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The design and control of a prototype quadruped microrover

AUTONOMOUS ROBOTS 1997年第2期4卷 211-220页

作者： Sukhatme, GS Robotics Research Laboratory Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles

We describe the design, construction and control of a quadruped robot which walks on uneven terrain. A control system which produces a statically stable gait has been implemented;results showing a straight and turning gait are presented. The control of quadruped robots poses interesting challenges due to a small stability margin (when compared to hexapods for example). For this reason most implemented systems for outdoor walking on uneven terrain have been hexapods. The system described here has the added virtue of using very few inexpensive sensors and actuators. One of the aims of this work is to build a reduced complexity (low power, low mass and direct drive) walking robot for statically stable walking. The other aim is to compare the performance of this robot with a wheeled robot roughly the same size and weight. In this paper we report on progress towards the first of these two goals using a traverse across an obstacle field as an example.

关键词： quadruped robot static stability microrover walking robot

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intelligent multi-modal systems

British Telecom technology journal

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British Telecom technology journal 1998年第3期16卷 134-144页

作者： Tsui, K.C. Azvine, B. Djian, D. Voudouris, C. Xu, L.Q. Hong Kong Polytechnic University Hong Kong University of Essex King's College London United Kingdom BT Laboratories United Kingdom ATM Traffic Management United Kingdom Manchester University United Kingdom Dynamics and Control Research Group Engineering Department Manchester University United Kingdom Contr. and Instrum. Research Group Staffordshire University United Kingdom Intelligent Systems Research Unit BT Laboratories United Kingdom Dept. of Engineering Mathematics Bristol University United Kingdom Europ. Netwk. Excellence U. Institut d'Informatique d'Entreprise France Oxford University Robotics Research Group United Kingdom University of Nice France Ecole des Mines de Paris France Natl. Technical University of Athens Greece University of Essex United Kingdom Department of Computer Science University of Essex United Kingdom Intelligent Systems Research Group BT Laboratories United Kingdom Southeast University Nanjing China Institute of Acoustics Chinese Academy of Sciences Beijing China University of East Anglia United Kingdom University of Sussex King's College London United Kingdom University of Abertay Dundee United Kingdom

Research in human/computer interaction has mainly focused on natural language, text, speech and vision primarily in isolation. Recently there have been a number of research projects that have concentrated on the integration of such modalities using intelligent reasoners. The rationale is that many inherent ambiguities in single modes of communication can be resolved if extra information is available. This paper describes an intelligent multi-modal system called the Smart Work Manager. The main characteristics of the Smart Work Manager are that it can process speech, text, face images, gaze information and simulated gestures rising the mouse as input modalities, and its output is in the form of speech, text or graphics. The main components of the system are the reasoner, a speech system, a vision system, an integration platform and the application interface. The overall architecture of the system will be described together with the integration platform and the components of the system which include a non-intrusive neural network based gaze-tracking system. The paper concludes with a discussion on the applicability of such systems to intelligent human/computer interaction and lessons learnt in terms of reliability and efficiency.

关键词： Learning systems

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Model-based process redesign

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JOURNAL OF intelligent MANUFACTURING 1997年第5期8卷 345-356页

作者： Janusz, B Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany

A method is presented for the model-based redesign of enterprises. It consists of two main steps, the initialization step and the optimization step. During the initialization step, the processes are modelled and analysed. During the optimization step, the optimal configuration is found for the possible modifications of the processes. Emphasis is placed on the process analysis. The proposed approach is based on activity chains which describe the set of activities needed for the achievement of a given gear, and their execution order necessary to guarantee a low processing time. An algorithm is presented for filtering such activity chains from an enterprise model. It is based on graph theory and corresponds to the solution of an optimization problem, whereby the sum of weights of ail edges belonging to the solution graph should be maximized under some given constraints. Because of the high complexity of the problem, some complexity-reducing measures are presented, measures that arise from the earlier problem analysis.

关键词： process redesign process analysis activity chain graph theory

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Fast motion planning by parallel processing - A review

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JOURNAL OF intelligent & ROBOTIC systems 1997年第1期20卷 45-69页

作者： Henrich, D Institute for Real-Time Computer Systems and Robotics Computer Science Department University of Karlsruhe Kaiserstrasse 12 D-76128 Karlsruhe Germany

One of the many features needed to support the activities of autonomous systems is the ability to plan motion. This enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, the control loop comprising sensing, planning, and acting has not yet been closed for robots in dynamic environments. One reason involves the long execution times of the motion planning component. A solution for this problem is offered by the use of highly parallel computation. Thus, an important task is the parallelization of existing motion planning algorithms for robots so that they are suitable for highly parallel computation. In several cases, completely new algorithms have to be designed, so that a parallelization is feasible. In this survey, we review recent approaches to motion planning using parallel computation. As a classification scheme, we use the structure given by the different approaches to the robot's motion planning. For each approach, the available parallel processing methods are discussed. Each approach is assigned a unique class. Finally, for each research work referenced, a list of keywords is given.

关键词： robotics autonomous systems parallel algorithms parallelism and concurrency motion planning review

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An Extended Kalman Filter for frequent local and infrequent global sensor data fusion

An Extended Kalman Filter for frequent local and infrequent ...

