检索结果-内蒙古大学图书馆

How Fast Can a Robotic Drummer Beat Using Dielectric Elastomer Actuators?

IEEE robotics and Automation Letters 2024年第3期9卷 2638-2645页

作者： Wakle, Sudhir Lin, Tse-Han Huang, Shu Basu, Sumit Lau, Gih-Keong National Yang Ming Chiao Tung University International College of Semiconductor Technology Hsinchu30010 Taiwan Indian Institute of Technology Kanpur Mechanical Engineering Department Kanpur208016 India National Yang Ming Chiao Tung University Department of Graduate Degree Program of Robotics Hsinchu30010 Taiwan Industrial Technology Research Institute Mechanical and Mechatronics System Research Labs Zhudong 31057 Taiwan National Yang Ming Chiao Tung University Department of Mechanical Engineering International College of Semiconductor Technology Hsinchu30010 Taiwan

Fast drumming presents a speed challenge to many robotic arms. To simultaneously meet the needs for speed, stroke, and force, we proposed and tested a new double-saddle dielectric elastomer actuator (DEA) as the artificial biceps for driving a lightweight robotic drummer. This work finds that fast force induction is instrumental to the fast drumming by a DEA-driven drumstick. While a pure-shear series of DEA under a large pre-stretch and lateral reinforcement can generate a large isotonic stroke, it is not fast in isometric force induction. Instead, this work found a double-saddle DEA, which is a degenerated two-segment pure-shear DEA with a middle laterally buckled beam, managed to induce a faster isometric force at a 0.5 s down time constant when its ultimate actuation tapered due to substantial strain stiffening effect. As such, this double-saddle DEA-driven drummer suffered less from the dynamic stroke decrement than the 8-segment DEA did. A 4.4 g DEA managed to swing freely a 7.8 g drumstick up to nearly 60° at 6 kV and a maximum tip speed of up to 0.45 m/s. The drumming frequency upon 5.5 kV activation was up to 2-2.5 Hz. In comparison, an 8-segment pure-shear DEA-driven drummer failed to reach the drum when pulsed at 2 Hz. Interestingly, a slower stroke excited multiple drumbeats due to secondary bounces. To achieve a faster drumming to match a human drummer, it is foreseen that a harder dielectric elastomer material will help drive a faster soft robot. © 2016 IEEE.

关键词： Dielectric materials

来源：评论

学校读者我要写书评

暂无评论

Stability Analysis of Nonlinear Systems using Dynamic-Routh's Stability Criterion: A New Approach

Stability Analysis of Nonlinear Systems using Dynamic-Routh'...

引用

International Conference on Advances in Computing, Communications and Informatics

作者： Basant Kumar Sahu Madan M. Gupta Bidyadhar Subudhi Centre for Industrial Electronics and Robotics National Institute of Technology Intelligent Systems Research Laboratory College of Engineering University of Saskatchewan

ISBN: (纸本)9781467361262

In this paper, we proposed a new method to analyze the condition and region of stability of nonlinear time-varying systems by introducing the notions of dynamic poles and dynamic-Routh's stability method. The stability analysis is carried out in a special type of complex plane called g(t)-plane which is similar to the traditional s-plane where both real and imaginary axis have time dependent parameters. The theorem is established and numerical examples from literature are solved with simulation results to show the efficacy and accuracy of the proposed method. The phase plane curve is presented for showing the stability condition of the nonlinear time varying systems.

关键词： Nonlinear time-varying systems Dynamic-Routh's stability approach Dynamic poles

来源：评论

学校读者我要写书评

暂无评论

Multi-stage Objective Function Optimized Hand-Eye Self-calibration of Robot in Autonomous Environment 1

引用

17th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2022

作者： Liu, Kaibo Zheng, Wangli Min, Huasong Lin, Yunhan School of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan430065 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology Hubei Wuhan430065 China State Grid Electric Power Research Institute Jiangsu Nanjing211106 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Hubei Wuhan430081 China

ISBN: (数字)9789819915491

ISBN: (纸本)9789819915484

In the application scenario of robot autonomous tasks, the robot needs to be able to complete calibration online and automatically to achieve self-maintenance, which differs from traditional robot hand-eye calibration in that the traditional robot hand-eye calibration requires a dedicated calibration board to assist offline completion. Aiming at the problem that the existing self-calibration methods cannot be optimized as a whole, which leads to low accuracy and instability of the solution, a multi-stage objective function optimization self-calibration algorithm is proposed, which describes the solution of hand-eye self-calibration as a minimization objective function problem involving multiple stages. An optimization method based on the minimization of re-projection error is designed to compensate for the results, which uses an efficient Oriented fast and rotated brief (ORB) feature extraction algorithm and introduces a scoring mechanism to retain more correct matching points in the feature matching stage. Two different types of experiments were designed to validate our method. One is a single camera dataset experiment, which shows that our method is more accurate and robust than the existing self-calibration method;the other is an application platform experiment, which verifies the feasibility and availability of our method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Calibration

