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检索条件"机构=Institute for Process Control Robotics"

共 417 条记录，以下是231-240 订阅

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Proactive Robot Task Selection Given a Human Intention Estimate

Proactive Robot Task Selection Given a Human Intention Estim...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Andreas J. Schmid Oliver Weede Heinz Worn Institute for Process Control and Robotics Universität Karlsruhe Germany

Intuitive human-robot cooperation presents a challenge to robots since it demands of them a high level of understanding of the human user. Our approach is to estimate the human intention and select and proactively execute an appropriate robot task without requiring an explicit user command. This paper describes the concept and details of our proactive execution module and how it forms an integral part of our intuitive human-robot cooperation system. We present implementation details and the results of an evaluation scenario.

关键词： Human robot interaction Robot sensing systems Humanoid robots Uncertainty process control Actuators Mobile robots Autonomous agents Robot control Collaborative work

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On-line rigid object recognition and pose estimation based on inertial parameters

On-line rigid object recognition and pose estimation based o...

引用

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Daniel Kubus Torsten Kroger Friedrich M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Germany

This paper proposes an object recognition and gripping pose estimation approach based on on-line estimation of the complete set of inertial parameters, i.e. the mass, the coordinates of the center of mass, and the elements of the inertia matrix, of an object gripped by or attached to a manipulator. A multi-sensor fusion approach combining 6D force/torque, 6D acceleration, 3D angular velocity, and joint angle data to estimate these parameters is presented. In order to facilitate practical implementation, approaches to handling force/torque sensor offsets and to compensating the forces/torques caused by the distal mounting plate of the force/torque sensor and the gripper are incorporated. Regarding the joint angle signals, preprocessing steps to derive the angular velocity, linear acceleration and angular acceleration vector w.r.t. the sensor frame are addressed. The estimation of the complete set of inertial parameters employing the recursive instrumental variables (RIV) method is discussed. The extraction of features that are invariant w.r.t. translation and rotation, i.e. the mass and the principal moments of inertia, as well as a recognition approach based on the Kullback-Leibler divergence are presented. Experimental results show very low errors in the estimates of the inertial parameters, good pose estimation accuracy, and the viability of the recognition approach.

关键词： Object recognition Force sensors Torque Acceleration Angular velocity Parameter estimation Grippers Vectors Recursive estimation Instruments

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A highly versatile and robust tactile sensing system

A highly versatile and robust tactile sensing system

引用

IEEE SENSORS

作者： Dirk Goger Heinz Worn Institute of Process Control and Robotics University of Karlsruhe Karlsruhe Germany

In this paper we introduce the concept of a highly versatile tactile sensor system with a high spatial resolution. It can be cut in various shapes and is bendable to fit on one dimensional curved surfaces. The sensor system itself contains information about its shape, geometry of the sensor array, sensor cell parameters and information for communication purposes. This makes an automated sensor identification process possible in which the signal processing hardware is automatically configured Based on this information stored in the "smart" sensor, resulting forces and (based on the sensors geometry) resulting torques are calculated Drift of the signal is overcome by a cell model which significantly improves the calculated values. To achieve a very thin and robust sensor, we developed a sensor material which fulfills these requirements.

关键词： Robustness Intelligent sensors Sensor arrays Sensor systems Shape Information geometry Tactile sensors Spatial resolution Surface fitting Array signal processing

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JaMOS - A MDL2/spl epsi/ based Operating System for Swarm Micro robotics

JaMOS - A MDL2/spl epsi/ based Operating System for Swarm Mi...

引用

IEEE Swarm Intelligence Symposium, SIS

作者： Marc Szymanski Heinz Worn Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

Micro robots in large scale swarms often have a very restricted program memory which limits the robot's application range. We present a finite state machine operating system for swarm micro robots, that can overcome such problems and gives the designer of swarm algorithms a tool that is easy to handle. The operating system's flow control or rather the robot's control program is represented in the Motion Description Language Two Extended (MDL2epsiv). MDL2epsiv is based on MDLepsiv but has been extended to a fully functional behaviour description language as shown in this paper. The MDL2epsiv based control programs are encoded in a byte code that is interpreted on a micro controller. The byte-code concept significantly reduces the size of the control program which will be shown in this paper.

关键词： Operating systems Robots Particle swarm optimization

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A Space- and Time-Continuous Model of Self-Organizing Robot Swarms for Design Support

A Space- and Time-Continuous Model of Self-Organizing Robot ...

引用

International Conference on Self-Adaptive and Self-Organizing Systems (SASO)

作者： Heiko Hamann Heinz Worn Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

Designing and implementing artificial self-organizing systems is a challenging task since they typically behave non- intuitive and only little theoretical foundations exist. Predicting a system of many components with a huge amount of interactions is beyond human skills. The currently common use of simulations for design support is not satisfying, as it is time-consuming and the results are most likely sub- optimal. In this work, we present the derivation of an analytical, time-, and space-continuous model for a swarm of autonomous robots based on the Fokker-Planck equation. While the motion model is in most parts physically motivated, the communication model is based on a heuristic approach. A showcase application to a recently proposed scenario of collective perception in a huge swarm of robots with very limited abilities is given and the simulation results are compared to the model. Despite the high level of abstraction, the prediction discrepancies are small and the parameters can be mapped one-to-one from the model to the control algorithm. Finally, we give an outlook on the capabilities of the proposed model, discuss its limitations, and suggest an improvement that could reduce the number of empirically determined parameters.