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Conference on Sensor Fusion and Decentralized Control in Autonomous Robotic systems

作者： Roumeliotis, SI Bekey, GA Department of Electrical Engineering Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)0819426415

In this paper we compare the performance of a dead-reckoning system for robot navigation to a system using an Extended Kalman Filter (EKF). Dead-reckoning systems are able to approximate position and orientation by feeding data (provided usually by local sensors) to the kinematic model of the vehicle. These systems are subject to many different sources of error. EKFs have the ability to combine the same information and compensate for most of these errors to yield a better estimate. Our simulation results using a simplified kinematic model of Rocky 7 (an experimental rover used in the Mars exploration program at Jet Propulsion Laboratory (JPL)) show that an improvement in performance up to 40% (position error) can be achieved. The local sensors used are: wheel encoders, steering angle potentiometer and gyroscope. Involvement of global sensor measurements can drastically increase the accuracy of the estimate. The lack of GPS or magnetic field on Mars narrows our choices for global localization. Landmarks, such as the sun can be used as natural beacons (reference point for absolute measurements). A sun sensor (SS) that measures the absolute orientation of the rover has been built by Lockheed Martin and now is part of the sensor suite of Rocky 7. The SS measurement is crucial for the estimation filter and we show that the accuracy of the estimation decreases exponentially as the frequency of the SS data fed to the EKF decreases.

关键词： robot localization sun sensor Extended Kalman Filter

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Virtual cutting in medical data

Virtual cutting in medical data

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作者： Mazura, A. Seifert, S. Institute for Real-time Computer Systems and Robotics University of Karlsruhe Department for Computer Science 76128 Karlsruhe Germany

In this paper we present a method for virtual 3D cutting operations in 3D tomographic data. When cutting interactively the user specifies a serie of 3D cutting points and correponding cut depths on the surface of the object. Each pair of succeeding cutting points then defines a freeform shape of the incision. A 3D meshing algorithm constructs a Finite Element mesh formed by tetrahedrons, representing the surgical intervention. © 1997 The authors.

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Simulation of jaw-movements for the musculoskeletal diagnoses

Simulation of jaw-movements for the musculoskeletal diagnose...

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作者： Weingärtner, T. Dillmann, R. Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Department for Computer Science 76128 Karlsruhe Germany

Simulations of static and dynamic aspects of the functionality of the human body are getting more important as the complexity of operations increases. The preoperative planning of maxillofacial operations like the repositioning of the jaw is an example for such operation. Here, but also in other medical fields, simulation can help to estimate the results of a procedure or can facilitate the diagnosis through a better view of the anatomy and pathology of the patient. A virtual view on the pathology and the possibility of simulating the postoperative results simplifies and improves the preoperative planning. The goal of our research is the development of a graphical simulation of the human mastication system to give the surgeon an impression on the inner anatomy of his patient. This simulation allows him to predict the aesthetic and functional outcome of his operation. The main focus of this paper is the introduction of a kinematic model of the temporomandibular joint. This kinematic model describes the geometrical and analytical movement of the jaw by specially defined axes. It is the basis for an animated simulation of the mandible movement. Through integration of the muscles and muscle forces, we come to a realistic dynamic simulation of the whole mastication system. © 1997 The authors.

关键词： Pathology

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Sensor system and powerful computer system for controlling a microrobot-based micromanipulation station

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JOURNAL OF MICROMECHANICS AND MICROENGINEERING 1997年第3期7卷 256-258页

作者： Fischer, T Santa, K Fatikow, S University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Systems and Robotics Kaiserstr.12/Geb. 40.28 D-76128 Karlsruhe Germany Presented on 22 October 1996 accepted for publication 8 April 1997

Mobile microrobots, which are capable of performing microscopic motions, have become a subject of great interest all over the world, They have the potential to be used for a variety of applications: in industry for assembly of microsystems or for the testing of silicon chips;in medicine for handling biological cells, etc. A new model of an automated micromanipulation station, which includes piezoelectric microrobots is now being built by an interdisciplinary research group at the University of Karlsruhe, Germany, This paper describes a sensor system and a powerful tailorable computer for controlling the micromanipulation station.

关键词： Manipulators

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A strategy for quadruped walking on uneven terrain

A strategy for quadruped walking on uneven terrain

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International Conference on Advanced robotics (ICAR)

作者： G.S. Sukhatme S. Brizius S. Cozy G.A. Bekey Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

We describe the design and construction of a quadruped robot which walks on uneven terrain. A control system which produces a statically stable gait has been implemented; results showing a straight and turning gait are presented. The control of quadruped robots poses interesting challenges due to a small stability margin (when compared to hexapods for example). For this reason most implemented systems for outdoor walking on uneven terrain have been hexapods. The system described here has the added virtue of using very few inexpensive sensors and actuators. One of the aims of this work is to build a reduced complexity (low power, low mass and direct drive) walking robot for statically stable walking. The other aim is to compare the performance of this robot with a wheeled robot roughly the same size and weight. In this paper we report on progress towards the first of these two goals.

关键词： Legged locomotion Robot sensing systems Mobile robots Control systems Turning Robot control Stability Sensor phenomena and characterization Sensor systems Actuators

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A cerebellar approach to adaptive locomotion for legged robots

A cerebellar approach to adaptive locomotion for legged robo...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： J. Hoff G.A. Bekey Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

This paper describes a neural learning architecture for control of legged robots inspired by mammalian neurophysiology. Biological studies indicate that the cerebellum is a key part of an adaptive control system which enables mammals to display remarkable limb coordination during locomotion. We present a distributed control system using reinforcement learning methods and mechanisms inspired by the cerebellum. Embedded within a framework of base locomotion controllers, the system is tasked with learning modulatory control signals which optimize gait performance measures. We briefly describe simulation studies in progress for a four-legged robot.

关键词： Legged locomotion Robot kinematics Control systems Robot control Neurophysiology Adaptive control Displays Distributed control Learning Brain modeling

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