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检索条件"机构=Laboratory for Robotics and Engineering Systems"

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Multisensor Approach to Walking Distance Estimation with Foot Inertial Sensing

Multisensor Approach to Walking Distance Estimation with Foo...

引用

29th Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBS 2007), vol.14

作者： Juan C. Alvarez Rafael C. Gonzalez Diego Alvarez Antonio M. Lopez Javier Rodriguez-Uria Multisensor Systems & Robotics Laboratory (SiMuR) Electrical Engineering Department University of Oviedo Gijon Spain

Walking distance estimation is an important issue in areas such as gait analysis, sport training or pedestrian localization. A natural location for portable inertial sensors for gait monitoring is to attach them to the user shoes. Step length can be computed by means of a biaxial accelerometer and a gyroscope on the sagital plane. But estimations based on the direct signal integration are prone to error. This paper shows the results achieved by using a multisensor model approach to reduce uncertainty. Unbounded growth of error is reduced by means of sensor fusion techniques. The method has been tested, and early experimental results show that it provides an estimation of the walking distance with a standard deviation smaller than with single IMU similar systems.

关键词： Legged locomotion Foot Gyroscopes Sensor phenomena and characterization Accelerometers Wearable sensors Uncertainty Acceleration Footwear Hardware

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A Cable-driven Parallel Mechanism for Capturing Object Appearance from Multiple Viewpoints

A Cable-driven Parallel Mechanism for Capturing Object Appea...

引用

International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： J.-D. Deschenes P. Lambert S. Perreault N. Martel-Brisson N. Zoso A. Zaccarin P. Hebert S. Bouchard C. M. Gosselin Computer Vision and Systems Laboratory Laval University Canada Robotics Laboratory at the Department of Mechanical Engineering Laval University Canada

This paper presents the full proof of concept of a system for capturing the light field of an object. It is based on a single high resolution camera that is moved all around the object on a cable-driven end-effector. The main advantages of this system are its scalability and low interference with scene lighting. The camera is accurately positioned along hemispheric trajectories by observing target features. From the set of gathered images, the visual hull is extracted and can be used as an approximate geometry for mapping a surface light field. The paper describes the acquisition system as well as the modeling process. The ability of the system to produce models is validated with four different objects whose sizes range from 20 cm to 3 m.

关键词： Cameras Robot vision systems Cable TV Laboratories Trajectory Geometry Cables Computer vision Mechanical engineering Scalability

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Multi-Robot Localization and Mapping Strategy: Utilizing Behavior Based Dynamic Tree Structure and Observer-explorer Routine

Multi-Robot Localization and Mapping Strategy: Utilizing Beh...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： Kevin K. Leung Garratt Gallagher Robotics Autonomous Systems and Controls Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA Department of Electrical and Computer Engineering Robotics Autonomus Systems and Control Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA

In this paper, we propose a simultaneous localization and map-building (SLAM) strategy to explore unknown environment. Multiple robots are deployed in unknown area and required to localize each other accurately while exploring. Instead of relying on active obstacle detector, we propose a method of exploration which uses only tactile sensors and inter-robot distance measurements. To avoid dead-reckoning and odometry errors, an observer-explorer based routine is adopted. A dynamic spanning tree structure is implemented for multi-robot coordination. Parent (observer) nodes monitor the distances of their children (explorer) nodes. In order to promote completeness of the map, the reconfigurable spanning tree structure favors unexplored area implicitly. An online behavior-based finite state machine drives the configuration of the structure. Our exploration scheme allows the differentiation between robots and obstacles or boundaries. When an obstacle or boundary is detected, it is recorded on a map that is shared with all other robots. The proposed strategy is simulated and results are presented.

关键词： Tree data structures Robot kinematics Robot sensing systems Simultaneous localization and mapping robotics and automation Distance measurement Automata Service robots Global Positioning System Costs

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A low cost modular robot vehicle design for research and education

A low cost modular robot vehicle design for research and edu...

引用

Mediterranean Conference on Control and Automation (MED)

作者： S. Piperidis L. Doitsidis C. Anastasopoulos N. C. Tsourveloudis Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete Chania Greece

In this paper the development of a low cost robotic vehicle for research and education is presented. The vehicle was designed considering minimum cost and maximum capabilities. As a base for testing devices and different type of sensors, a commercially available vehicle was used and modified. Two different version of the prototype vehicle were developed accompanied by the proper software that allows the end user to operate the vehicles as an educational or research platform. The functionality of the vehicles was verified after extensive experimentation.

关键词： Costs Educational robots Vehicles Mobile robots Robot sensing systems Intelligent robots Hardware Microcontrollers Prototypes Educational products

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Evolutionary Path Planning and Navigation of Autonomous Underwater Vehicles

Evolutionary Path Planning and Navigation of Autonomous Unde...

引用

2007 Mediterranean Conference on Control & Automation (MED'07), vol.4

作者： V. Kanakakis N. Tsourveloudis Department of Production Engineering and Management Intelligent Systems and Robotics Laboratory Technical University of Crete Chania Greece

This paper presents a complete methodology for mission planning and navigation of Autonomous Underwater Vehicles (AUVs) in ocean environment. Path planning near the ocean floor is accomplished via genetic algorithms and B-Splines based on known data of the ocean floor. In addition, collision free navigation is achieved in unknown environments. Prior to vehicle's launch, a genetic algorithm based on ocean floor data and on mission restrictions calculates the optimal path. Once the path is calculated, the vehicle is navigated through the predefined path by a set of fuzzy controllers. A second evolutionary algorithm optimizes the membership functions of these controllers so as the vehicle has the minimum error through its course. Extensive simulations were performed in order to evaluate the methodology and the derived optimized controller.