来源：评论

学校读者我要写书评

暂无评论

UAV Swarm Formation Control for Outdoor Surveillance Tasks 8th

UAV Swarm Formation Control for Outdoor Surveillance Tasks

引用

8th International Conference on Computing, Control and industrial Engineering, CCIE 2024

作者： Frolov, Oleg Safin, Ramil Tsoy, Tatyana Martinez-Garcia, Edgar A. Magid, Evgeni School of Applied Mathematics National Research University Higher School of Economics Moscow Russia Intelligent Robotics Department Kazan Federal University Kazan Russia Department of Industrial Engineering and Manufacturing Institute of Engineering and Technology Autonomous University of Ciudad Juarez Ciudad Juarez Mexico

ISBN: (纸本)9789819769339

Multi-robot and swarm control is a promising field in modern robotics. This paper considers a formation control of an unmanned aerial vehicles’ (UAV) swarm focusing on implementation of a leader-follower algorithm within the Robot Operating System (ROS) framework, which is designed as a ROS plugin. The paper describes a concept of a swarm formation control and presents a set of typical formations that could be helpful for swarms’ tasks. The leader-follower algorithm was implemented and validated in the Gazebo simulator. The proposed algorithm novelty lies in its simplicity and effectiveness for outdoor applications, integration of collision-avoidance mechanisms of swarms’ UAVs, and synchronization of UAVs’ actions within the swarm. Virtual experiments with a small swarm of PX4-LIRS UAVs demonstrated consistent results in self-collision avoidance by the swarms’ members while performing formation generation and its further motion within outdoor areas. Expected and real coordinates of each UAV of the swarm were compared, and the control strategy achieved acceptably small absolute errors in UAVs’ positioning. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Robot Operating System

来源：评论

学校读者我要写书评

暂无评论

Hybrid Eye-to-hand and Eye-in-hand visual servo system for parallel robot conveyor object tracking and fetching

Hybrid Eye-to-hand and Eye-in-hand visual servo system for p...

引用

Annual Conference of industrial Electronics Society

作者： Ren C. Luo Shih-Che Chou Xin-Yi Yang Norman Peng International Center of Excellence on Intelligent Robotics and Automation Research National Taiwan University Taipei TAIWAN Industrial Technology Research Institute Hsinchu TAIWAN

The objective of this paper is to develop conveyer object tracking and fetching system. The traditional visual servo system for parallel robot is based on Eye-to-hand method which suffers from the narrow field of view (FOV). The basic step of moving assembling is multiple objects tracking which needs broad work space and big FOV of the parallel robot. In this paper, a Hybrid Eye-to-hand and Eye-in-hand Visual Servo System for parallel robot is proposed. Via this hybrid system, the parallel robot can achieve (multiple) object tracking and fetching with priority planning we designed. The eye-to-hand visual system with low resolution camera provides the estimations of the velocities and poses of the workpieces. Also the fetching priority is planned with this system. All aforementioned information is transferred to the eye-in-hand visual servo system for further use. Once the object appeared in the FOV of eye-in-hand system in the estimated position, the high resolution camera of the system is employed to acquire the pose information of the object with high accuracy and track it frame by frame. The hybrid system is successfully demonstrated and implemented on parallel robot which not only broadens the working space of parallel robot but also achieves great efficiency and accuracy.

关键词： Parallel robots Cameras Estimation Robot vision systems Visualization Servomotors

来源：评论

学校读者我要写书评

暂无评论

An Integrated Framework for Modular Reconfigurable Soft Robots

An Integrated Framework for Modular Reconfigurable Soft Robo...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yihong Zhang Manjia Su Yisheng Guan Haifei Zhu Shixin Mao Biomimetic and Intelligent Robotics Lab (BIRL) Guangdong University of Technology Guangzhou China Shenzhen Sanhang Industrial Technology Research Institute Shenzhen China

ISBN: (纸本)9781728103785;9781728103778

Soft robots have tremendous motion capability, and their modular methodology helps in setting up reconfigurable and flexible prototypes. In this paper, a user-friendly integrated framework for a modular reconfigurable soft robot system is proposed, which contains a generic electrical design pattern, and a software framework encapsulating a scalable middle tier and user-friendly GUI. This highly compact integrated framework can be deployed in different types of modular soft robot systems and controls every single module in such systems through an easy-to-use API. We applied this framework to three kinds of soft robot systems, namely, dual module, multi-legged, and pneumatic soft robots. The experiment results show the motion control validity, complete robot setup and control, and application scalability of the proposed framework.

