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检索条件"机构=LARICS Laboratory for Robotics and Intelligent Control Systems"

共 519 条记录，以下是461-470 订阅

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

引用

IEEE International Conference on Self-Adaptive and Self-Organizing systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Experimental Testing of a Traction control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

引用

Mediterranean Conference on control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction control systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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The CPG gait generate method of the quadruped robot based on iterative learning control algorithm

The CPG gait generate method of the quadruped robot based on...

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2013 2nd International Conference on Micro Nano Devices, Structure and Computing systems, MNDSCS 2013

作者： Wang, Cheng Gao, Junyao Duan, Xingguang Liu, Yi Li, Xin Xu, Zhe Sun, Wentao Intelligent Robotics Institute China Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9783037856420

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization. © (2013) Trans Tech Publications, Switzerland.

关键词： Learning algorithms

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Design and control of a Four-flipper Tracked Exploration & Inspection Robot

Design and Control of a Four-flipper Tracked Exploration & I...

引用

Mediterranean Conference on control & Automation

作者： Z. Kovacic M. Cukon K. Brkic G. Vasiljevic A. Mutka D. Miklic F. Vuglec I. Rajkovic Laboratory for Robotics and Intelligent Control Systems University of Zagreb

ISBN: (纸本)9781479909964

We describe the design and control of a prototype of an exploration and inspection robot built as a four flipper/track mobile robot. It is equipped with on-board sensors including standard and thermovision cameras, gas and temperature detectors, etc. The robot maintains wireless video and audio communication with the operator. Its principal aim is to explore buildings, locate people caught in the accidents and detect potential sources of danger in abnormal conditions caused by flood, fire, earthquake or other natural and nonnatural disasters. The robot construction complies to the ATEX norms in order to minimize the risk of interventions of professional units (e.g. fire fighting, civil guard, police, military). Having four independently controlled tracks/flippers, the robot allows easy maneuvering and overtaking of obstacles (including steps). Although dominantly designed as a remote-controlled robot device, advanced control features such as roll-angle compensation and corridor/steps/door centering algorithms help the operator to navigate robot in a much easier and safer way.

关键词： Robot inspection robots Standing Orders Voice communication Exploration Overtaking Accidents temperature detector

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Stabilizing a Quadruped Robot Locomotion Using a Two Degree of Freedom Tail

Stabilizing a Quadruped Robot Locomotion Using a Two Degree ...

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Mediterranean Conference on control & Automation

作者： Alan Mutka Matko Orsag Zdenko Kovacic Laboratory for Robotics and Intelligent Control Systems Universirty of Zagreb

ISBN: (纸本)9781479909964

This paper investigates how to improve locomotion stability of a dynamical system composed of four spring-mass subsystems by using a tail-like inertial appendage. The paper presents a Denavit-Hartenberg parameterization based kinematic model combined with a Newton-Euler based dynamic model of a two degree of freedom tail. Impedance based leg control simplifies the leg motion so that it can be modeled as a damped spring-mass system. The tail presented in the paper is used as a counterweight, capable of shifting its center of mass so as to balance the body of the robot. To that end, a recursive algorithm that moves the tail in order to balance the robot is proposed. A realistic robot model is built in the Open Dynamic Engine environment and is used to conduct a series of tests proving the effectiveness of the proposed algorithm.

关键词： Legged locomotion Robot kinematics Mathematical model Joints Kinematics Springs

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Path planning for localization of an RF source by multiple UAVs on the Crammer-Rao Lower Bound

Path planning for localization of an RF source by multiple U...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Seyyed M. Mehdi Dehghan Mohammad Saberi Tavakkoli Hadi Moradi Advanced Robotics and Intelligent Systems laboratory Control and Intelligent Processing Center School of Electrical and Computer Engineering University of Tehran Tehran Iran

This paper presents a path planning approach of several UAVs for Radio Frequency (RF) source localization in None Line Of Sight (NLOS) propagation condition using the Received Signal Strength Indication (RSSI). The paths are planned such that the lower bound of standard deviation of localization error, which is equivalent to the Cramer-Rao Lower Bound (CRLB) of the estimation, minimized at any time. Due to the complexity of Jacobin calculation to perform global CRLB optimization, the local values of CRLBs in the current waypoint and next probable waypoints are used in the steepest decent approach to determine the best path. Furthermore, the complexity is reduced by discretizing the space for UAVs to make the computation feasible. The effect of NLOS propagation on the RSSI measurements is simulated by a log-normal distribution and the last estimation of radio source location is used to calculate the local CRLBs. The proposed approach has been simulated and compared with the basic bio-inspired approach of going toward the sensed direction of the source. The result shows better performance than the basic approach.

