-'friction coefficient' relationship and its trajectory tracking control

Dynamic modelling of a skid-steered twelve wheeled Mobile Ro...

引用

1st International Conference on Advances in engineering, Science and Management, ICAESM-2012

作者： Saha, Debal Ray, Ranjit Bhaumik, S. Mechanical Engineering Department National Institute of Technology Durgapur India Robotics and Automation Division CSIR-Central Mechanical Engineering Research Institute Durgapur India Bengal Engineering and Science University Shivpur Howrah India

ISBN: (纸本)9781467302135

The paper deals with the dynamic modeling of twelve wheeled mobile robot which is used mostly for stair climbing. The robot implements skid steering which is one of the most popular steering mechanisms. The Kinematic equations of the robot are presented initially for which a particular relationship between slip and friction coefficient has been approximated out from the actual data. The dynamic equations are later developed from feedback equations are formulated. The nonlinear feedback equations are linearized using Lie Algebra and are then utilized to develop a controller for the trajectory tracking control of the robot. A model of the robot has been prepared using the Computer Aided Designing (CAD) software CATIA and presented for the ease of studies and visualization of the implemented design and control approach. Simulation is carried out using Simulink toolbox of MATLAB software and the simulations results of the tracked trajectory are also presented. © 2012 Pillay engineering College.

关键词： Mobile robots

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Simultaneous Localisation and Image Intensity Based Occupancy Grid Map Building -- A New Approach

Simultaneous Localisation and Image Intensity Based Occupanc...

引用

International Conference on Intelligent Systems, Modelling and Simulation (ISMS)

作者： Ranjit Ray Virendra Kumar Debojyoti Banerji Sankar Nath Shome Robotics and Automation Division CSIR-Central Mechanical Engineering Research Institute Durgapur India

This paper deals with the development of image occupancy grid map based on image matching by cross correlation method from laser range finder (LRF) data and goes on to develop an algorithm for robust pose estimation of a mobile robot in the static environment. Scan represents, here, a set of range measurements of the features transformed into a binary image in the environment provided by a laser range finder (LRF). By comparing a scan taken at the current pose of the robot with an existing scan, an estimate of the absolute pose of the robot is obtained. Real world experiments with a robot within a confined environment show that the pose error is small enough to allow performance of navigation tasks.

关键词： Noise Correlation Buildings Mobile robots Navigation Vehicles

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Impedance control of a rehabilitation robot for interactive training

引用

4th International Conference on Social robotics, ICSR 2012

作者： He, Wei Ge, Shuzhi Sam Li, Yanan Chew, Effie Ng, Yee Sien Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore Division of Neurology National University Hospital Singapore 119074 Singapore Department of Rehabilitation Medicine Singapore General Hospital Singapore 169608 Singapore

ISBN: (纸本)9783642341021

In this paper, neural networks based impedance control is developed for a wearable rehabilitation robot in interactions with humans and the environments. The dynamics of the robot are represented by an n-link rigid robotic manipulator. To deal with the system uncertainties and improve the robustness of the system, the adaptive neural networks are used to approximate the unknown model of the constrained robot. With the proposed control, uniform ultimate boundedness of the closed loop system is achieved based on the Lyapunov method. The states of the system converge to a small neighborhood of zero by properly choosing control gains. Extensive simulations are conducted to verify the proposed control. © 2012 Springer-Verlag.

关键词： Lyapunov methods

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Diamagnetically levitated robots: An approach to massively parallel robotic systems with unusual motion properties

Diamagnetically levitated robots: An approach to massively p...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Ron Pelrine Annjoe Wong-Foy Brian McCoy Dennis Holeman Rich Mahoney Greg Myers Jim Herson Tom Low Engineering Research & Development Division Robotics Automation & Transducers Group Menlo Park CA USA SRI International Menlo Park CA US

Using large numbers of micro robots to build unique macrostructures has long been a vision in both popular and scientific media. This paper describes a new class of machines, DiaMagnetic Micro Manipulator (DM3) systems, for controlling many small robots. The robots are diamagnetically levitated with zero wear and zero hysteresis and are driven using conventional circuits. System test results have reported unusual motion properties, including exceptional open loop repeatability of motion (200 nm rms) and relative speeds (37.5 cm/s or 217 body lengths/s) [1]. A system using 130 micro robots as small as 1.7 mm with densities up to 12.5 robots/cm 2 has been demonstrated. This paper reports initial data on robot trajectories, and shows that open loop trajectory repeatabilities on the order of 0.8 μm rms or better are feasible in a levitated state compared with 15 μm rms repeatability in a non-levitated state with surface contact. These results suggest an encouraging path to complex micro-robotic systems with broad capabilities.

关键词： Robot sensing systems Trajectory Magnetic levitation Magnetic hysteresis Manipulators

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Dynamic modelling of a skid-steered twelve wheeled Mobile Robot using a ‘slip’-‘friction coefficient’ relationship and its trajectory tracking control

Dynamic modelling of a skid-steered twelve wheeled Mobile Ro...

引用

International Conference on Advances in engineering, Science and Management (ICAESM)

作者： Debal Saha Ranjit Ray S. Bhaumik Final year student National Institute of Technology Durgapur India Robotics & Automation Division CSIR-Central Mechanical Engineering Research Institute Durgapur India Professor Bengal Engineering and Science University

关键词： Wheels Mobile robots Mathematical model Kinematics Equations Friction

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Wearable soft robotic device for post-stroke shoulder rehabilitation: Identifying misalignments

Wearable soft robotic device for post-stroke shoulder rehabi...

