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Rejection of an external force in the sagittal plane applied on a biped robot using a neuro-fuzzy controller

Rejection of an external force in the sagittal plane applied...

引用

International Conference on Advanced robotics (ICAR)

作者： Joao P. Ferreira Manuel Crisostomo A. Paulo Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

This paper describes the control of an autonomous biped robot capable to be subjected to external forces applied in the sagittal plane. A 1st order Takagi-Sugeno-Kang (TSK) type neuro fuzzy net, that was trained based on experimental and simulation data, is used. This net uses the zero moment point (ZMP) position and its variation as inputs, and the sagittal correction of the robot's body is obtained as the output. This control method is more accurate than the method based on an inverted pendulum model, which is based on a single mass concentration. The ZMP is obtained making use of the force distribution on four force sensors placed under each robot's foot. The gait implemented on our biped is similar to a human gait. A human gait was acquired and adapted to the robot size. In this paper some experiments are presented and the results show that the presented gait combined with the TSK neuro fuzzy net is appropriate to be used in the control of the biped robot, with and without an applied external force.

关键词： Force control Robot sensing systems Fuzzy neural networks Force sensors Humans Takagi-Sugeno-Kang model Weight control Biological system modeling Foot Fuzzy control

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ZMP trajectory reference for the sagittal plane control of a biped robot based on a human CoP and gait

ZMP trajectory reference for the sagittal plane control of a...

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Manuel Crisóstomo A. Paulo Coimbra João Ferreira Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

This paper introduces two new important issues to be considered in the design of the zero moment point (ZMP) trajectory reference for the sagittal plane balance control of an autonomous walking biped robot with an human-like gait. ZMP trajectory reference generation is very important in the design and balance control of the walking of a biped robot. ZMP reference generation algorithms based on the linear inverted pendulum model (LIPM) and moving ZMP references in the swing phase have already been proposed with the ZMP trajectory during the swing phase being designed moving along a symmetric trajectory relative to the center of the foot. It was verified experimentally that in the human gait the ZMP trajectory moves along the foot in a way that it is shifted forward relative to its center. To take this into account a shift parameter is then proposed to move forward the X ZMP trajectory reference during the swing phase. It was also verified experimentally that in the human gait the ZMP trajectory amplitude depends on the swing time. Its variation law has been determined experimentally and it was verified that this range decreases as the swing time increases, reducing to zero for a static gait. It is then proposed a parameter H to take into account this variation with the swing time of the gait. Six experiments were carried out for three different X ZMP trajectory references. In order to evaluate and compare the performance of the biped robot using the three X ZMP trajectory references two performance indexes are proposed.

关键词： Humans Legged locomotion Intelligent robots Humanoid robots Robot sensing systems Control systems Foot Stability Kinematics Ground support

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A comparison study on Pneumatic Muscles and electrical motors

A comparison study on Pneumatic Muscles and electrical motor...

引用

IEEE International Conference on robotics and Biomimetics

作者： Mahmoud Tavakoli Lino Marques Anibal T. de Almeida Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

Pneumatic artificial muscles also known as ldquoPAMrdquo and ldquoPMrdquo, are famous as very light actuators in the current literature. The reason stated in the literature for such claim is their lower ldquopower to weightrdquo ratio compared to other type of actuators namely pneumatic cylinders and electrical motors. However using the ldquopower to weightrdquo ratio of actuators for claiming the lightness of an actuator is questioned in this paper, and a new approach for such comparison is introduced. In this paper a comparison study was made between electrical rotary actuators and PMs on the basis of the taualpha value. It is showed that claims which consider PMs as lighter actuators compared to the other types of actuators are not precise and are highly questionable since some factors are neglected in comparison between the weight of the actuators.

