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IEEE International Conference on robotics and Automation (ICRA)

作者： ZhiDong Wang Y. Hirata K. Kosuge System Robotics Laboratory Graduate School of Engineering University of Tohoku Sendai Japan

This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure which is used in the research of grasping, Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we address the concept CC-Closure Object and testing algorithms using properties of CC-Closure Object. Also the scaling and control problem of caging formation is addressed and two algorithms to realize two-effectors pushing on fixed caging formation control is proposed.

关键词： Transportation Mobile robots Robot kinematics Orbital robotics Robot control Force control Drag system testing Resists Acceleration

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Neural oscillator network-based controller for meandering locomotion of snake-like robots

Neural oscillator network-based controller for meandering lo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K. Inoue Shugen Ma Chenghua Jin Department of System Engineering Ibaraki University Hitachi Japan Robotics Laboratory Shenyang Institute of Automation Shenyang China

In this paper, we propose a control architecture for meandering locomotion of snake-like robots based on neural oscillator network (NON). The proposed architecture is composed of a network of central pattern generators (CPGs) to realize propagation of purposive oscillation with specific phase shift. By implementing this architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot, we present realization of meandering motion and preliminary policies about parameter settings of the NON. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture.

关键词： Oscillators Robot kinematics Mobile robots Legged locomotion robotics and automation Distributed control Automatic control Programmable control Adaptive control Animals

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Topological dependence of mechanical responses of solidification microstructures in aluminum brazed joints

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中国有色金属学会会刊：英文版 2003年第6期13卷 1296-1300页

作者：高峰钱乙余 D.P.Sekulic 马鑫 F.Yoshida State Key Laboratory of Advanced Production Technology Center for Robotics and Manufacturing Systems Department of Mechanical System Engineering

The main objective is to provide an evidence of spatial dependence of mechanical responses of a heterogeneous aluminum brazed joint re-solidified clad, and to confirm a sufficient sensitivity of a nano-indentation—load curve method for identifying the dependence. Topological features of a network of solidification microstructures(α phase and eutectic), formed during quench in a brazing process of aluminum alloy, influence significantly dynamic mechanical responses of resulting heterogeneous material. Nano/micro indentation depth vs load characteristics of differing phases suggest a spatially sensitive mechanical response of a re-solidified fillet in the joint zone. Hence, a spatial distribution, pattern formations and other morphological characteristics of microstructures have a direct impact on an ultimate joint integrity. Topology-induced variations of indentation—load curves was presented. A hypothesis involving microstructures’ spatial distribution vs mechanical response was formulated.

关键词：铝铜焊显微结构凝固拓扑相关机械响应焊接铝合金

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Control multiple mobile robots for object caging and manipulation

Control multiple mobile robots for object caging and manipul...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Zhidong Wang Y. Hirata K. Kosuge System Robotics Laboratory Graduate School of Engineering University of Tohoku Sendai Japan

This paper addresses the problem of multi-robots object transportation by using the concept of object closure. In contrast to form or force closure which is used in the research of grasping, object closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once object closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we address the concept CC-closure object, which is used for efficient testing of object closure. Testing algorithms using these properties is described. Also object closure margin is defined and the scaling and control problem of the caging formation is addressed. Finally, an example of object closure constructed from both bodies and hands of mobile-manipulators, which have different shape and size, is discussed and experiments are presented for illustrating the proposed concept.

关键词： Robot control Mobile robots Robot kinematics Orbital robotics Transportation Shape system testing Motion control Strategic planning Force control

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Implementation of a Neural Network Based system for Estimating the Strength of a Board Using Mixed Signals

Implementation of a Neural Network Based System for Estimati...

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2003 IEEE Pacific Rim Conference on Communications Computers and Signal Processing (PACRIM 2003)

作者： Saboksayr, Hossein Saravi, Albert Lawrence, Peter D. Lam, Frank IEEE Control System Society Vancouver BC Canada Robotics and Control Laboratory Department of Electrical Engineering University of British Columbia Vancouver BC Canada Department of Wood Science University of British Columbia Vancouver BC Canada

An intelligent lumber grading system was developed to provide a new way for estimating the strength of a board by posing the estimation problem as an empirical learning problem. This system processed the X-Ray image, extracted geometric features (of 1000 boards that eventually underwent destructive strength testing), and predicted the strength of the lumber by using a neural network. The X-Ray image was passed through a threshold filter to separate the knots based on the fact that a denser knot produces a local maximum (as a rounded protrusion in an otherwise almost flat density surface) of the x-ray image. Each knot was modeled by a three-dimensional-cone with seven parameters. Information on all the detected knots such as volume, and knot-area-ratio were fed to a processor to generate 16 geometrical features (such as;the average of knot area ratio, and the number of knots detected in each board) which characterize each board. Then by using back-propagation as the training method, cross correlation as the measure of accuracy, and actual strength of a thousand boards as the empirical data set, a neural network was trained to estimate the strength of each board. The learning system consisted of three layers, with 1, 5, 16 neurons in output, hidden and input layer respectively. Ten-fold cross validation was used to produce an unbiased accuracy of the estimation problem. The learning and testing sets comprised of 900 and 100 boards respectively. By repeating the learning and testing for ten times and averaging the results, a coefficient of determination of 0.4059 was reached in this study for using X-Ray images alone. The same methodology was applied to MOE (Modulus of Elasticity) and a coefficient of determination of 0.56 was reached. The results were improved by fusing the X-Ray image and MOE using a learning system consisting of three layers, with 1, 5, 40 neurons in output, hidden and input layer respectively. Ten-Fold cross validation resulted in a coefficient of

关键词： Intelligent control

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Numerical and experimental estimation of stiffness performances for the humanoid robot WABIAN-RV

Numerical and experimental estimation of stiffness performan...