引用

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Ignacio Galiana Frank L. Hammond Robert D. Howe Marko B. Popovic Centre for Automation and Robotics UPM CSIC Madrid Spain Harvard School of Engineering and Applied Sciences Cambridge MA USA Harvard-MIT Division of Health Sciences and Technology Cambridge MA USA Worcester Polytechnic Institute Worcester MA USA

Stroke is the leading cause of long-term disability in the United States, affecting over 795,000 people annually. In order to regain motor function of the upper body, patients are usually treated by regular sessions with a dedicated physical therapist. A cost-effective wearable upper body orthotics system that can be used at home to empower both the patients and physical therapists is described. The system is composed of a thin, compliant, lightweight, cost-effective soft orthotic device with an integrated cable actuation system that is worn over the upper body, an embedded limb position sensing system, an electric actuator package and controller. The proposed device is robust to misalignments that may occur during actuation of the compliant brace or when putting on the system. Through simulations and experimental evaluation, it was demonstrated i) that the soft orthotic cable-driven shoulder brace can be successfully actuated without the production of off-axis torques in the presence of misalignments and ii) that the proposed model can identify linear and angular misalignments online.

关键词： Sensors Prototypes Mathematical model Actuators Orthotics Joints Position measurement

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On Consensus and Exponentially Fast Social Learning

On Consensus and Exponentially Fast Social Learning

引用

American Control Conference

作者： Pooya Molavi Kamiar Rahnama Rad Alireza Tahbaz-Salehi Ali Jadbabaie Department of Electrical and Systems Engineering and General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA 19104-6228 USA Department of Statistics Columbia University New York NY 10027 USA Decision Risk & Operations Division Columbia Business School Columbia University New York NY 10027 USA

ISBN: (纸本)9781457710957

We analyze a model of social learning in which agents desire to identify an unknown state of the world using both their private observations and information they obtain when communicating with agents in their social neighborhood. Every agent holds a belief that represents her opinion on how likely it is for each of several possible states to be the true one. At each time period, agents receive private signals, and also observe the beliefs of their neighbors in a social network. They then update their beliefs by integrating the information available to them in a boundedly rational fashion. We show that in spite of agents' making new private observations perpetually and the myopic and local updating rule employed by them, agents will eventually reach consensus in their beliefs. This is proved by first showing that agents' beliefs over any state whose truth is inconsistent with their collective observations go to zero exponentially fast.

关键词： Bayesian methods Vectors Social network services Probability distribution Convergence Silicon Educational institutions

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Biologically inspired elastic transmission for stiffness variability in actuation: Design and implementation

Biologically inspired elastic transmission for stiffness var...

引用

2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Sen, Soumen Robotics and Automation Division Central Mechanical Engineering Research Institute CSIR Durgapur 713209 India

ISBN: (纸本)9781457721373

Muscular actions in the biological world are associated with stiffness/impedance variation in a wide range depending upon the need of the task. Again, in artificial world variable-stiffness-actuation finds applications in areas like legged machines, artificial prostheses, vibration control, automotive suspension, and compliant robots etc. Nonlinear elasticity of transmission is indispensable in any passively variable stiffness mechanisms. Many designs exist in the literature;however, majority of the designs attain nonlinearity for the sake of nonlinearity only;in most cases neither is there a preferred choice of the nonlinear force-displacement function, nor any design guideline exists. In this report a design is presented which is inspired by properties of muscles. A principle is derived from passive properties of muscle fibers and an elastic function is obtained from that. The elastic transmission is designed with an objective and a functional specification for some desired stiffness behaviour. Next, a generic method for realizing any continuous monotonic function is illustrated. Finally, as an exemplar implementation, an agonistic-antagonistic simple actuation arrangement similar to musculoskeletal system is described. Initial result of simultaneous control of motion and stiffness/internal-force on this one degree-of-freedom variable-stiffness- actuator is reported. © 2011 IEEE.

关键词： Stiffness

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Patient adaptive control of end-effector based gait rehabilitation devices using a haptic control framework

Patient adaptive control of end-effector based gait rehabili...

引用

IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Sami Hussein Jörg Krüger Rehabilitation Robotics Group (IPK/TU Berlin) Faculty of Mechanical Engineering Technical University Berlin Berlin Germany Automation Technology Division Fraunhofer Institute IPK-Berlin Berlin Germany

Robot assisted training has proven beneficial as an extension of conventional therapy to improve rehabilitation outcome. Further facilitation of this positive impact is expected from the application of cooperative control algorithms to increase the patient's contribution to the training effort according to his level of ability. This paper presents an approach for cooperative training for end-effector based gait rehabilitation devices. Thereby it provides the basis to firstly establish sophisticated cooperative control methods in this class of devices. It uses a haptic control framework to synthesize and render complex, task specific training environments, which are composed of polygonal primitives. Training assistance is integrated as part of the environment into the haptic control framework. A compliant window is moved along a nominal training trajectory compliantly guiding and supporting the foot motion. The level of assistance is adjusted via the stiffness of the moving window. Further an iterative learning algorithm is used to automatically adjust this assistance level. Stable haptic rendering of the dynamic training environments and adaptive movement assistance have been evaluated in two example training scenarios: treadmill walking and stair climbing. Data from preliminary trials with one healthy subject is provided in this paper.

关键词： Training Haptic interfaces Legged locomotion Trajectory Foot Force

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