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19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010

作者： Kumata, Masafumi Nakata, Shuichi Suzuki, Satoshi Igarashi, Hiroshi Kobayashi, Harumi Graduate School Tokyo Denki University Hatoyama Hiki-Gun Saitama 350-394 Japan Tokyo Denki University Hatoyama-Cho Hiki-Gun Saitama 350-0394 Japan Department of Robotics and Mechatronics School of Science and Technology for Future Life Tokyo Denki University Ochanomizu Chiyoda-Ku Tokyo Japan Department of Electrical and Electronic Engineering School of Engineering Tokyo Denki University Nishiki-Cho Chiyoda-Ku Tokyo Japan

ISBN: (纸本)9781424479917

A group of participants performed a collaborative conveyer task that needs to transfer objects to designated positions by vehicles in a virtual space. All utterances were transcribed and questioning utterances were specified based on rising intonation patterns and content of the speech. Then we classified these utterances into four types: planning (ask whole transporting strategy in task), partner's (asking the movement and status of the partners), self (asking own movement and status), and other, and analyzed the changes of the frequency of these question types during 10 trials. We also constructed a collaboration levels and evaluated collaboration status for each completion of a box conveying. This collaboration level was determined by the number of people who collaborated to move one box during one trial. We investigated the relationship between strategy changes, collaboration levels, and question utterances. The results were that in a group that showed a strategy change, collaboration level was generally higher and more varied than the collaboration level observed in the group that showed no strategy change. In addition, in a group that showed a strategy change, question utterances about whole plan decreased but question utterances about the self status increased. However, in a group who showed no strategy change, all types of question utterances decreased. It was found that when a strategy change occurred, people tend to make more questions about self status to confirm the details of movement to complete the task. Collaboration level changes can be a good index to infer occurrences of strategy changes. © 2010 IEEE.

关键词： Conveying

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Unified Impedance and Admittance Control

Unified Impedance and Admittance Control

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IEEE International Conference on robotics and Automation (ICRA)

作者： Christian Ott Ranjan Mukherjee Yoshihiko Nakamura Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Department of Mechanical Engineering Michigan State University East Lansing MI USA Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

ISBN: (纸本)9781424450381;9781424450404

Impedance and Admittance Control are two distinct implementations of the same control goal. It is well known that their stability and performance properties are complementary. In this paper, we present a hybrid system approach, which incorporates Impedance and Admittance Control as two extreme cases of one family of controllers. This approach allows to continuously switch and interpolate between Impedance and Admittance Control. We compare the basic stability and performance properties of the resulting controllers by means of an extensive case study of a one-dimensional system and present an experimental evaluation using the KUKA-DLR-lightweight arm.

关键词： Impedance Admittance Force control Control systems Motion control Service robots Manipulator dynamics Aerodynamics Automatic control Stability

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Observer-Based Dynamic Control of an Underactuated Hand

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Advanced robotics 2010年第1期24卷 123-137页

作者： Huang Hai haihus@*** Jiang Li Pang Yong-jie Shi Shi-cai Tang Qi-rong Yang Da-peng Liu Hong Key Laboratory of Science and Technology for National Defense of Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 P. R. China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 P. R. China University of Stuttgart Pfaffenwaldring 9 70569 Stuttgart Germany Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

The purpose of this paper was to construct a velocity observer based on the dynamic model and realize accurate dynamic curve and force control. Curve fitting with the observer obtained precise velocity signals. Compared with PID and factored moment methods, it decreased the fitting errors a lot and achieved ideal results. Compensated with the inverse dynamic equation, the force-based impedance control with the observer could not only realize accurate force tracking, but achieve finger dynamic control by the combination of curve fitting and force tracking. Furthermore, a static grasp model was established for appropriate force distribution. The finger could grasp slippery, fragile, comparatively heavy and large objects like an egg with only base joint torque and position sensors, which illustrated that the hand could accomplish difficult tasks by using the static grasp model and dynamic control. [ABSTRACT FROM AUTHOR]

关键词： curve fitting DYNAMIC CONTROL force control UNDERACTUATED VELOCITY OBSERVER

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UNDERACTUATED HAND DYNAMIC MODELING, ITS REAL-TIME SIMULATION, AND CONTROL

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International Journal of Humanoid robotics 2010年第4期7卷 609-634页

作者： HAI HUANG YONG-JIE PANG JIANG LI SHAO-WEI FAN XIN-QING WANG HONG LIU Key Laboratory of Science and Technology for National Defense of Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 China State Key Laboratory Robot and Systems Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

The forward and inverse dynamic models of the underactuated 2-DOF finger have been established in this article based on virtual spring approach. This approach not only avoids the solution of differential-algebraic equations but also leads to a completely decoupled dynamic model that is ideal for directly inverse dynamic analysis, real-time dynamic simulation and control. To verify this approach, an underactuated 3-joint finger has been brought forward. Simulation results from Matlab/Simulink are consistent with those obtained from ADAMS grasp simulations. For the hand real-time dynamic control, the velocity observer has been established based on the dynamic model, the adaptive curve fitting with the observer has obtained precise velocity signals, made up the uncertain parameters such as torsion spring, inertial, damps, etc. and achieved ideal results. By applying dynamics model and observer, the force-based impedance control can realize more accurate and stable force control during grasp.

