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Control of a 5-link biped robot for steady walking

Control of a 5-link biped robot for steady walking

引用

IEEE International Symposium on Intelligent Control (ISIC)

作者： T.-T. Lee P.L. Jeng W.A. Gruver Center for Robotics and Manufacturing Systems and Department of Electrical Engineering University of Kentucky Lexington KY USA Institute of Control Engineering National Chiao Tung University Hsinchu Taiwan

Trajectory planning methods and control algorithms for biped robot steady walking are discussed. The model following plus variable structure systems technique is developed for the control of dynamic walking in the sagittal plane. The nonlinear feedback plus modified alpha -computed torque technique is introduced for walking in the frontal plane. simulation results are provided for level walking and ascending on staircases for a five-link biped robot. These results indicate that the proposed algorithms could achieve robust trajectory tracking even in the presence of system modeling errors. Specifically, simulation results show that, even in the presence of disturbances, gait stability can be achieved within two steps after the start of walking. In addition, the biped robot can walk with prespecified patterns.< >

关键词： Legged locomotion Trajectory Leg Torso Polynomials Equations Robots Carbon capture and storage Boundary conditions Interpolation

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Automatic construction of assembly partial-order graphs

Automatic construction of assembly partial-order graphs

引用

International Conference on Computer Integrated Manufacturing

作者： S. Lee Y.G. Shin Department of Electrical Engineering-Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Computer Science Department University of Southern California Los Angeles CA USA

A system is presented which automatically constructs an assembly partial-order graph from an object-oriented model describing parts and their connections. The construction is based on the principle of assembly by disassembly and on assembly heuristics representing criteria for preferred subassemblies. The system first identifies disassemblable parts and subassemblies by reasoning geometric and physical constraints as well as resource requirements, and then assigns preference to the identified disassembly options based on assembly heuristics. The recursive application of this process to the selected disassemblies results in a hierarchical partial-order graph (HPOG). The HPOG not only specifies the required precedence in part assembly but also provides parallelism for implementing multiple-robot distributed and cooperative assembly. The software is organized under the cooperative-problem-solving paradigm.< >

关键词： Robotic assembly Assembly systems robotics and automation Process planning Job shop scheduling Robot sensing systems Intelligent robots Throughput Parallel robots Motion planning

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Learning expert systems for robot fine motion control

Learning expert systems for robot fine motion control

引用

IEEE International Symposium on Intelligent Control (ISIC)

作者： S. Lee M.H. Kim Department of Electrical Engineering-Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Computer Science Department Sung Kyun Kwan University Seoul South Korea

The authors present a learning expert system which enables a robot to acquire fine motion skills automatically. The system follows the paradigm of Expert Assisted Robot Skill Acquisition (EARSA) proposed by the authors (1987). EARSA is mainly concerned with the self-discovery of skills by a robot in conjunction with the transfer of human skills to a robot and emphasizes the distinctive difference in perceptual and physical capabilities between a human and a robot. The authors review the theory and mechanism of EARSA, describe the robot fine motion skill learning algorithm formulated on the basis of EARSA, and present the details of simulation on the robot learning of two-dimensional peg-hole insertion skills. The results of simulation indicate the dramatic improvement of performance as a result of skill learning.< >

关键词： Expert systems Motion control robotics and automation Robot sensing systems Intelligent robots Cognitive robotics Motion planning Robotic assembly Automatic control Humans

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Robot hand-eye coordination: shape description and grasping

Robot hand-eye coordination: shape description and grasping

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： K. Rao G. Medioni H. Liu G.A. Bekey Departments of Electrical Engineering and Computer Science Institute for Robotics and Intelligent Systems Powell Hall 204 MC-0273 University of Southern California Los Angeles CA USA

The successful execution of grasps by a robot hand requires a translation of visual information into control signals to the hand which produce the desired spatial orientation and preshape for an arbitrary object. An approach to this problem, based on separation of the task into two modules, is presented. A vision module is used to transform an image into a volumetric shape description using generalized cones. The data structure containing this geometric information becomes an input to the grasping module, which obtains a list of feasible grasp modes and a set of control signals for the robot hand. Various features of both modules are discussed.< >

关键词： Robot kinematics Shape Grasping Intelligent robots Robot sensing systems Humans Intelligent systems Data structures Motion control Robot control

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Minimization of energy in quasistatic manipulation

Minimization of energy in quasistatic manipulation

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Peshkin A.C. Sanderson Robotics Institute Carnegie Mellon University Pittsburgh PA USA Mechanical Engineering Department Northwestern University Evanston IL USA Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

