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IEEE International Conference on robotics and Automation (ICRA)

作者： Barkan Ugurlu Jody A. Saglia Nikos G. Tsagarakis Darwin G. Caldwell Control Systems Laboratory Toyota Technological Institute Nagoya Nagoya Japan Department of Advanced Robotics Istituto Italiano di Tecnologia Genoa Italy

It is known that bipedal robots with passive compliant structures have obvious advantages over stiff robots, as they are able to handle the potential energy management. Therefore, this paper is aimed at presenting a jumping pattern generation method that takes advantage of this property via the utilization of the base resonance frequency, which is of special importance. To begin with, the resonance frequency is determined through a system identification procedure on our actual robot. Consequentially, the vertical component of the CoM is generated via a periodic function in which the resonance frequency is employed. The horizontal component of the CoM is obtained using the ZMP criterion to guarantee the dynamic balance. Having obtained the necessary elements of the CoM trajectory within an analytical manner, joint motions are computed with the help of translational and angular momenta constraints. In order to validate the method, two legged jumping experiments are conducted on our actual compliant robot. In conclusion, we observed repetitive, continuous, and dynamically equilibrated jumping cycles with feasible landing phases.

关键词： Joints Trajectory Resonant frequency Legged locomotion Potential energy Acceleration

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Micro-cantilever design and modeling framework for quantitative multi-frequency AFM

Micro-cantilever design and modeling framework for quantitat...

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IEEE Conference on Nanotechnology

作者： Naveen Shamsudhin Hugo Rothuizen Michel Despont John Lygeros Abu Sebastian Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland IBM Research Zurich Research Laboratory Ruschlikon Switzerland Automatic Control Laboratory ETH Zurich Zurich Switzerland

Recently several multi-frequency imaging techniques have been proposed that have opened up a multitude of information channels to probe surface properties in atomic force microscopy (AFM). However, the dynamics involved are significantly more complicated than in the traditional AFM modes, and hence quantitative multi-frequency AFM (MF- AFM) remains a key challenge. In this paper, we introduce custom-made micro-cantilevers with integrated actuators and a systems-theoretic modeling framework for MF-AFM, which together provide powerful experimental and theoretical tools for quantitative measurement of tip-sample interaction forces and sample properties.

关键词： Force Actuators

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Leader-follower synchronization for complex dynamical networks via sampled-data control

Leader-follower synchronization for complex dynamical networ...

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31st Chinese control Conference, CCC 2012

作者： Wangli, He Feng, Qian Han, Qing-Long Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai 200237 China Centre for Intelligent and Networked Systems Central Queensland University Rockhampton QLD 4702 Australia School of Information and Communication Technology Central Queensland University Rockhampton QLD 4702 Australia

ISBN: (纸本)9789881563811

This paper is concerned with leader-follower synchronization of complex dynamical networks with sampled-data control. By sampling the signal from the leader at some discrete time instants and using a zero-order hold function, synchronization is achieved between the network and a desired orbit, known as the leader. By applying Lyapunov functional approach and the property of the network topology matrix, a delay-dependent criterion is derived. It is shown that synchronization of N coupled dynamical systems with a leader can be recast into the stability of N decoupled systems, in which eigenvalues of the network topology matrix are involved. Finally, a chaotic neural network is used to illustrate the effectiveness of the proposed method. © 2012 Chinese Assoc of Automati.

关键词： Synchronization

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Leader-follower synchronization for complex dynamical networks via sampled-data control

Leader-follower synchronization for complex dynamical networ...

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Chinese control Conference

作者： Wangli He Feng Qian Qing-Long Han The Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Centre for Intelligent and Networked Systems Central Queensland University

ISBN: (纸本)9781467325813

关键词： Synchronization Sampled-data control Complex networks

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New stability criteria for linear systems with time-varying interval delay

New stability criteria for linear systems with time-varying ...

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2012 UKACC International Conference on control, control 2012

作者： Sun, Jian Chen, Jie Liu, G.P. School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex Systems Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China Faculty of Advanced Technology University of Glamorgan Pontypridd CF37 1DL United Kingdom CTGT Center Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467315609

This paper is concerned with the problem of stability of systems with time-varying delay in a given interval. A novel Lyapunov-Krasovskii functional is proposed to obtain new stability conditions. Some triple integral terms are introduced in the Lyapunov-Krasovskii functional and the information on the lower bound on the delay are sufficiently used. New delay-dependent stability criteria are derived using integral inequalities and formulated in terms of linear matrix inequality (LMI). Comparing numerical examples show that the proposed criteria yield a larger upper bound on the delay for a given lower bound on the delay than existing results. © 2012 IEEE.

关键词： Stability criteria

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The Anatomy of a Fall: Automated Real-time Analysis of Raw Force Sensor Data from Bipedal Walking Robots and Humans

The Anatomy of a Fall: Automated Real-time Analysis of Raw F...

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IEEE/RSJ International Conference on intelligent robotics and systems

作者： Petar Kormushev Barkan Ugurlu Luca Colasanto Nikolaos G. Tsagarakis Darwin G. Caldwell Department of Advanced Robotics Istituto Italiano di Tecnologia via Morego 30 16163 Genova Italy. Control Systems Laboratory Toyota Technological Institute 468-8511 Nagoya Japan.