关键词： Dynamic modeling dynamic control virtual spring approach underactuated hand

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Parameter identification of a linear permanent magnet motor using particle swarm optimization

Parameter identification of a linear permanent magnet motor ...

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7th Annual International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Therdbankerd, Tithiwat Sanposh, Peerayot Chayopitak, Nattapon Fujita, Hideaki Department of Electrical Engineering Intelligent Mechatronics Automation Robotics and Control Laboratory Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-18 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

Accurate and effective parameter identification is an important engineering task in high performance control system design. One emerging approach to effectively identify such nonlinear or dynamic unknown parameters is to use Particle Swarm Optimization (PSO) algorithm. Linear Permanent Magnet (LPM) motor is a high performance actuator employed in many applications that require direct linear motion without mechanical transmission for high acceleration and accurate positioning. Therefore, accurate motor parameters are necessary to effectively control the LPM motors. This paper proposes a simple PSO based method with chirp inputs to identify the LPM motor's parameters. The simulations and experiments are conducted to verify the results and determine the effectiveness of the proposed method.

关键词： Parameter estimation

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Parameter identification of a Linear Permanent Magnet motor using Particle Swarm Optimization

Parameter identification of a Linear Permanent Magnet motor ...

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Tithiwat Therdbankerd Peerayot Sanposh Nattapon Chayopitak Hideaki Fujita Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

关键词： Parameter estimation Permanent magnet motors Particle swarm optimization Synchronous motors Signal processing robotics and automation Chirp Intelligent robots Control systems Laboratories

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Changes of utterances in the skill acquisition of collaborative conveyer task

Changes of utterances in the skill acquisition of collaborat...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Shuichi Nakata Satoshi Suzuki Harumi Kobayashi Hiroshi Igarashi Department of Social-Informatics Graduate School of Science and Engineering Tokyo Denki University Saitama Japan Department of Information-Design School of Science and Engineering Tokyo Denki University Saitama Japan Department of Robotics and Mechatronics School of Science and Technology of Future life Tokyo Denki University Tokyo Japan Department of Electrical and Electronic Engineering School of Engineering Tokyo Denki University Tokyo Japan

ISBN: (纸本)9781424448920;9781424448937

Importance of developing human adaptive robots or systems is increasing these days. To accomplish it, we have to clarify features of human-human communication. In this study, we analyzed human speech while completing computerized collaborate task to clarify how humans speak in collaborative work. We extracted questioning speeches from conversations using CLAN, and classified them into four categories according to their content. We investigated whether the number and ratio of each type of questions changed over ten trials. The results indicate that leader role person is sensitive to task planning.

关键词： Collaboration Collaborative work Speech analysis Humans Educational robots Adaptive systems mechatronics Space vehicles Eyes Headphones

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Extraction of 3D images using pitch-actuated 2D laser range finder for robotic vision

Extraction of 3D images using pitch-actuated 2D laser range ...

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International Workshop on Robot Sensing (ROSE)

作者： Pinhas Ben-Tzvi Samer Charifa Michael Shick Robotics and Mechatronics Lab Department of Mechanical and AeroSpace Engineering George Washington University Washington D.C. DC USA Computer Science Corporation Alexandria VA USA Department of Computer Science George Washington University Washington D.C. USA

Volumetric mapping is essential for recognizing the 3D environment and consequentially for the decision making process for special-task mobile robots (such as stair climbing, inspection, or search and rescue). In this paper, we propose a fast surface detection algorithm based on point cloud data from a small pitch-actuated laser range finder mounted on a mobile manipulator arm. The developed algorithm is mainly composed of two steps: (i) gradient based classification; and (ii) Recursive Connected Component Labeling (RCCL) algorithm. The algorithm was experimentally validated. A complete segmentation of different planes in the environment was also successfully accomplished.

关键词： Three dimensional displays Lasers Classification algorithms Robot sensing systems Robot kinematics Surface treatment

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Grasping simulation of an underactuated finger mechanism for larm hand

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International Journal of Modelling and Simulation 2010年第1期30卷 87-97页

作者： Yao, S. Wu, L. Ceccarelli, M. Carbone, G. Lu, Z. School of Automation Science and Electrical Engineering Beihang University Beijing China College of Information Engineering Central University for Nationalities Beijing China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China Beijing University of Aeronautics and Astronautics China and University of Cassino Italy LARM: Laboratory of Robotics and Mechatronics Cassino United States

In this paper, the grasp operation of an underactuated finger mechanism is simulated with the aim to characterize and analyze its performance. The design of the proposed mechanism is based on spring systems that give suitable underactuation characteristics. A CAD model is proposed and then it is used in a procedure for numerical simulation. Simulation results show suitable capability for grasping a wide range of objects in size and shape by operating the mechanism inside the finger body. The achieved grasp has been simulated as a human-like functionality with a grasp contact in each phalanx.

关键词： Computer aided design

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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7th Annual International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Suteeratanapirom, Wijin Rattanawaorahirankul, Rapeepong Laosapan, Chutima Sanposh, Peerayot Chayopitak, Nattapon Tungpimolrut, Kanokvate Kunieda, Hiroaki TAIST Tokyo Tech ICTES Program Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-65 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward Controller (FFC-PFC) are presented.

关键词： Friction

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