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检索条件"机构=LARSyS: Laboratory for Robotics and Systems in Engineering and Science"

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An overview of RoboCup-2002 Fukuoka/Busan

An overview of RoboCup-2002 Fukuoka/Busan

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作者： Asada, Minoru Obst, Oliver Polani, Daniel Browning, Brett Bonarini, Andrea Fujita, Masahiro Christaller, Thomas Takahashi, Tomoichi Tadokoro, Satoshi Sklar, Elizabeth Kaminka, Gal A. Dept. of Adaptive Machine Systems Osaka University Osaka Japan University of Koblenz-Landau Artificial Intelligence Group Koblenz Germany University of Hertfordshire Hertfordshire United Kingdom Robotics Institute Carnegie Mellon University Pittsburgh PA United States Department of Electronics Politecnico di Milano Milano Italy GMD-Japan Research Laboratory Kitakyushu Japan Department of Computer Engineering Kobe University Kobe Japan Computer Science Department Ber Ilan University Ramat Gan Israel Computer Science Department Carnegie Mellon University Pittsburgh PA United States

This article reports on the Sixth Robot World Cup Competition and Conference (RoboCup-2002) Fukuoka/Busan, which took place from 19 to 25 June in Fukuoka, Japan. It was the largest RoboCup since 1997 and held the first humanoid league competition in the world. Further, the first ROBOTREX (robot trade and exhibitions) was held with about 50 companies, universities, and institutes represented. A total of 117,000 spectators witnessed this marvelous event, To the best of our knowledge, this was the largest robotic event in history.

关键词： Artificial intelligence

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Reactive collision avoidance for navigation with dynamic constraints

Reactive collision avoidance for navigation with dynamic con...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： J. Minguez L. Montano O. Khatib Dept. of Computer Science and Systems Engineering University of Zaragoza Spain Robotics Laboratory University of Stanford USA Robotics Laboratory Stanford University USA

We address the problem of applying reactive navigation methods for collision avoidance to systems where the dynamics cannot be neglected: mobile robots with slow dynamic capabilities, or systems working at high speeds. Rather than embedding the motion constraints when designing a navigation method, we propose to introduce the robot dynamic constraints directly into the spatial representation. In this space the dynamic capabilities of the robot are implicitly represented. With minor modifications, standard reactive navigation methods can be used in this space implicitly taking into account the robot dynamic constraints. To validate this framework, we show experimental results using two reactive navigation methods whose original formulation do not take the robot dynamic constraints into account (the nearness diagram navigation and the potential field method).

关键词： Collision avoidance Navigation Vehicle dynamics Orbital robotics Mobile robots Vehicles Computer science systems engineering and theory Design methodology Strips

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Real-time ZMP compensation method using null motion for mobile manipulators

Real-time ZMP compensation method using null motion for mobi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jinhyun Kim Wan Kyun Chung Youngil Youm B.H. Lee Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Robotics & Intelligent Systems Laboratory School of Electrical Engineering Seoul National University Seoul South Korea

The dynamic stability of a mobile manipulator using ZMP compensation is considered. A unified approach for the two subsystems is formulated using a redundant scheme. First, to conserve the dynamic stability of the system, we define the performance index for the redundant system using the ZMP (zero moment point). This performance index represents the stability of the whole mobile manipulator system. Then, the redundancy resolution problem for optimizing the given performance index is solved using the null motion. Finally, the performance of this method is demonstrated by simulation study.

关键词： Stability Manipulator dynamics Mobile robots Control systems Intelligent robots Performance analysis Motion control Acceleration Real time systems Biomechatronics

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A remote control system using Java and CORBA architecture

A remote control system using Java and CORBA architecture

引用

World Congress on Intelligent Control and Automation (WCICA)

作者： Hao Li S.X. Yang Fangju Wang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph Canada Computing & Information Science Department University of Guelph Guelph Canada

Membranes hold promise as a new water treatment method of the future. In this study, a device is designed to test the efficiency of membranes. The device is implemented to be controlled remotely. An Internet based remote control system is implemented on the membrane test device to make the users access to it easier. When using the system, a remote operator only needs a general purpose computer with Internet connection to conduct a test. The engineering objective is to perform robust control over the Internet connection. A control architecture that combines computer and the membrane testing hardware is built. This system has two primary parts, the server part and the client part. A server is used to provide the application to the operator to control the hardware. The client part is executed on the remote operator's computer. The client uses a TCP/IP protocol to connect to the server through the Internet. Communication coordination between the client and the server is developed using Java and Common Object Request Broker Architecture (CORBA).

关键词： Control systems Java Biomembranes Internet Web server System testing Computer architecture Hardware Robust control Application software

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Design of a piezoelectric meso-scale mobile robot: a compliant amplification approach

Design of a piezoelectric meso-scale mobile robot: a complia...