关键词： Jacobian matrices Noise

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A multi-step Gaussian filtering approach to reduce the effect of non-Gaussian distribution in aerial localization of an RF source in NLOS condition

A multi-step Gaussian filtering approach to reduce the effec...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Seyyed M. Mehdi Dehghan Hadi Moradi Advanced Robotics and Intelligent Systems laboratory Control and Intelligent Processing Center School of Electrical and Computer Engineering University of Tehran Tehran Iran

The hybrid localization using Angle of Arrival (AOA) and Received Strength Signal Indicator (RSSI) of an RF source, such as a cell phone in a search and rescue mission, with unknown power and None Line Of Sight (NLOS) condition have been proven to be advantageous compared to using each method separately. The hybrid approach has been proposed to benefit from both RSSI and AOA measurements. In this paper, the initial hybrid method, which was implemented using particle filters due to the multi-modal/non-Gaussian nature of localization in NLOS condition, has been replaced by a multi-step Gaussian filtering approach which provides nearly similar accuracy with better performance. The proposed method has been implemented using extended Kalman filter and Unscented Kalman filter. The simulation results show that the multi-step Gaussian filtering is comparable to particle filter in all cases with better performance. For further evaluation, the effects of uncertainty in the propagation parameters have been studied to show the robustness of each filter to these uncertainties.

关键词： Shadow mapping Atmospheric measurements Particle measurements Scattering Measurement uncertainty Particle filters Equations

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The CPG Gait Generate Method of the Quadruped Robot Based on Iterative Learning control Algorithm

The CPG Gait Generate Method of the Quadruped Robot Based on...

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The Second International Conference on Micro Nano Devices,Structure and Computing systems(MNDSCS 2013)

作者： WANG Cheng GAO Junyao DUAN Xingguang LIU Yi LI Xin XU Zhe SUN Wentao Intelligent Robotics Institute Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Key Laboratory of Intelligent control and decision of complex systems' School of Mechatronical Engineering Beijing Institute of Technology

关键词： Quadruped bionic robot the walking gait CPG the repeated iterative learning

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Mechanical Design of the Legs of Hydraulically Actuated Quadruped Bionic Robot

Mechanical Design of the Legs of Hydraulically Actuated Quad...

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2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Xin Li Wentao Sun Junyao Gao Xingguang Duan Qiang Huang Hui Li Huaxin Liu Wenxue Zhao Zhe Xu Yi Liu Intelligent Robotics Institute State Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped *** paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed,capability of climbing obstacles and the workspace of its foot *** addition,to achieve the optimization target of balancing the output force of each hydraulic cylinder,the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the *** all these factors,the most satisfied structural parameters of the autonomous quadruped robot are selected.

关键词： hydraulic quadruped robot the output force of the hydraulic cylinder structural parameters

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Trot Pattern Generation for Quadruped Robot Based on the ZMP Stability Margin

Trot Pattern Generation for Quadruped Robot Based on the ZMP...

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2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Si Zhang Yi Liu Zhe Xu Junyao Gao Xingguang Duan Hui Li Zhangguo Yu Xuechao Chen Jing Li Huaxin Liu Xin LI Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

Quadruped robot is expected to serve in complex conditions such as mountain road,grassland,etc.,therefore we desire a walking pattern generation that can guarantee both the speed and the stability of the quadruped *** order to solve this problem,this paper focuses on the stability for the tort pattern and proposes trot pattern generation for quadruped robot on the basis of ZMP stability *** foot trajectory is first designed based on the work space *** the ZMP and stability margin is computed to achieve the optimal trajectory of the midpoint of the hip joint of the *** angles of each joint are finally obtained through the inverse kinematics ***,the effectiveness of the proposed method is demonstrated by the results from the simulation and the experiment on the quadruped robot in BIT.

关键词： Quadruped robot ZMP stability margin Trot pattern

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