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2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003

作者： Carbone, G. Lim, Hun-Ok Takanishi, A. Ceccarelli, M. Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via Di Biasio 43 CassinoFr03043 Italy Dept. of System Design Engineering Kanagawa Institute of Technology 1030 Shimoogino AtugiKanagawa243-0292 Japan Humanoid Robotics Institute Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan

In this paper, basic models and a formulation are presented for the stiffness analysis of the humanoid robot WABIAN-RV. An evaluation of stiffness performances is carried out by numerically implementing the proposed f... 详细信息

ISBN: (纸本)0780377591

关键词： Anthropomorphic robots

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Stiffness analysis of the humanoid robot WABIAN-RIV: modelling

Stiffness analysis of the humanoid robot WABIAN-RIV: modelli...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G. Carbone H. Lim A. Takanishi M. Ceccarelli Humanoid Robotics Institute Waseda University Tokyo Japan Laboratory of Robotics and MechatronicsDiMSAT University of Cassino Cassino Italy Department of System Design Engineering Kanagawa Institute of Technology Atsugi Kanagawa Japan

In this paper a humanoid robot named as WABIAN-RIV (WAseda BIpedal humANoid Refined IV) is analyzed in terms of stiffness characteristics. This paper proposes basic models and a formulation in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WABIAN architecture. The proposed formulation is useful for numerical estimation of stiffness performances.

关键词： Humanoid robots Leg Kinematics Neck Legged locomotion Shoulder Mechatronics Performance analysis Laboratories system analysis and design

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Stiffness performance estimation for biped locomotor WL-15

Stiffness performance estimation for biped locomotor WL-15

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2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003

作者： Carbone, G. Sugahara, Y. Lim, H.O. Takanishi, A. Ceccarelli, M. Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via Di Biasio 43 CassinoFr03043 Italy Graduate School of Science and Engineering Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan Kanagawa Institute of Technology Department of System Design Engineering 1030 Shimoogino AtsugiKanagawa243-0292 Japan Humanoid Robotics Institute Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan

ISBN: (纸本)0780377591

In this paper a biped locomotor, named as WL-15 (Waseda Leg 15), is analyzed in terms of stiffness characteristics. Basic models and a formulation are proposed in order to deduce the stiffness matrix as a function of the most important design parameters of the WL-15 architecture. First numerical simulations and experimental tests are also carried out for stiffness performance estimation. © 2003 IEEE.

关键词： Anthropomorphic robots

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Numerical and experimental estimation of stiffness performances for the humanoid robot WABIAN-RV

Numerical and experimental estimation of stiffness performan...

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

作者： G. Carbone Hun-Ok Lim A. Takanishi M. Ceccarelli Humanoid Robotics Institute Waseda University Tokyo Japan Laboratory of Robotics and Mechatronic DiMSAT University of Cassino Cassino Italy Department of System Design Engineering Kanagawa Institute of Technology Atsugi Kanagawa Japan

关键词： Humanoid robots Mathematical model Leg Performance analysis Legged locomotion Kinematics Performance evaluation Algorithm design and analysis Humans Shoulder

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A robust general Voronoi graph based SLAM for a hyper symmetric environment

A robust general Voronoi graph based SLAM for a hyper symmet...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Nakju Lett Doh Wan Kyun Chung SungOn Lee SangRok Oh BumJae You Robotics & Bio-Mechatronics Laboratory Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Intelligent System Control Laboratory Korea Institute of Science and Technology Seoul South Korea

ISBN: (纸本)0780378601

In this paper, an algorithm for hyper symmetric environment simultaneous localization and mapping (SLAM) is developed based on the generalized Voronoi graph. The hyper symmetric environment is a challenging environment for the SLAM and the most difficult problem on this is a data association. To redeem this problem, we propose three techniques. The first one is a breadth first node navigation algorithm which highly reduces the complexity of the data association. The second scheme is an odometry calibration method which converts untrustable odometry into reliable one. The third method is a multi layered data association scheme. We integrate above three techniques into one framework and propose a SLAM algorithm for the hyper symmetric environment. The simulation result shows that the proposed algorithm can successfully cover a large hyper symmetric environment under 20% odometry uncertainty.

关键词： Robustness Simultaneous localization and mapping Navigation Calibration Uncertainty Topology Robots Biomechatronics Mechanical engineering Intelligent systems

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