关键词： Path planning Navigation Underwater vehicles Oceans Genetic algorithms Spline Fuzzy control Fuzzy sets Evolutionary computation Error correction

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Fuzzy Arithmetic-based Stability Analysis and Design of Fuzzy Controller

Fuzzy Arithmetic-based Stability Analysis and Design of Fuzz...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： S. Bogdan Z. Kovacic I. Fazinic I. Draganjac Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

Initially introduced as a model-free control design method, in today practice fuzzy control is dominantly used as yet another nonlinear control technique based either on a linear or nonlinear model of a process. This paper addresses the stability assessment of a fuzzy logic control system based only on the partial knowledge of a controlled process. Lyapunov stability conditions are derived and analyzed by using fuzzy numbers and fuzzy arithmetic. The experimental results obtained for a non-stable second-order system confirmed that this approach could be successfully implemented. Some questions, addressed in the paper, remained open for further investigation.

关键词： Fuzzy control Stability analysis Control systems Fuzzy systems Lyapunov method Sliding mode control Fuzzy logic Fuzzy sets Nonlinear control systems Arithmetic

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Impact forces and mobility in legged robot locomotion

Impact forces and mobility in legged robot locomotion

引用

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

作者： Alan Bowling Robotics and Dynamic Systems Laboratory Department of Aerospace and Mechanical Engineering University of Notre Dame Notre Dame IN USA

This article presents a method for including impact forces in the analysis of legged robot dynamic performance. This involves examining how well the legged system uses ground contact to produce acceleration of its body when the feet experience impact with the ground; these abilities are referred to as its force and acceleration capabilities and they determine the robot's agility. These capabilities are bounded by actuator torque limits and friction forces. The proposed analysis describes the effect of an impact event on dynamic performance in terms of the coefficient of friction required to prevent slipping of the feet, and the amount of control authority/acceleration which is achievable, at the termination of the impact event. The method is illustrated using a hexapod as an example.

关键词： Legged locomotion Mobile robots Acceleration Aerodynamics Performance analysis Friction Leg Equations Actuators Laboratories

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A general approach to terrain relative navigation for planetary landing

A general approach to terrain relative navigation for planet...

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2007 AIAA InfoTech at Aerospace Conference

作者： Johnson, Andrew E. Ansar, Adnan Matthies, Larry H. Trawny, Nikolas Mourikis, Anastasios I. Roumeliotis, Stergios I. Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States University of Minnesota Minneapolis MN 55455 United States Mobility and Robotics Systems Section United States AIAA United States Computer Science and Engineering Department

ISBN: (纸本)1563478935

We describe an algorithm for navigation state estimation during planetary descent to enable precision landing. The algorithm automatically produces 2D-to-3D correspondences between descent images and a surface map and 2D-to-2D correspondences through a sequence of descent images. These correspondences are combined with inertial measurements in an extended Kalman filter that estimates lander position, velocity and attitude as well as the time varying biases of the inertial measurements. The filter tightly couples inertial and camera measurements in a resource-adaptive and hence real-time capable fashion. Results from a sounding rocket test, covering the dynamic profile of typical planetary landing scenarios, show estimation errors of magnitude 0.16 m/s in velocity and 6.4 m in position at touchdown. These results vastly improve current state of the art and meet the requirements of future planetary exploration missions.

关键词： Planetary landers

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Stable manipulation mechanisms on soft fingers

Stable manipulation mechanisms on soft fingers

引用

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

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

This paper verifies the physical mechanisms of stable grasping and robust manipulation by means of soft-fingered robotic hand. First, we extend our previous one-dimensional fingertip model to a two-dimensional one, adding lateral deformation of the virtual spring placed within the soft fingertip. We mention the physical meaning of LMEE(local minimum of elastic potential energy) and LMEEwC (LMEE with Constraints) on the two-fingered hand. Second, we simulate the behavior of a grasped object by numerically solving static equilibrium relation. Finally, we show that the concept of LMEEwC is critical to the robust manipulation and for reducing the degrees-of-freedom of the robotic hand in the manipulation.

关键词： Fingers

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Locomotion generation of friction board with an inclined slider

Locomotion generation of friction board with an inclined sli...

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46th IEEE Conference on Decision and Control

作者： Suzuki, Yoshihiro Li, Hongyi Furuta, Katsuhisa Department of Computers and Systems Engineering Graduate School of Science and Engineering Tokyo Denki University Japan Canon Inc. Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 114 Nanta St. China 21St Century COE Project Office Tokyo Denki University Hatoyama Hiki Saitama 350-0394 Japan

ISBN: (纸本)9781424414970

There are various ways to generate the locomotion and moving systems. In this research, we design a new moving system without wheels, named friction board system, that realizes locomotion with internal actuated mass mounted on an inclined slider of a board. Directional locomotion can be generated by the motion of the internal mass on the slider and friction between the board and the horizontal ground. By inclining the slider, the friction board system can control the friction force and realize more effective locomotion. First, dynamic equations of the friction board system are derived. Then a feedback controller for locomotion is devised using LQ method. Finally the locomotion generation law of the friction board system is verified experimentally.

关键词： systems analysis

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