关键词： Soft robotics Software Hardware Sensors Pneumatic systems Protocols

来源：评论

学校读者我要写书评

暂无评论

Concurrent multiple cameras calibration and robot localization from visual and 3D inertial measurements

Concurrent multiple cameras calibration and robot localizati...

引用

SICE Annual Conference

作者： Hsiang-Wen Hsieh Hung-Hsiu Yu Chin-Chia Wu Jwu-Sheng Hu Division of Intelligent Robotics Technology Industrial Technology and Research Institute Hsinchu Taiwan Institute of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan

ISBN: (纸本)9781424476428

Robots will be capable of navigating in the environment autonomously and efficiently with accurate pose estimates. In this paper, we develop an inertial sensor module that provides accurate absolute 3D velocity and orientation estimates. The module fuses together data from accelerometer, gyroscope and digital compass. A client-server infrastructure comprises of concurrent multiple cameras calibration and robot localization is also presented. The presented infrastructure integrates information from 3D inertial sensor module, odometry data from robot and images from overhead cameras in the environment to localize the robot and concurrently cameras can then be calibrated. Experiment results show the presented approach could calibrate multiple cameras and estimate robot poses iteratively with average errors around 20cm in world reference plane.

关键词： Cameras Robot vision systems Calibration Robot kinematics Three dimensional displays

来源：评论

学校读者我要写书评

暂无评论

A CMAC-Q-Learning based Dyna agent

A CMAC-Q-Learning based Dyna agent

引用

SICE Annual Conference

作者： Yuan-Pao Hsu Wei-Cheng Jiang Hsin-Yi Lin Department of Computer Science and Information Engineering National Formosa University Yunlin Taiwan Robotics Control Technology Department Intelligent Robotics Technology Division Industrial Technology and Research Institute Hsinchu Taiwan

In the this paper, a CMAC-Q-learning based Dyna agent is presented to relieve the problem of learning speed in reinforcement learning, in order to achieve the goals of shortening training process and increasing the learning, speed. We combine CMAC, Q-learning, and prioritized sweeping techniques to construct the Dyna agent in which a Q-learning is trained for policy learning; meanwhile, model approximators, called CMAC-model and CMAC-R-model, are in charge of approximating the environment model. The approximated model provides the Q-learning with virtual interaction experience to further update the policy within the time gap when there is no interplay between the agent and the real environment. The Dyna agent switches seamlessly between the real environment and the virtual environment model for the objective of policy learning. A simulation for controlling a differential-drive mobile robot has been conducted to demonstrate that the proposed method can preliminarily achieve the design goal.

关键词：

来源：评论

学校读者我要写书评

暂无评论

3D grid and particle based SLAM for a humanoid robot

3D grid and particle based SLAM for a humanoid robot

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Nosan Kwak Olivier Stasse Torea Foissotte Kazuhito Yokoi CNRS Joint Robotics Laboratory UMI 3218/CRT Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan National Institute for Advanced Industrial Science and Technology Japan

ISBN: (纸本)9781424445875

Necessity to recognize the world like a home environment by a humanoid robot has recently been arisen for daily usages. As an observation sensor, stereo vision is the most common device for a humanoid robot to obtain the environmental data, but it is more erroneous than a laser sensor. To overcome the inaccuracy of stereo vision, we propose a particle-based SLAM technique so that the SLAM posterior is estimated by multiple hypotheses. The major difficulty of the particle-based SLAM with 3D grid maps is the high computational cost. To reduce the computational cost, we also propose a scheduling method for the time when to match and for particles that engage in the matching process. Through experiments with a humanoid robot, HRP-2, it is shown that the proposed approach can reduce the computational cost while preserving estimation accuracy.

关键词： Simultaneous localization and mapping Humanoid robots Stereo vision Computational efficiency Path planning Service robots intelligent robots Tree data structures Processor scheduling Navigation

来源：评论

学校读者我要写书评

暂无评论

Autonomous environment manipulation to assist humanoid locomotion

Autonomous environment manipulation to assist humanoid locom...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Martin Levihn Koichi Nishiwaki Satoshi Kagami Mike Stilman Institute for Robotics and Intelligent Machines Georgia Institute of Technology Atlanta GA USA Digital Human Research Center National Institute of Advanced Industrial Science and Technology (AIST) Tokyo Japan

Legged robots have unique capabilities to traverse complex environments by stepping over and onto objects. Many footstep planners have been developed to take advantage of these capabilities. However, legged robots also have inherent constraints such as a maximum step height and distance. These constraints typically limit their reachable space, independent of footstep planning. Thus, we propose that robots such as humanoid robots that have manipulation capabilities should use them. A robot should autonomously modify its environment if necessary. We present a system that enabled a real robot to use a box to create itself a stair step or place a board on the ground to cross a gap, allowing it to reach its otherwise unreachable goal configuration.

关键词： Planning Robot kinematics Humanoid robots Visualization Space exploration Service robots

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：