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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Takahiro Inoue Shinichi Hirai Faculty of Computer 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

The greatest characteristic of soft-fingered manipulation is its softness and flexibility during manipulating operations. In previous works, this intrinsic property had been quantitatively explained from the viewpoint of physical and mechanical perspective that the deformation energy induced by large elastic distortion automatically has a minimum equilibrium point. Hence this report first derive equations of motion of two-fingered soft finger robotic hand on the basis of energy- based analysis, and explain that an equilibrium point on a combined energy function exists even in the case of manipulating motions by the hand. In this paper, the equilibrium point is called LMEEwC that is unfolded as local minimum of elastic energy with constraints. Next, we show that the posture control of a rigid object grasped by the minimal degrees-of-freedom hand can easily be achieved by applying a two-phased controller associated with each joint angle of the hand, which is newly proposed in this report. This control scheme is constructed by two parts: a PD controller with respect to the finger angle and an integral controller with respect to the orientation of the grasped object. The characteristics of the control method of the latter part is that the desired joint angle of the hand is produced dynamically by the integral controller with respect to the object orientation. Finally, we clarify the effectiveness of the proposed control method in the case of the soft-fingered manipulation.

关键词： Fingers Equations Force control Motion analysis Grasping systems engineering and theory Linear feedback control systems Force feedback Robot kinematics Intelligent robots

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Suborbital flight test of a prototype terrain-relative navigation system

Suborbital flight test of a prototype terrain-relative navig...

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2007 AIAA InfoTech at Aerospace Conference

作者： Seybold, Calina Chen, George Bellutta, Paolo Johnson, Andrew Matthies, Larry Thurman, Sam Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States System Engineering Section M/S 233-201 4800 Oak Grove Drive United States AIAA United States EDL Systems and Advanced Technologies Group System Engineering Section M/S 301-490 Mobility and Robotic Systems Section M/S 198-235 United States Computer Vision Group Mobility and Robotics Systems Section M/S 198-235 United States Autonomous Systems Division M/S 198-105

ISBN: (纸本)1563478935

In April 2006, a terrain-relative navigation experiment successfully flew on a sounding rocket mission at White Sands Missile Range. The mission was designated by NASA/Wallops Flight Facility as 41.068 NT/Seybold ("41.068") and was flown as part of the New Millennium Program ST9 Terrain-Relative Guidance System (TRGS) Project's competitive Phase A effort. The TRN experiment had two objectives: 1) To demonstrate the viability of a navigation filter for precision landing that uses on-board IMU and descent image data to achieve position knowledge errors of less than 100m, validated with GPS data recorded during flight;and 2) To establish that commercial off-the-shelf cameras can be packaged sufficiently well to survive the sounding rocket launch environment. Both objectives were met. The 13 min flight provided a data set that was processed post-flight through the prototype algorithms to bring the ST9 TRGS Project to a technology readiness level of 4 in TRN. This paper describes the flight system development and operations of the TRN experiment on 41.068.

关键词： Flight control systems

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Space flight test of vision-guided planetary landing system

Space flight test of vision-guided planetary landing system

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2007 AIAA InfoTech at Aerospace Conference

作者： Thurman, Sam W. Matthies, Larry H. Corliss, James M. Keith Johnson, R. Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States NASA Langley Research Center Hampton VA 23681 United States Autonomous Systems Division M/S 198-105 4800 Oak Grove Drive United States AIAA United States Mobility and Robotics Section Autonomous Systems Division 4800 Oak Grove Drive United States Systems Engineering Directorate M/S 489 100 NASA Road United States

ISBN: (纸本)1563478935

An innovative and low cost approach is presented for suborbital flight-testing of a prototype terrain-relative guidance system for future NASA Lunar and planetary robotic missions. Terrain-relative guidance in this context includes capabilities for precision guidance to a target site with landing error 1 m landing hazards using computer vision for terrain sensing. The suborbital mission profile incorporates both propulsive and atmospheric entry phases interspersed with imaging intervals to exercise a test vehicle equipped with mission-like avionics and embedded software, along with a steerable parachute system providing a representative terminal guidance capability. The test environment achievable in this manner is compared with representative descent and landing environments for several solar system bodies. Flight conditions and results obtained from an initial developmental test conducted in 2006 are also summarized.

