The "Model Reference Adaptive Control (MRAC)" is a popular approach from the early nineties to our days. Its basic idea is the application of proper feedback that makes the behavior of the controlled system ...
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This paper evaluates the dynamic and kinematic properties of a prismatic mechanism and shows its capabilities in performing home manipulation tasks when integrated into a robotic arm. Our design is motivated from the ...
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This paper evaluates the dynamic and kinematic properties of a prismatic mechanism and shows its capabilities in performing home manipulation tasks when integrated into a robotic arm. Our design is motivated from the observation that human hand motions often follow a linear trajectory when manipulating everyday objects. We present the mechanical design for a light-weight, energy-efficient robot named PRISM that emphasizes translational motion. By simulating the dynamics equations and comparing the structure of commonly used anthropomorphic arms and our proposed arm, we verify that translational motion is more energy efficient with PRISM, and the robot can maneuver itself in narrower places. Through simulation experiments using state of the art manipulation planning algorithms, we analyze the success rates of PRISM and an anthropomorphic robot arm in performing basic tasks. The simulation experiments center on pick-and-place tasks in cluttered kitchen scenes. We show a real-world prototype of PRISM and perform several manipulation experiments with it.
We propose a singularity-based mechanism (SBM) to exploit the singular configuration that improves the angular acceleration instead of constraining the movement. The tradeoff between the responsiveness and the range o...
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We propose a singularity-based mechanism (SBM) to exploit the singular configuration that improves the angular acceleration instead of constraining the movement. The tradeoff between the responsiveness and the range of motion is achieved by varying a length of linkage in the SBM. In this paper, we clarify the responsiveness of the SBM using the dynamics analysis. For the demonstration, we build an experimental SBM system with the high responsiveness, a practical range of motion, and a size comparable to a human arm. In the experiment, the effectiveness of the SBM is shown in a vertical lifting task. The characteristic of the SBM that generates a large acceleration at start is similar to the human arm moved by a muscle. The similarity between the SBM and the human arm is analyzed in terms of the static torque.
We propose a method, called Direct Kernel Perceptron (DKP), to directly calculate the weights of a single perceptron using a closed-form expression which does not require any training stage. The weigths minimize a per...
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The Parallel Perceptron (PP) [1] is a simple neural network which has been shown to be a universal approximator, and it can be trained using the Parallel Delta (P-Delta) rule. This rule tries to maximize the distance ...
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Over centuries it has been common usage that the cooperation of foreman and assistant increases the working efficiency. This is due to the mutual understanding of each others actions and intentions. Hence, an importan...
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Over centuries it has been common usage that the cooperation of foreman and assistant increases the working efficiency. This is due to the mutual understanding of each others actions and intentions. Hence, an important first step for automation in this field is to develop models of this natural and adaptive assistance. An artificial system equipped with such models would enable higher acceptance, passive safety and efficiency. Towards this goal we investigated the most common physical interaction occurring in human-robot cooperation - the handing over of items. In experiments, the timing and interplay of different modalities during a typical assembly task were analysed. A first model to predict timings and motor programs has been develop [1][2].
We have developed a software library called QtImageLib that enables programmers to rapidly and easily create cross platform, high performance image processing applications. A simple image viewer, complete with dropdow...
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ISBN:
(纸本)9781617381102
We have developed a software library called QtImageLib that enables programmers to rapidly and easily create cross platform, high performance image processing applications. A simple image viewer, complete with dropdown menus, toolbar, scrollbars, cut-and-paste, pan and zoom, can be implemented in a few lines of C++ code. Image processing functionality, using built-in library routines or user software, can be added with a few more lines of code.
This paper considers the problem of using an integral sliding mode strategy to reduce the disturbance terms acting on nonlinear systems in regular form. It is proved that the definition of a suitable sliding manifold ...
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In this paper, a new type of autonomous vehicle is developed. This vehicle consists of three sets of control systems to regulate the direction, brake and fuels. The sensing system is a combination of laser radar and c...
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In this paper, a new type of autonomous vehicle is developed. This vehicle consists of three sets of control systems to regulate the direction, brake and fuels. The sensing system is a combination of laser radar and camera. The localization system is constructed with GPS device and electronically compass. Currently, three tasks, including lane detection and following, object detection, and obstacle avoidance, has been implemented on this platform. We reported some experimental results.
This study proposed to de-noise the IMU signal by effectively band-limiting the signal at the output of each inertial measurement sensor prior to its mechanization and further processing by the Strapdown INS (SDINS) a...
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