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International Conference on Information Fusion

作者： Hendrikje Pauer Manuel Rosenberger Maiko Girschikofsky Ralf Hellmann Wilderich Tuschmann Heinz Woern Institute for Anthropomatics and Robotics Intelligent Process Control and Robotics Karlsruhe Institute of Technology 76131 Germany Applied Laser and Photonics Group University of Applied Sciences Aschaffenburg 63743 Germany Institute of Algebra and Geometry Karlsruhe Institute of Technology 76131 Germany

ISBN: (纸本)9781509020126

Shape sensing based on optical fiber-Bragg-grating technology is an important field of research that promises to bring a solution for the observation and tracking of flexible tubes. Currently for shape sensing, an optical fiber with integrated Bragg-gratings is attached to a flexible material, to measure the material strain caused by bending. In this paper, a new approach for shape sensing is presented. For the first time, the Bragg-grating structures and the optical waveguides are directly inscribed in planar cyclo-olefin copolymers that can perform characteristic deformation itself. This new method solves many present problems in shape sensing. These problems are e.g. that the placement of the fibers along the carrier material is difficult to realize in practice. Also the fiber does not always connect properly to the carrier material. Thus, the material deformation can not be sufficiently applied to the fiber. The general idea of optical shape sensing and the advantages of the new concept are explained in section I and II. Further on, the manufacturing process of a prototype is described in section II-A. To use the presented 1-component sensor for shape sensing, a geometrical model is defined and assumptions regarding the behavior of the measured values are made in section II-B. The prototype is tested and the measurement data is compared to the defined model. The obtained results are shown in section III. Finally, in section IV, a conclusion of the work is given.

关键词： Shape Robot sensing systems Fiber gratings Prototypes Optical waveguides Manipulator sensing systems Optical waveguides Fiber gratings PROTOTYPE carrier material Shape field surveys measurement data FLEXIBLE MATERIALS

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Adaptive Backstepping Tracking control of a 6-DOF Unmanned Helicopter

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 19-24页

作者： Bin Xian Jianchuan Guo Yao Zhang the Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and AutomationTianjin University

This paper presents an adaptive backstepping control design for a class of unmanned helicopters with parametric uncertainties. The control objective is to let the helicopter track some pre-defined position and yaw trajectories. In order to facilitate the control design, we divide the helicopter's dynamic model into three subsystems. The proposed controller combines the backstepping method with online parameter update laws to achieve the control objective. The global asymptotical stability (GAS) of the closed-loop system is proved by a Lyapunov based stability analysis. Numerical simulations demonstrate that the controller can achieve good tracking performance in the presence of parametric uncertainties. © 2014 Chinese Association of Automation.

关键词： Backstepping Closed loop control systems Closed loop systems controllers Flight dynamics Helicopters

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Incremental bootstrapping of parameterized motor skills

Incremental bootstrapping of parameterized motor skills

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeffrey Frederic Queißer René Felix Reinhart Jochen Jakob Steil Universitat Bielefeld Bielefeld Nordrhein-Westfalen DE Fraunhofer IEM Research Institution for Mechatronic Systems Design Paderborn Germany Institute for Robotics and Process Control Technical University Braunschweig Braunschweig Germany Research Institute for Cognition and Robotics (CoR-Lab) Bielefeld University Bielefeld Germany

Many motor skills have an intrinsic, low-dimensional parameterization, e.g. reaching through a grid to different targets. Repeated policy search for new parameterizations of such a skill is inefficient, because the structure of the skill variability is not exploited. This issue has been previously addressed by learning mappings from task parameters to policy parameters. In this work, we introduce a bootstrapping technique that establishes such parameterized skills incrementally. The approach combines iterative learning with state-of-the-art black-box policy optimization. We investigate the benefits of incrementally learning parameterized skills for efficient policy retrieval and show that the number of required rollouts can be significantly reduced when optimizing policies for novel tasks. The approach is demonstrated for several parameterized motor tasks including upper-body reaching motion generation for the humanoid robot COMAN.

关键词： Optimization Trajectory Training Learning (artificial intelligence) End effectors Humanoid robots

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Continuous task-priority rearrangement during motion execution with a mixture of torque controllers

Continuous task-priority rearrangement during motion executi...