关键词： Orbital robotics Robot sensing systems Predictive models Hardware process control Humans Equations Design engineering Algorithm design and analysis Design optimization

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Orientation in a Trail Network by Exploiting its Geometry for Swarm robotics

Orientation in a Trail Network by Exploiting its Geometry fo...

引用

IEEE Swarm Intelligence Symposium, SIS

作者： Heiko Hamann Mare Szymanski Heinz Worn Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

Two control algorithms for a swarm robot are presented that enable it to orientate itself by using information from the geometry of trail bifurcations within a trail network. The development of these algorithms was inspired by the behavior of Pharaoh's ants as reported by Jackson et al., 2004. The performance of the robot is analyzed in a large number of embodied experiments with different bifurcation angles. The reactive behavior implemented by simple rules is sufficient to accomplish this task using a robot of limited capabilities. The frequency of correct reorientations is maximized when the trail bifurcation angle is 60 degrees, as found in natural networks

关键词： Computational geometry Robots Particle swarm optimization

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A framework for creating, coordinating, and executing skills on a humanoid robot

A framework for creating, coordinating, and executing skills...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Nicolas Gorges Andreas J. Schmid Dirk Osswald Heinz Worn Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

This paper presents a new bottom-up framework for programming a humanoid robot which keeps the control systems simple and manageable while still providing a broad variety of possible tasks. Firstly, the framework implies an approach for the creation and execution of skills on a humanoid robot. A skill is a small, specialized, task specific object which contains not only data but also active components like algorithms which are able to interpret and modify the data under the consideration of the changing environment. Secondly, the framework provides an mechanism for the temporal coordination of a humanoid robot. This mechanism uses Petri-nets extended by callback and trigger functions to describe the identified features of coordinated movements. The Petri-net is not only used for modeling but also for the implementation - it describes and executes coordinated movements. The framework provides furthermore a mechanism for the resource management of a humanoid robot which allows the parallel execution of skills and the supervision of their execution. The proposed framework is evaluated in the sample application of a fetch and carry task requiring a coordinated movement of hand, arm and head.

关键词： Humanoid robots control systems Robot kinematics Robot control Actuators Service robots Robot sensing systems Planing Torso Humans

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A tactile language for intuitive human-robot communication

A tactile language for intuitive human-robot communication

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Andreas J. Schmid Martin Hoffmann Heinz Worn Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

This paper presents a tactile language for controlling a robot through its artificial skin. This language greatly improves the multimodal human-robot communication by adding both redundant and inherently new ways of robot control through the tactile mode. We defined an interface for arbitrary tactile sensors, implemented a symbol recognition for multi-finger contacts, and integrated that together with a freely available character recognition software into an easy-to-extend system for tactile language processing that can also incorporate and process data from non-tactile interfaces. The recognized tactile symbols allow for both a direct control of the robot's tool center point as well as abstract commands like ldquostoprdquo or ldquograsp object x with grasp type yrdquo. In addition to this versatility, the symbols are also extremely expressive since multiple parameters like direction, distance, and speed can be decoded from a single human finger stroke. Furthermore, our efficient symbol recognition implementation achieves real-time performance while being platform-independent. We have successfully used both a multi-touch finger pad and our artificial robot skin as tactile interfaces. The evaluation of our tactile language system was done using test persons that had to learn to language symbols, perform certain missions, and finally report on their experience using the NASA Task Load Index.

关键词： Robot control Robot sensing systems Skin Character recognition Fingers Communication system control Tactile sensors Decoding Humans System testing

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Solving the Inverse Kinematics Problem Symbolically by Means of Knowledge-Based and Linear Algebra-Based Methods

Solving the Inverse Kinematics Problem Symbolically by Means...

引用

12th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2007), vol.3

作者： Michael Wenz Heinz Worn Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

The construction of kinematics models by hand is often a tedious and error-prone process. This paper presents an overview of the Organic Robot control project. One main goal of the project is to automate the computation of closed-formed solutions for both the forward and inverse kinematics of general industrial manipulators. For simple manipulator geometries, we use rule-based programming techniques to obtain a closed-form solution. For complicated geometries, we use elimination techniques based on the computation of Groebner basis. In so doing we convert a complicated coupled transcendental set of kinematics equations into a univariate polynomial. This polynomial can much easier be solved. The generated analytic models fulfill real time requirements and can be parallelized very well.

关键词： Kinematics Manipulators Computational geometry Polynomials Robot control Computer industry Construction industry Robot programming Closed-form solution Equations

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Using Acceleration Compensation to Reduce Liquid Surface Oscillation During a High Speed Transfer

Using Acceleration Compensation to Reduce Liquid Surface Osc...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Suei Jen Chen Bjorn Hein Heinz Worn Institute for Process Control and Robotics (IPR) Universität Karlsruhe Karlsruhe Germany

An open-loop method on the basis of acceleration compensation to reduce liquid surface oscillation generated during a high-speed transfer will be presented in this paper. In order to suppress the undesirable liquid vibration effects, so called `sloshing', a new simple and effective methodology consisting of adapting the gripper orientation is proposed. The assumption of slosh-free movement will be valid so long as there is no relative motion between the container and the liquid. To accomplish this objective, the maximum acceleration in every time-instant has to be considered in the computation. This represents that our method operates basically in maintaining the normal of the liquid surface opposite to the entire systems acceleration until the completion of the transportation. Experimental results using a manipulator KUKA-KR16 will be demonstrated to validate the effectiveness of our approach.

关键词： Acceleration Containers Transportation Open loop systems Vehicles control systems Feedback control Voltage control Vibration measurement Shape control

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