关键词： Spacecraft

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Seamless integration of robots and tiny embedded devices in a PEIS-Ecology

Seamless integration of robots and tiny embedded devices in ...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： M. Bordignon J. Rashid M. Broxvall A. Saffiotti Intelligent Autonomous Systems Laboratory Department of Information Engineering University of Padova Italy Maersk Mc-Kinney Moller Institute University of Southern Denmark Denmark AASS Mobile Robotics Laboratory Department of Technology University of Örebro Sweden

The fields of autonomous robotics and ambient intelligence are converging toward the vision of smart robotic environments, in which tasks are performed via the cooperation of many networked robotic devices. To enable this vision, we need a common communication and cooperation model that can be shared between robotic devices at different scales, ranging from standard mobile robots to tiny embedded devices. Unfortunately, today's robot middlewares are too heavy to run on tiny devices, and middlewares for embedded devices are too simple to support the cooperation models needed by an autonomous smart environment. In this paper, we propose a middleware model which allows the seamless integration of standard robots and simple off-the-shelf embedded devices. Our middleware is suitable for building truly ubiquitous robotics applications, in which devices of very different scales and capabilities can cooperate in a uniform way. We discuss the principles and implementation of our middleware, and show an experiment in which a mobile robot, a commercial mote, and a custom-built mote cooperate in a home service scenario.

关键词： Middleware Intelligent robots Robot sensing systems Mobile robots Robot vision systems Orbital robotics Environmental factors Biological system modeling Intelligent networks Open source software

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Site Controlled Nanotube Shell Etching for Interlayer Motion Based NEMS

Site Controlled Nanotube Shell Etching for Interlayer Motion...

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International Conference on Solid State Sensors and Actuators (TRANSDUCERS)

作者： A. Subramanian T.-Y. Choi L. X. Dong K. Y. Shou J. Tharian U. Sennhauser D. Poulikakos B. J. Nelson Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Department of Mechanical and Energy Engineering University of North Texas Denton TX USA Laboratory of Thermodynamics in Emerging Technologies ETH Zurich Zurich Switzerland Electronics / Metrology Laboratory EMPA Dubendorf Switzerland

We present a new method for local control of shell engineering in multiwalled carbon nanotubes (MWNTs) using the Joule-heating induced electric breakdown technique. By modulating the heat dissipation along a nanotube, we can confine its thinning and shell breakdown to occur within localized regions of peak temperatures. The modulation is achieved by using suitably nanomachined heat sinks with different degrees of thermal coupling at different parts of a current-carrying nanotube. Being compatible with CMOS unit processes, this method is expected to be a powerful tool to create batch fabricated nanobearings with sophisticated architectures for use in nanoelectromechanical systems (NEMS).

关键词： Motion control Etching Nanoelectromechanical systems Electric breakdown Heat sinks Temperature Power engineering and energy Carbon nanotubes Electrodes Control systems

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Adaptive Vision based Tracking Control of Robots with Uncertainty in Depth Information

Adaptive Vision based Tracking Control of Robots with Uncert...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C. C. Cheah C. Liu J. J. E. Slotine School of Electrical and Electronic Engineering Nanyang Technological University Singapore Robotics Department L.I.R.M.M Montpellier France Nonlinear Systems Laboratory Massachusetts Institute of Technology Cambridge MA USA

In this paper, a vision based tracking controller with adaptation to uncertainty in depth information is presented. Depth uncertainty plays a special role in visual tracking as it appears nonlinearly in the overall Jacobian matrix and hence cannot be adapted together with other uncertain kinematic parameters. We propose a novel parameter update law to update the uncertain parameters of the depth. It is proved that system stability can be guaranteed for the visual tracking task in presence of uncertainties in depth information, robot kinematics and dynamics. Simulation results are presented to illustrate the performance of the proposed controller.