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IEEE-RAS International Conference on Humanoid Robots

作者： Niels Dehio René Felix Reinhart Jochen J. Steil Technische Universitat Braunschweig Braunschweig Niedersachsen DE Fraunhofer IEM Research Institution for Mechatronic Systems Design Paderborn Germany Research Institute for Robotics and Process Control (IPR) Technical University Braunschweig Germany

ISBN: (纸本)9781509047192

When controlling highly redundant humanoid robots multiple motion tasks can be accomplished simultaneously by employing several reactive torque-control modules. Flexible task-prioritization for these modules during motion generation is an open research problem. Null-space based approaches for redundant robots implement a strict, hierarchical prioritization and are not suited for changing the priority-order of the underlying control modules. In contrast, the mixture of controller approach superposes torques from several control modules and thereby enables flexible and continuous task-priority rearrangement. Here we show how to react to environmental changes by blending the corresponding priorities during motion execution. Additionally, we investigate the advantage of regularization when learning new mixture coefficients. The proposed framework is demonstrated for the full 11 DOF upper body of the compliant humanoid robot COMAN in simulation.

关键词： Aerospace electronics Robot sensing systems Optimization Humanoid robots Jacobian matrices Trajectory

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Support and imaging tasks using an ultrasound-based navigation procedure for minimally invasive neck surgery: Experiments and analyses

Support and imaging tasks using an ultrasound-based navigati...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Thorsten Brennecke Heinz Woern Intelligent Process Control and Robotics Lab (IAR-IPR) Karlsruhe Institute of Technology Germany

Minimally invasive neck surgery is a promising technique which is not commonly adopted. Due to the actual intra-operative bedding of the patient which results in a tissue shift compared to the pre-operative imaging, a suitable navigation procedure is required. The detection of the bedding-caused tissue shift is essential for a safe orientation for the surgeons to establish new endoscopic operation procedures. In this work an ultrasound-based navigation procedure for the head-neck-surgery is proposed. A prototype was implemented, which is using the Plus toolkit and integrated into the OP:Sense robotic setup. Experiments on a custom, flexible neck-model were performed. A robotic ultrasound tomography using the navigation system prototype was integrated into OP:Sense. The setup was used to scan bones in water bathes and human arms and create 3D volumes. The overall achieved accuracy was

关键词： Ultrasonic imaging Navigation Neck Solid modeling Imaging Three-dimensional displays Surgery

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Telemanipulation with force-based display of proximity fields

Telemanipulation with force-based display of proximity field...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： S. E. Navarro F. Heger F. Putze T. Beyl T. Schultz B. Hein Institute for Anthropomatics and Robotics (IAR)-Intelligent Process Control and Robotics Lab (IPR) Karlsruhe Institute of Technology (KIT) Germany Institute for Anthropomatics and Robotics (IAR)-Cognitive Systems Lab (CSL) Karlsruhe Institute of Technology (KIT) Germany

In this paper we show and evaluate the design of a novel telemanipulation system that maps proximity values, acquired inside of a gripper, to forces a user can feel through a haptic input device. The command console is complemented by input-devices that give the user an intuitive control over parameters relevant to the system. Furthermore, proximity sensors enable the autonomous alignment/centering of the gripper to objects in user-selected DoFs with the potential of aiding the user and lowering the workload. We evaluate our approach in a user study that shows that the telemanipulation system benefits from the supplementary proximity information and that the workload can indeed be reduced when the system operates with partial autonomy.

关键词： Grippers Robot sensing systems Haptic interfaces Cameras Yttrium

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Online motion planning for failure recovery of modular robotic systems

Online motion planning for failure recovery of modular robot...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Vojtěch Vonásek Sergej Neumann David Oertel Heinz Wörn Ceske Vysoke Uceni Technicke v Praze Praha CZ Institute for Process Control and Robotics (IPR) Karlsruhe Germany

ISBN: (纸本)9781479969241

Modular robots are built of many basic robotic modules that can be connected into robots of various shapes. These robots are able to recover from a failure by ejecting and replacing damaged modules. Although this type of failure recovery is usually suggested in literature, it may be precluded due inability of the broken modules to cooperate or if no spare modules are available. In such a case, locomotion of a damaged robot should be adapted to allow the robot to reach a repair station or even to finish its task without the need to exchange the broken modules. In this paper, we investigate how to adapt motions of modular robots with respect to failures using the concept of motion planning with motion primitives. The ability of the proposed system to recover from failures is verified in a simulation and also in a HW experiment.

