检索结果-内蒙古大学图书馆

Grasping simulation of an underactuated finger mechanism for larm hand

International Journal of Modelling and Simulation 2010年第1期30卷 87-97页

作者： Yao, S. Wu, L. Ceccarelli, M. Carbone, G. Lu, Z. School of Automation Science and Electrical Engineering Beihang University Beijing China College of Information Engineering Central University for Nationalities Beijing China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China Beijing University of Aeronautics and Astronautics China and University of Cassino Italy LARM: Laboratory of Robotics and Mechatronics Cassino United States

In this paper, the grasp operation of an underactuated finger mechanism is simulated with the aim to characterize and analyze its performance. The design of the proposed mechanism is based on spring systems that give suitable underactuation characteristics. A CAD model is proposed and then it is used in a procedure for numerical simulation. Simulation results show suitable capability for grasping a wide range of objects in size and shape by operating the mechanism inside the finger body. The achieved grasp has been simulated as a human-like functionality with a grasp contact in each phalanx.

关键词： Computer aided design

来源：评论

学校读者我要写书评

暂无评论

Learning compliance control of robot manipulators in contact with the unknown environment

Learning compliance control of robot manipulators in contact...

引用

IEEE International Conference on Automation science and engineering (CASE)

作者： Yanan Li Chenguang Yang Shuzhi Sam Ge Social Robotics Laboratory Interactive Digital Media Institute and NUS Graduate School of Integrative Sciences and Engineering National University of Singapore Singapore Department of Bioengineering Imperial College London London UK Institute of Intelligent Systems University of Electronic Science and Technology Chengdu China

ISBN: (纸本)9781424454471

In this paper, a control mechanism is presented to improve the compliance performance of the robot manipulator when it is in contact with the unknown environment. This mechanism guarantees that the dynamics of the whole system follows a target impedance model so that the desired compliance performance is obtained. In particular, under the assumption that the dynamics is periodic, a learning law is developed to estimate the unknown dynamics parameters. Besides, the proposed systematic learning control does not require the accurate force measurement. Its performance and robustness are discussed in details by the rigorous analysis. At last, the validity of the proposed method is verified by simulation.

关键词： Impedance Manipulator dynamics Force Control design Force measurement

来源：评论

学校读者我要写书评

暂无评论

Robotic Manipulation with Large Time Delay on Visual Feedback systems

Robotic Manipulation with Large Time Delay on Visual Feedbac...

引用

2010 IEEE/ASME international conference on advanced intelligent mechatronics (AIM 2010)

作者： Takahiro Inoue Shinichi Hirai Faculty of Department of Systems Engineering of Sports Computer Science and Systems Engineering Okayama Prefectural University Soja Okayama Japan Laboratory of Integrated Machine Intelligence and Faculty of Department of Robotics Ritsumeikan University Japan

A difference between the human and robots from the viewpoint of motor control is a sampling time in everyday movements. That is, the sampling time for controlling conventional robot systems is required to become approximately 1 ms. On the other hand, the motor control based on human nervous system permits considerably large time-delay due to the transmission latency on afferent/efferent pathways of the central nervous system. To date, it has been difficult for the robot to acquire dexterous tasks and precise movements as long as the robot system has an unexpected large delay in terms of sensory informations. Based on the above observation, this paper provides a new control strategy to accomplish precise orientation control of a target object grasped by a robotic hand consisting of two degrees-of-freedom (DOFs). The controller, named as serial two-phased (STP) controller, proposed in this study can realize secure grasping and manipulation in the case that a large visual feedback delay induced by the low specification of a camera is hiding in the control loop. Finally, through several simulations, we indicate that the closed loop dynamics designed by integrating the STP controller and a soft-fingertip structure is robust even in at most 100 ms-delay relating to the updating of camera images.