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IEEE International Conference on robotics and Automation (ICRA)

作者： V.K. Varma W.E. Dixon Nuclear Science & Technology Division-Remote Systems Oak Ridge National Laboratory Oak Ridge TN USA Engineering Science & Technology Division-Robotics Oak Ridge National Laboratory Oak Ridge TN USA

In this paper, the development of a novel piezoelectric-based locomotion design for a meso-scale mobile robot is described. The design exploits a compliant mechanical structure that enables piezoelectric forces to be amplified and transmitted to "legs" that propel the robot through a lift and pull scheme. The lift and pull design contrasts with typical slip/stick approaches that assume the inertia effects of the robot will allow the robot to slip on a smooth surface. By eliminating the slipping assumption, the potential surfaces that the proposed robot can traverse is significantly extended. Discussions are provided regarding the proposed locomotion method, kinematic modeling and system constraints, mechanical optimization, and control of the meso-scale robot.

关键词： Mobile robots Brushes Laboratories Friction Lubricants US Department of Energy Design engineering systems engineering and theory Leg Propulsion

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Real-time area-covering operations with obstacle avoidance for cleaning robots

Real-time area-covering operations with obstacle avoidance f...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Chaomin Luo S.X. Yang Xiaobu Yuan Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada School of Computer Science Windsor University Windsor ONT Canada

An area-covering operation is a kind of complete coverage path planning, which requires the robot path to cover every part of the workspace, which is an essential issue in cleaning robots and many other robotic applications such as vacuum, robots, painter robots, land mine detectors, lawn mowers, and windows cleaners. In this paper, a novel biologically inspired neural network approach is proposed for complete coverage path planning with obstacle avoidance of a cleaning robot in a nonstationary environment. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation or an additive equation derived from Hodgkin and Huxley's (1952) membrane equation. There are only local lateral connections among neurons. Thus the computational complexity linearly depends on the neural network size. The proposed model algorithm is computationally efficient, and can also deal with changing environment. Simulation results show that the proposed model is capable of planning collision-free complete coverage robot path.

关键词： Cleaning Robots Path planning Neural networks Equations Landmine detection Neurons Computational modeling Detectors Biomembranes

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Variable structure control of a redundant robotic manipulator

Variable structure control of a redundant robotic manipulato...

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IEEE International Conference on systems, Man and Cybernetics

作者： H.O. Dimo Dewen Jin Jichuan Zhang W.A. Gruver Department of Precision Instruments and Mechanology School of Mechanical Engineering Tsinghua University Beijing China Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

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Virtual viewpoint synthesis in multiview system based oil affine transfer

Virtual viewpoint synthesis in multiview system based oil af...

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IEEE International Conference on systems, Man and Cybernetics

作者： Aiqiu Zuo J.Z. Zhang Q.M.J. Wu W.A. Gruver Vision and Sensing Group National Research Council Canada Vancouver BC Canada Intelligent Robotics & Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University BC Canada

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A hybrid stereo matching algorithm guided by the 2D affine transform for the short baseline stereo

A hybrid stereo matching algorithm guided by the 2D affine t...

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IEEE International Conference on systems, Man and Cybernetics

作者： Aiqiu Zuo K. Stanley Q.M.J. Wu W.A. Gruver Vision and Sensing Group National Research Council Canada Vancouver BC Canada Intelligent Robotics & Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

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Speech planning of an anthropomorphic talking robot for consonant sounds production

Speech planning of an anthropomorphic talking robot for cons...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K. Nishikawa A. Imai T. Ogawara H. Takanobu T. Mochida A. Takanishi Department of Mechanical Engineering Waseda University Japan Humanoid Robotics Institute Waseda University Japan Department of Mechanical Systems Engineering Kogakuin University Shinjuku Tokyo Japan Human and Information Science Laboratory NTT Communication Science Laboratories Atsugi Kanagawa Japan

This paper describes the speech planning of the anthropomorphic talking robot WT-1R (Waseda Talker-No.1 Refined) for the production of consonant sounds. WT-1R has articulators (the tongue, lips, teeth, nasal cavity and soft palate) and vocal organs (the lungs and vocal cords), and can reproduce human vocal movement. Its total DOF (degrees of freedom) is 15. The vocal movement of WT-1R for vowels is steady. We produced Japanese vowels (/a/, /i/, /u/, /e/, /o/) using the first robot WT-1 in 2000. However, the vocal movement for consonant sounds is transient. We must control the 15-DOF talking robot coordinately in the space and time to reproduce the complicated phenomena of the consonant sounds. Therefore, because the Japanese voice generally consists of two phonemes of the first consonant sound and the last vowel, we proposed the speech planning of WT-1R by considering the phenomenon of the voice as three parts (steady consonant sound, transient consonant sound and vowel). WT-1R could produce Japanese vowels (/a/, /i/, /u/, /e/, /o/) and some consonant sounds (/s/, /h/, /m/, /p/ and /waseda/).

关键词： Speech Production planning Anthropomorphism Robot kinematics Orbital robotics Refining Tongue Lips Teeth Lungs

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