关键词： Robots Optimization Planning Joints Maintenance engineering Three-dimensional displays Adaptation models

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Failure recovery for modular robot movements without reassembling modules

Failure recovery for modular robot movements without reassem...

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International Workshop on Robot Motion and control (RoMoCo)

作者： Vojtěch Vonásek David Oertel Sergej Neumann Heinz Wörn Dept. of Cybernetics Czech Technical University in Prague Czech Republic Institute for Process Control and Robotics (IPR) Karlsruhe Germany

Modular robots consist of many mechatronic modules that can be connected into various shapes and therefore adapted for a given task or environment. Motion of the robots can be achieved by locomotion generators that control joints connecting the modules. An important advantage of modular robots is their ability to recover from failures by ejecting and replacing damaged modules. This type of failure recovery may be precluded due to inability of the broken modules to cooperate or when no spare modules are available. In such a case, locomotion of a damaged robot should be adapted to allow the robot to reach a repair station or even to finish its task without the need to exchange the broken modules. In this paper, we investigate how to recover from failures using the concept of motion planning with motion primitives and how to adapt the primitives to new situations. The proposed systems allows modular robots to move even if some modules fail. Besides modular robots, the proposed system is suitable also for other robots that can be driven by locomotion generators such as legged or snake-like robots.

关键词： Joints Cost function Planning Legged locomotion Generators Actuators

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Robust tracking control design for a flexible air-breathing hypersonic vehicle

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Journal of Central South University 2014年第1期21卷 130-139页

作者：张垚鲜斌刁琛赵勃郭建川 Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and AutomationTianjin University

A nonlinear robust controller was presented to improve the tracking control performance of a flexible air-breathing hypersonic vehicle(AHV) which is subjected to system parametric uncertainties and unknown additive time-varying *** longitudinal dynamic model for the flexible AHV was used for the control ***-gain observers were designed to compensate for the system uncertainties and additive *** gain theorem and Lyapunov based stability analysis were utilized to prove the stability of the closed loop *** uniformly ultimately bounded tracking of the vehicle's velocity,altitude and attack angle were achieved under aeroelastic effects,system parametric uncertainties and unknown additive ***/Simulink simulation results were provided to validate the robustness of the proposed control *** simulation results demonstrate that the tracking errors stay in a small region around zero.

关键词： hypersonic vehicles nonlinear robust control flexible mode small gain theorem Lyapunov

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Knowledge-Based Workspace Optimization of a Redundant Robot for Minimally Invasive Robotic Surgery (MIRS)

Knowledge-Based Workspace Optimization of a Redundant Robot ...

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IEEE International Conference on robotics and Biomimetics

作者： Jessica Hutzl Andreas Bihlmaier Martin Wagner Hannes G?tz Kenngott Beat Peter Müller Heinz W?rn Department of Informatics Institute for Anthropomatics and Robotics (IAR) - Intelligent Process Control and Robotics Lab (IPR) Karlsruhe Institute of Technology 76131 Karlsruhe Germany Department of General Visceral and Transplantation Surgery University of Heidelberg 69120 Heidelberg Germany

ISBN: (纸本)9781467396769

This work examines the problem of a redundant robot's limited workspace in the field of minimally invasive surgery. The proposed procedure to overcome difficulties with joint angle restrictions and finding suitable pivot points works as follows. At first, the target region during a operation has to be defined. An algorithm structures the information of tracked and annotated operations. Each phase of the operation is regarded separately. The result, a grid mesh, is used to test the robot performance with the restriction of the pivot point. The knowledge base contains the structured information about the target region of a phase. Different criteria are defined and evaluated to find the optimal parameter set and a pivot point. Reachability and keeping the pivot restriction are represented in these criteria. The parameter set exists because of the redundancy. Thus, an objective function is proposed to bring the different evaluation criteria together with regard to different possible parameter sets. Given these parameter sets the workspace of the robot is optimized concerning the target region of the operation.

关键词： examines problem redundant

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