ISBN: (纸本)9781467317375

An automated approach is proposed which can analyze ground reaction force data from bipedal walking robots and humans. The input of the automated analysis is the raw data from force sensors mounted in the feet of a robot. The output is detailed information, such as detected single support, double support, and swing phases, their durations, timings of events like heel strikes, properties of the phase transitions and of the robot itself. The proposed approach is generic, parameter-free, model-free, robust, computationally efficient, and applicable for real-time use during walking. It can detect early indications of instability that could lead to a fall of the robot. Three real-world experiments are presented: with a compliant bipedal robot, with a stiff humanoid robot, and with a human subject.

关键词： Walking phase transitions robot itself Phase transtormations walking real-time analysis force sensors falls Fall Anatomy Robot human subject ground reaction force time series analysis Human Humanoid robots automatic analysis immatures

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Overcoming Occlusions in Eye-in-Hand Visual Search

Overcoming Occlusions in Eye-in-Hand Visual Search

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American control Conference

作者： Sina Radmard David Meger Elizabeth A. Croft James J. Little Collaborative Advanced Robotics and Intelligent Systems Laboratory Mechanical Engineering Department University of British Columbia V6T1Z4 Canada Laboratory for Computational Intelligence Department of Computer Science University of British Columbia V6T1Z4 Canada

ISBN: (纸本)9781457710957

In this paper we propose a method for handling persistent visual occlusions that disrupt visual tracking for eye-in-hand systems. This approach provides an efficient strategy for the robot to "look behind" the occlusion while respecting the robot's physical constraints. Specifically, we propose a decoupled search strategy combining a naive pan tilt search with a sensor placement approach, to reduce the strategy's computational cost. We proceed by mapping limited environmental data into the robot configuration space and then planning within a constrained region. We use a particle filter to continuously estimate the target location, while our configuration-based cost function plans a goal location for the camera frame, taking into account robot singularity, self-collision and joint limit constraints. To validate our algorithm, we implemented it on an eye-in-hand robot system. Experimental results for various situations support the feasibility of our approach for quickly recovering fully occluded moving targets. Finally we discuss the implications of this approach to mobile robot platforms.

关键词： Joints Cameras Robot vision systems Target tracking Planning

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PANDORA: Persistent Autonomy through Learning, Adaptation, Observation and Re-planning

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IFAC Proceedings Volumes 2012年第5期45卷 367-372页

作者： David M. Lane Francesco Maurelli Tom Larkworthy Darwin Caldwell Joaquim Salvi Maria Fox Konstantinos Kyriakopoulos Ocean Systems Lab Heriot-Watt University Edinburgh UK Advanced Robotics Department Italian Institute of Technology (IIT) Genova Italy Depart. d'Arquitectura i Tecnologia de Computadors Campus Montilivi Universitat de Girona Spain Department of Informatics King's College London UK Control Systems Laboratory National Technical University of Athens (NTUA) Greece

Autonomous robots are not very good at being autonomous. Operating in real environments, they easily get stuck, often ask for help, and generally succeed only when attempting simple tasks in well-known situations. PANDORA is a three year project that will develop and evaluate new computational methods to make underwater robots Persistently Autonomous, significantly reducing the frequency of assistance requests. The key to this is an ability to recognise failure and respond to it, at all levels of abstraction and time constant. Under the guidance of major industrial players, validation tasks of Inspection, cleaning and valve turning will be trialled with partners’ AUVs in Scotland and Spain.

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Persistent autonomy: the challenges of the PANDORA project

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IFAC Proceedings Volumes 2012年第27期45卷 268-273页

作者： David M. Lane Francesco Maurelli Petar Kormushev Marc Carreras Maria Fox Konstantinos Kyriakopoulos Ocean Systems Lab Heriot-Watt University Edinburgh UK Advanced Robotics Department Italian Institute of Technology (IIT) Genova Italy Depart. d'Arquitectura i Tecnologia de Computadors Campus Montilivi Universitat de Girona Spain Department of Informatics King's College London UK Control Systems Laboratory National Technical University of Athens (NTUA) Greece

PANDORA is a three year project that is developing new computational methods to make underwater robots Persistently Autonomous, significantly reducing the frequency of assistance requests. The aim of the project is to extend the range of tasks that can be carried on autonomously and increase their complexity while reducing the need for operator assistances. Dynamic adaptation to the change of conditions is very important while addressing autonomy in the real world and not just in well-known situation. The key of Pandora is the ability to recognise failure and respond to it, at all levels of abstraction. Under the guidance of major industrial players, validation tasks of inspection, cleaning and valve turning will be trialled with partners’ AUVs in Scotland and Spain.

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New stability criteria for linear systems with time-varying interval delay

New stability criteria for linear systems with time-varying ...

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UKACC International Conference on control (control)

作者： Jian Sun Jie Chen G.P. Liu School of Automation Key Laboratory of Complex Systems Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing China CTGT Center Harbin Institute of Technology Harbin China Faculty of Advanced Technology University of Glamorgan Pontypridd UK

关键词： Delay Stability criteria Time varying systems Linear matrix inequalities Numerical stability Linear systems

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