Quasistatic mechanical systems, in which mass or acceleration is sufficiently small for the inertial term ma in F=ma to be negligible compared to dissipative forces, are discussed. It is pointed out that many instances of robotic manipulation can be well approximated as quasistatic systems, with the dissipative force being dry friction. Energetic formulations of Newton's laws have often been found useful in the solution of mechanics problems involving multiple constraints. An intuitive minimum power principle is outlined which states that a system chooses at every instant the lowest-energy, or 'easiest', motion in conformity with the constraints. Surprisingly, the principle is in general false; but it is proved that the principle is correct in the useful special case that Coulomb friction is the only dissipative or velocity-dependent force acting in the system.< >

关键词： Friction Robots Mechanical systems Motion analysis Shape Credit cards Fingers Acceleration Energy dissipation Energy loss

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Optimal Safe Path For Robots

Optimal Safe Path For Robots

引用

IEEE International Workshop on Intelligent Robots

作者： Tsu-tian Lee B.K. Lee T.K. Chen Department of Electrical Engineering and Also with Center for Robotics and Manufacturing Systems University of Kentucky Lexington KY USA Institute of Electronics National Chiao Tung University Hsinchu Taiwan

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Identification and control of a single-link flexible manipulator

Identification and control of a single-link flexible manipul...

引用

IEEE Conference on Decision and Control

作者： K.S. Rattan V. Feliu H.B. Brown Department of Electrical Systems Engineering Wright State University Dayton OH USA Departamento Ingenieria Electrica Electronica y Control UNED (Spanish National University of Distance Education) Madrid Spain Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Model identification and control of a single-link, very flexible manipulator is carried out. The objective is first to find the transfer functions relating the tip position to the motor position and the motor position to the motor current, and then to use the transfer functions to control the tip position of the manipulator. Because of the nonlinearities introduced by the static friction of the motor and due to very low damping of the manipulator, classical frequency-domain techniques cannot be used to find the transfer functions, so a novel method is proposed. A set of experiments has been performed, and transfer functions which fit this data have been obtained. The control scheme contains an inner loop for the motor position and an outer loop for the tip position. For the outside loop, feedforward control and the computed torque techniques are evaluated.< >

关键词： Transfer functions Friction Manipulators Torque control Wire Weight control Control systems Frequency domain analysis Optimal control Robots

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Refining edges detected by a LoG operator

Refining edges detected by a LoG operator

引用

Conference on Computer Vision and Pattern Recognition (CVPR)

作者： F. Ulupinar G. Medioni Dept. of Electr. Eng. & Comput. Sci. Univ. of Southern California Los Angeles CA USA Institute for Robotics and Intelligent Systems Department of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The Laplacian of Gaussian (LoG) operator is one of the most popular operators used in edge detection. This operator, however, has some problems: zero-crossings do not always correspond to edges, and edges with an asymmetric profile introduce a symmetric bias between edge and zero-crossing locations. The authors offer solutions to these two problems. First, for one-dimensional signals, such as slices from images, they propose a simple test to detect true edges, and, for the problem of bias, they propose different techniques: the first one combines the results of the convolution of two LoG operators of different deviations, whereas the others sample the convolution with a single LoG filter at two points besides the zero-crossing. In addition to localization, these methods allow them to further characterize the shape of the edge. The authors present an implementation of these techniques for edges in 2-D images.< >

关键词： Image edge detection Laplace equations Detectors Intelligent robots Convolution Shape Intelligent systems Testing Filters Image segmentation

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Decentralized adaptive control (robot)

Decentralized adaptive control (robot)

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： B.J. Oh M. Jamshidi H. Seraji CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA Dept. of Electr. & Comput. Eng. New Mexico Univ. Albuquerque NM USA Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

A decentralized adaptive control is proposed to stabilize and track the nonlinear interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive control theory based on Lyapunov's direct method. The adaptive gains consist of sigma , proportional, and integral combination of the measured and reference values of the corresponding subsystem. The proposed control is applied to the joint control of a two-link robot manipulator, and the performance in computer simulation corresponds with what is expected in theoretical development.< >

关键词： Adaptive control Control systems Programmable control Laboratories Manipulators Robot sensing systems Nonlinear control systems Couplings Robust control Propulsion

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Fourier optics and pattern recognition

Fourier optics and pattern recognition

引用

1986 International Optical Computing Conference

作者： Kandel, Abraham Langholz, Gideon Computer Science Department Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States Department of Electrical Engineering Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States

In Fourier optics, the Fourier transformation is performed on the amplitude of the electromagnetic wave, whereas in the computational method the transformation is usually applied to the grayness of its image which is ...

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