关键词： Robots Delay Trajectory Joints Visualization Muscles Humans

来源：评论

学校读者我要写书评

暂无评论

Swarm pattern transformation methodologies

Swarm pattern transformation methodologies

引用

IEEE Swarm Intelligence Symposium, SIS

作者： Blesson Varghese Gerard T. McKee Active Robotics Laboratory School of Systems Engineering University of Reading UK Head of Computer Science Department School of Systems Engineering University of Reading UK

The work reported in this paper is motivated by the need for developing swarm pattern transformation methodologies. Two methods, namely a macroscopic method and a mathematical method are investigated for pattern transformation. The first method is based on macroscopic parameters while the second method is based on both microscopic and macroscopic parameters. A formal definition to pattern transformation considering four special cases of transformation is presented. Simulations on a physics simulation engine are used to confirm the feasibility of the proposed transformation methods. A brief comparison between the two methods is also presented.

关键词： Robots Microscopy systems engineering and theory Physics Engines Pattern formation Humans Laboratories Computer science Ant colony optimization

来源：评论

学校读者我要写书评

暂无评论

Cooperative mapping of multiple PTZ cameras in automated surveillance systems

Cooperative mapping of multiple PTZ cameras in automated sur...

引用

Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Chung-Chen Chen Yi Yao Anis Drira Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering & Computer Science University of Tennessee Knoxville TN USA

Due to the capacity of pan-tilt-zoom (PTZ) cameras to simultaneously cover a panoramic area and maintain high resolution imagery, researches in automated surveillance systems with multiple PTZ cameras have become increasingly important. Most existing algorithms require the prior knowledge of intrinsic parameters of the PTZ camera to infer the relative positioning and orientation among multiple PTZ cameras. To overcome this limitation, we propose a novel mapping algorithm that derives the relative positioning and orientation between two PTZ cameras based on a unified polynomial model. This reduces the dependence on the knowledge of intrinsic parameters of PTZ camera and relative positions. Experimental results demonstrate that our proposed algorithm presents substantially reduced computational complexity and improved flexibility at the cost of slightly decreased pixel accuracy, as compared with the work of Chen and Wang. This slightly decreased pixel accuracy can be compensated by consistent labeling approaches without added cost for the application of automated surveillance systems along with changing configurations and a larger number of PTZ cameras.

关键词： Surveillance Costs Robot vision systems Smart cameras Computational complexity Intelligent robots Image resolution Polynomials Labeling Simultaneous localization and mapping

来源：评论

学校读者我要写书评

暂无评论

Knowledge-based control of a humanoid robot

Knowledge-based control of a humanoid robot

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Dongkyu Choi Yeonsik Kang Heonyoung Lim Bum-Jae You Cognitive Systems Laboratory Center for the Study of Language and Information University of Stanford Stanford CA USA Center for Cognitive Robotics Research Korea Institute of Science and Technology Seoul South Korea Robust Design Engineering Laboratory Seoul National University Seoul South Korea

Today, there are increased interest and various efforts in using cognitive architectures to control robotic platforms. Recent advances to essential capabilities in robots contributed to this trend, which tries to meet the increased demand for high-level control mechanisms. The tradition of cognitive architectures aims for general intelligence, and they have some great potential for use in robots that are now increasingly more capable of complex tasks. In this paper, we introduce one such architecture, ICARUS, used in a robotic environment to provide knowledge-based control for a humanoid robot, MAHRU. We show some experimental observations in the Blocks World domain.

关键词： Humanoid robots Cognitive robotics Computer architecture Intelligent robots Computational modeling Control systems Robot control USA Councils Humans Cognition

来源：评论

学校读者我要写书评

暂无评论

Climbing gaits of a modular biped climbing robot

Climbing gaits of a modular biped climbing robot

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Yisheng Guan Li Jiang Xianmin Zhang Hong Zhang Biomimetic and Intelligent Robotics Laboratory (BIRL) School of Mechanical and Automotive Engineering South China University of Technology Guangzhou Guangdong China Centre for Intelligent Mining Systems (CIMS) Department of Computing Science University of Alberta Edmonton AB Canada

For high-rise work in fields such as agriculture, forestry and architecture, and inspired by the climbing motion of inchworms, chimpanzees, and sloths, we have developed a biped climbing robot - Climbot. Consisting of five 1-DOF joint modules in series and two special grippers at the ends, Climbot is capable of grasping objects and climbing poles, trees and trusses. In this paper, we first introduce this novel robot, and then present three climbing gaits. We perform simulation to illustrate, verify and compare the proposed climbing gaits.