关键词： Muscles Pneumatic actuators Robots Engine cylinders Animals Torque Biomimetics Prosthetics Rubber Bladder

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Compliant comanipulation control for medical robotics

Compliant comanipulation control for medical robotics

引用

Conference on Human System Interactions, HSI

作者： Cristovao Sousa Rui Cortesao Pedro Queiros Institute of Systems and Robotics Electrical and Computer Engineering Department University of Coimbra Coimbra Portugal

This paper presents a compliant control architecture for comanipulation in the medical robotics field. The kinematics and dynamics models of robots are described and its linearization by non linear feedback is implemented. The impedance control concept is introduced and representation in arbitrary frames techniques are presented. Various virtual walls restrictions to the robot end-effector are made using a proportional/derivative controller and an active observer (AOB) impedance controller. Some practical analyses and conclusions are made.

关键词： Robot control Medical robotics Impedance Robot sensing systems Service robots Rehabilitation robotics Surgery Surges Safety Force sensors

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Self calibration of step-by-step based climbing robots

Self calibration of step-by-step based climbing robots

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Mahmoud Tavakoli Lino Marques Aníbal T. Almeida Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

Fine manipulation of large industrial manipulators faces many problems due to well known error sources. Most climbing robots can be seen as mobile manipulators whose base is also moving across the climbing structure, and consequently adds some additional positioning errors. 3DCLIMBER is a serial mechanism pole climbing robot, developed at isr-UC. The preliminary tests of the robot showed that it is particularly important to position the grippers precisely in the appropriate pose before grasping the structure. Otherwise the accumulating error will impair autonomous climbing process by forcing the operator to stop the operation after a couple of steps in order to calibrate the robot. This paper describes a self calibrating method proposed to measure and compensate these errors.

关键词： Calibration Climbing robots Manipulators Grippers Mobile robots Intelligent robots USA Councils Error compensation System testing Actuators

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Rotorcraft path following control for extended flight envelope coverage

Rotorcraft path following control for extended flight envelo...

引用

Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： D.Cabecinhas R.Cunha C.Silvestre Department of Electrical Engineering and Computer Science and Institute for Systems and RoboticsInstituto Superior Técnico

This paper addresses the problem of steering a quadrotor vehicle along a predefined *** problem is formulated so as to dynamically prescribe an adequate time evolution along the path and simultaneously bound the effect of position errors on the *** proposed solution consists of a nonlinear state feedback controller for thrust and torque actuations combined with a path following timing law that i)guarantees global asymptotic convergence of the path following error to zero,for a large class of three-dimensional paths,ii) ensures that the actuation does not grow unbounded as function of the position errors,and iii) allows for zero thrust actuation to be applied when the vehicle is converging to the *** results are presented to assess the performance of the proposed controller.

关键词： Rotorcraft path following control for extended flight envelope coverage

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Active stereo tracking of multiple free-moving targets

Active stereo tracking of multiple free-moving targets

引用

Conference on computer Vision and Pattern Recognition (CVPR)

作者： Luis Perdigoto Joao P. Barreto Rui Caseiro Helder Araujo ESTG Polytechnic Institute of Leiria Leiria Portugal Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

This article presents a general approach for the active stereo tracking of multiple moving targets. The problem is formulated on the plane, where cameras are modeled as “line scan cameras” and targets are described as points with unconstrained motion. We propose to control the active system parameters in such a manner that the images of the targets in the two views are related by an homography. This homography is specified during the design stage and implicitly encodes the tracking behavior. It is shown that this formulation leads to an elegant geometric framework that enables to decide about the feasibility of a particular active tracking task. We apply it to prove that two cameras with rotation and zoom control, can track up to three moving targets, while assuring that the image location of each target is the same for both views. In addition, the framework is also useful for devising tracking strategies and deriving the required control equations. This feature is illustrated through a real experiment on tracking two independent targets using a binocular stereo head.

关键词： Target tracking Cameras Robot vision systems Head Optical feedback Optical sensors Focusing Control systems Equations Visual system

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A Brain computer Interface methodology based on a visual P300 paradigm

A Brain Computer Interface methodology based on a visual P30...