关键词： Programmable control Adaptive control Robot control Robot vision systems Uncertainty Jacobian matrices Kinematics Manipulator dynamics Nonlinear dynamical systems Trajectory

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Passing under obstacles with humanoid robots

Passing under obstacles with humanoid robots

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Hiroki Sanada Eiichi Yoshida Kazuhito Yokoi National Institute of Advanced Industrial Science and Technology AIST AIST/IS-CNRS/ST2I Joint Robotics Laboratory Tsukuba Japan Cooperative Graduate School of Systems and Information Engineering University of Tsukuba Tsukuba Japan

A motion planning method that allows humanoid robots to pass under obstacles is developed. From experimental analyses of human motions, we find a new category of the motion: a human turns sideways and passes under an obstacle. In order to realize this kind motion with humanoid robot HRP- 2, statically stable and geometrically possible initial and goal configurations are analyzed. A motion planning method that can connect two configurations with dynamic stability is proposed. It consists of "motion path planner" and "motion timing planner". Motion path planner can generate statically stable motion under considering joint movable range and collision avoidance. Motion timing planner can generate dynamically stable motion under considering ZMP conditions and maximum joint velocities. The effectiveness of the proposed method is experimentally confirmed with humanoid robot HRP-2.

关键词： Humanoid robots Humans Motion analysis Motion planning Timing Collision avoidance Intelligent robots Stability Path planning Navigation

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F&A compensating variable bang-bang control algorithm for pneumatic driving glass-wall cleaning robot

F&A compensating variable bang-bang control algorithm for pn...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： W. Wang H. X. Zhang W. P. Yu G. H. Zong J. W. Zhang Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology Shenzhen China

To overcome the overshoot and oscillation in the normal Bang-Bang controller applied in the pneumatic driving glass-wall cleaning robot, this paper presents a F&A compensating variable Bang-Bang control algorithm for the pneumatic position servo. Besides a new cylinder driving plan is designed, the control algorithm is also improved by adding a fiction force compensating item in the chamber force evaluation equation. To adjust the controlling parameters dynamically, certain increasing functions, such as step function, linear function and arc-tangent function, are used to define the piston's expectative acceleration along with the reduction of the piston's position error. To testify the feasibility of the control algorithms with the above three expectative acceleration setting functions respectively, a pneumatic glass-wall cleaning robot "Sky Cleaner 4" is used as a testing platform to implement a series of on-load position servo experiments. And the different results of them are compared.

关键词： Bang-bang control Cleaning Robots Servomechanisms Testing Algorithm design and analysis Force control Equations Acceleration Error correction

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Biomechanical Study on the Sensorial Epithelium of Otolithic Organs for Creating a Biomimetic Sensor

Biomechanical Study on the Sensorial Epithelium of Otolithic...

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29th Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBS 2007), vol.12

作者： G. Ciaravella D. Bennequin C. Laschi School in Biorobotics Science and Engineering IMT Institute for Advanced Studies Lucca Italy Institute of Mathematics of Jussieu and LPPA to the College de France University of Paris XII Paris France ARTS (Advanced Robotics Technology and Systems) Laboratory of the Scuola Superiore Sant'Anna Pisa Italy

This paper presents a biomechanical model of the sensorial cells in otolithic organs and a design of a 3D device that imitates the biological system. Starting from anatomical and physiological data, mechanical and structural parameters have been identified and a mechanical model has been formulated, by considering the cilia and kinocilium as a interconnected structure. The mechanical model was used to simulate the behavior of the system under known conditions. Furthermore, the behavior of a proximal link to the kinocilium were investigated for a better comprehension regarding the polymeric materials that could be used to model and manufacture the biological organs. The results obtained from the models were used to design a biomimetic organ.

关键词： Biosensors Biological system modeling Acceleration Biological materials Biological systems Cells (biology) Bars Deformable models Stress Signal generators

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