关键词： Climbing robots Medical robotics Prototypes Intelligent robots Agriculture Forestry Service robots Orbital robotics Intelligent vehicles Humans

来源：评论

学校读者我要写书评

暂无评论

Control of muscle force during exercise using a musculoskeletal-exoskeletal integrated human model

Control of muscle force during exercise using a musculoskele...

引用

作者： Ueda, Jun Matsugashita, Masayuki Oya, Reishi Ogasawara, Tsukasa Robotics Laboratory Graduate School of Information Science Nara Institute of Science and Technology Nara 630-0192 Japan d'Arbeloff Laboratory for Information Systems and Technology Mechanical Engineering Massachusetts Institute of Technology Cambridge MA 02139 United States

ISBN: (纸本)9783540774563

The aim of this paper is to arbitrarily modify the load force of any selected muscle by using an exoskeleton, thus enabling "pinpointed" motion support, rehabilitation, and training. An advanced dynamic model, called a musculoskeletal-exoskeletal integrated human model, is developed. The driving-forces of the pneumatic actuators are designated by a muscle force control algorithm using the integrated model. A prototype power-assisting system has been developed using pneumatic rubber actuators. The validity of the method has been confirmed by measuring surface electromyographic (EMG) signals of related muscles. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Musculoskeletal system

来源：评论

学校读者我要写书评

暂无评论

Camera handoff with adaptive resource management for multi-camera multi-target surveillance

Camera handoff with adaptive resource management for multi-c...

引用

IEEE 5th International Conference on Advanced Video and Signal Based Surveillance, AVSS 2008

作者： Chen, Chung-Hao Yi, Yao Page, David Abidi, Besma Koschan, Andreas Abidi, Mongi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN 37996 United States GE Global Research Center Niskayuna NY 12309 United States

ISBN: (纸本)9780769533414

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras' resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah. © 2008 IEEE.

关键词： Cameras

来源：评论

学校读者我要写书评

暂无评论

Vibration-based terrain classification for electric powered wheelchairs

Vibration-based terrain classification for electric powered ...

引用

4th IASTED International Conference on Telehealth and Assistive Technologies, Telehealth/AT 2008

作者： Coyle, Eric Collins, Emmanuel G. DuPont, Edmond Dan, Ding Hongwu, Wang Cooper, Rory A. Grindle, Garrett Dept. of Mechanical Engineering at FAMU-FSU Center for Intelligent Systems Control and Robotics Tallahassee FL 32310 United States Dept. of Rehabilitation Science and Tech. Human Engineering Research Laboratory Univ. of Pittsburgh Pittsburgh PA 15261 United States

ISBN: (纸本)9780889867406

Automated terrain classification for electric powered wheelchairs (EPWs) has two primary motivations. First, certain terrains (e.g., sand and gravel) make wheelchair mobility more difficult. To alleviate this problem the wheelchair control system can be manually tuned for maximum speeds and/or accelerations to help adapt to various terrains. Terrain classification can then be used to automate the switch from one control mode to another. Second, terrain classification can help yield a better understanding of the surfaces traversed by various groups of wheelchair users. This can provide the data needed to develop wheelchairs geared to specific groups of users. This paper presents an algorithm for vibration-based terrain classification on EPWs. This algorithm has been shown to be highly accurate in offline analysis of experimental data. Future work will stress online implementation and algorithm improvements.

关键词： Wheelchairs

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：