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Gabriel Pires Urbano Nunes Department of Electrical Engineering Instituto Politécnico de Tomar Portugal Institute for Systems and Robotics University of Coimbra Portugal Department of Electrical and Computer Engineering University of Coimbra Portugal

Abstract-Brain computer Interface (BCI) systems based on electroencephalography (EEG) open a new communication channel for people with severe motor disabilities, without recurring to the conventional motor output pathways. The very low signal-to-noise ratio and low spatial resolution still limits severely BCIs communication bandwidth. This paper presents the ongoing work toward the development of a BCI system for wheelchair steering. A full system based on a visual P300 oddball paradigm is proposed. The signal processing algorithms are computationally efficient and require a short phase training. Temporal features and EEG channels are selected through a Fisher criteria. For enhancement of signal-to-noise ratio and data dimensionality reduction, a spatial filter named Common Spatial Patterns is applied. This method is widely used for classification of motor imagery events, however it is not very often used for classification of event related potentials such as P300. In this paper we show that Common Spatial Patterns is an effective approach to improve P300 classification rates. In our approach, the input features for classification are the projections of the filtered data instead of the variance of the projections as typically used in motor imagery. Offline classification results, obtained with a Bayesian classifier, are presented showing the effectiveness of the overall methodology.

关键词： Brain computer interfaces Electroencephalography Signal to noise ratio computer interfaces Communication channels Spatial resolution Bandwidth Wheelchairs Signal processing algorithms Spatial filters

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Cooperative Autonomous Marine Vehicle motion control in the scope of the EU GREX Project: Theory and Practice

Cooperative Autonomous Marine Vehicle motion control in the ...

引用

OCEANS - Europe

作者： A. Aguiary J. Almeiday M. Bayaty B. Cardeiray R. Cunhay A. Hauslery P. Mauryay A. Oliveiray A. Pascoaly A. Pereira M. Rufinoy L. Sebastiaoy C. Silvestrey F. Vanniy Dept. Electrical Engineering and Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) Lisbon Portugal Department Computer Science University슠of슠Southern California USA Dept. Computer Science Univ. Southern California (USC) USA

This paper describes the core of the research work done by the isr/IST team on cooperative autonomous marine vehicle (AMV) motion control in the scope of the EU Project GREX - coordination and control of cooperating heterogeneous unmanned systems in uncertain environments. The first part of the paper affords the reader a concise introduction to the general problem of cooperative motion control of fleets of AMVs by highlighting illustrative mission scenarios developed collectively by the GREX partners and summarizing the main challenges that they pose to system engineers. This is followed by the description of a general architecture for cooperative autonomous marine vehicle control in the presence of time-varying communication topologies and communication losses that is rooted in a solid control-theoretic framework. The results of simulations with the NetMar SyS - networked marine systems simulator - of isr/IST are presented and show the efficacy of the algorithms developed for cooperative motion control. The last part of the paper focuses on practical issues and describes the results of tests at sea in the Azores, in the Summer of 2008. The paper concludes with a critical review of the work done and a discussion of theoretical and practical implementation issues that warrant further research and development effort.

关键词： Marine vehicles Motion control Communication system control Control systems Automotive engineering systems engineering and theory Network topology Solids Testing Research and development

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Aspect ratio dependent etch modulation for CMOS-MEMS applications

Aspect ratio dependent etch modulation for CMOS-MEMS applica...

引用

International Conference on Solid State Sensors and Actuators (TRANSDUCERS)

作者： P. J. Gilgunn J. F. Alfaro G. K. Fedder Electrical and Computer Engineering Department Carnegie Mellon University Pittsburgh PA USA Silicon Microstructures Inc. Milpitas CA USA Electrical and Computer Engineering Department The Institute of Complex Engineered Systems The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

A unified, semi-empirical model of etch depth for a Bosch-type, inductively coupled plasma (ICP), silicon deep reactive ion etch (DRIE) process is reported. Aspect ratio dependent etch modulation (ARDEM) is modeled using Coburn and Winters' approach with Dushman's approximation of the vacuum conductance correction factor. The use of microdonut test structures to extract model parameters is described. The model is accurate to within 9% for an open-field depth of 150 mum on microdonut test structures. An application of ARDEM in the processing of CMOS-MEMS devices is presented.

关键词： Etching Semiconductor device modeling Testing Silicon Plasma applications Surface treatment Application software systems engineering and theory Robots Microstructure

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