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Proceedings of the Thirteenth (2003) International Offshore and Polar engineering Conference

作者： Hong, Young-Hwa Kim, Jung-Yup Lee, Pan-Mook Jeon, Bong-Hwan Oh, Kyu-Hyun Oh, Jun-Ho Machine Control Laboratory Department of Mechanical Engineering Korea Adv. Inst. of Sci./Technology Daejeon Korea Republic of Ocean Development System Laboratory KRISO KORDI Daejeon Korea Republic of Department of Mechatronics Samsung Heavy Industries Daejeon Korea Republic of

Path generation algorithms for AUV's homing and docking are presented. Optimization technique with a proper cost function is given for the homing process, and prediction algorithm for 1st stage-docking process. Dock position and pose estimation algorithm using geometric and perspective relationship of circle in 3-dimention space and ellipse in projected 2-D plane is introduced for real time vision tracking algorithm of 2nd stage-docking process. Simulations using MATLAB program and experiments for dock position and pose estimation algorithm show that robust estimation algorithm can get practically exact pose and position of dock.

关键词： Remotely operated vehicles

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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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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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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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Stiffness performance estimation for biped locomotor WL-15

Stiffness performance estimation for biped locomotor WL-15

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

作者： G. Carbone Y. Sugahara H.O. Lim A. Takanishi M. Ceccarelli Humanoid Robotics Institute – Waseda University Tokyo Japan Laboratory of Robotics and Mechatronics DiMSAT – University of Cassino Cassino Fr Italy Graduate School of Science and Engineering Waseda University Tokyo Japan Department of System Design Engineering Kanagawa Institute of Technology Atsugi Kanagawa Japan

关键词： Legged locomotion Humans Leg Testing Humanoid robots Design engineering Wheels Payloads Algorithm design and analysis Prototypes

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Geometric formulation approach for determining the actual solution of the forward kinematics of 6-dof parallel manipulators

Geometric formulation approach for determining the actual so...

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2002 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Song, Se-Kyong Kwon, Dong-Soo Institute of Intelligent System Mechatronics Center Samsung Electronics Co. Ltd. Suwon Korea Republic of Department of Mechanical Engineering KAIST Daejon Korea Republic of

This paper presents a new formulation approach for determining the actual solution of the forward kinematics of 6-dof parallel manipulators. This paper shows that a geometric structure of the 3-6 platform with a 3-2-1 type that has a unique closed-form solution provides a useful guideline for formulating the forward kinematics of 6-dof parallel manipulators and for determining their actual solution. We use the tetrahedron geometry to present how to find the actual solution. The formulation approach is simple and effective to determine the actual solution of many 6-dof parallel manipulators.

关键词： Manipulators

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A design method for repetitive control systems with a multi-period repetitive compensator

A design method for repetitive control systems with a multi-...

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Proceedings of the 51st Japan National Congress for Theoretical and Applied Mechanics, 2002

作者： Okuyama, Tadashi Yamada, Kou Satoh, Keiji Department of Mechatronics Shonai Coll. of Indust. and Technol. Sakata Yamagata Japan Dept. of Mech. System Engineering Gunma University Kiryu Gunma Japan

In this paper, we consider a design method for repetitive control systems with a multi-period repetitive compensator. The repetitive control system is a type of servomechanism for periodic reference signal. The repetitive control system is a neutral type of time delay system and cannot apply for strictly proper plants. Almost all plants are strictly proper. Several modifications of the repetitive control system for strictly proper plants are proposed. It is well known that modified repetitive control is easy to apply for strictly proper plants. Sugimoto and Washida pointed out that the phase angle of the low-pass filter in a repetitive compensator has a bad influence on disturbance attenuation characteristics. They overcame this problem and proposd a design method for repetitive control systems with corrected time delay. However, the method developed by Sugimoto and Washida has improved the disturbance attenuation characteristics only in the low frequency range. Generally, the disturbance includes variable frequency signals. In this paper, we propose a design method for repetitive control systems with multi-period repetitive compensator, in order to attenuate the disturbance with higher frequency range.

关键词： Control system analysis

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A flatness based design for tracking control of pneumatic muscle actuators

A flatness based design for tracking control of pneumatic mu...

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International Conference on Control, Automation, Robotics and Vision (ICARCV)

作者： A. Hildebrandt O. Sawodny R. Neumann A. Hartmann Institute of Automation and System Engineering Technische Universitat Ilmenau Ilmenau Germany Research Mechatronics Festo AG and Company Esslingen Germany

Because of their high power/weight ratio pneumatic actuators, especially the so called pneumatic muscles, are very interesting for the use as actuators in robotics. But, in fact the physical model is highly nonlinear, in the following a flatness based position controller for the pneumatic artificial muscles is presented. The considered pneumatic muscle is produced by the manufacturer Festo and possesses a high pulling force to 4000N and a very long lifetime at least to 10 million switching cycles. The control objective is to track the payload along a specified reference path including an active attenuation. Since a model based control approach is pursued, a physical model is presented for an experimental setup. The model is very nonlinear making nonlinear flatness based control desirable. Experimental results are included and demonstrate the efficiency of the control.

关键词： Muscles Pneumatic actuators Proportional control Testing Valves Power engineering and energy systems engineering and theory Robots Power system modeling Manufacturing

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Geometric formulation approach for determining the actual solution of the forward kinematics of 6-DOF parallel manipulators

Geometric formulation approach for determining the actual so...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Se-Kyong Song Dong-Soo Kwon Institute of Intelligent System Mechatronics Center Samsung Electronics Company Limited Suwon South Korea Department of Mechanical Engineering KAIST Daejeon South Korea

This paper presents a new formulation approach for determining the actual solution of the forward kinematics of 6-DOF parallel manipulators. We show that a geometric structure of the 3-6 platform with a 3-2-1 type that has a unique closed form solution provides a useful guideline for formulating the forward kinematics of 6-DOF parallel manipulators and for determining their actual solution. We use the tetrahedron geometry to find the actual solution. The formulation approach is simple and effective for determining the actual solution of many 6-DOF parallel manipulators.

关键词： Kinematics Polynomials Manipulators Geometry Joining processes Equations Newton method Iterative methods Intelligent systems mechatronics

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Similitude Analysis for Experimental Validation of Path Planning for Autonomous Driving

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IFAC Proceedings Volumes 2002年第2期35卷 73-78页

作者： Jens Hilgert Torsten Bertram Institute of Mechatronics and System Dynamics Faculty of Engineering Gerhard Mercator University of Duisburg Lotharstr. 1 D-47057 Duisburg Germany Telephone (+49) (0)203 379-2199 Fax (+49) (0)203 379-4143 Mechatronics Laboratory Faculty of Mechanical Engineering Ilmenau Technical University Max-Planck-Ring 12 D-98693 Ilmenau Germany

In this paper a path planning technique for autonomous vehicles is developed which takes geometric and vehicle dynamics criteria into account. Starting with the Bézier spline description of the path, optimizations with respect to driving manoeuvres were performed. To ensure driveability of the planned path vehicle dynamics aspects are taken into account using a simplified vehicle model. The planned path will then be verified by driving tests. In this paper a method based on similitude analysis is developed for verification and validation of driving tests for autonomous vehicles with scaled vehicles. A lane change manoeuvre for a 1:5 scaled vehicle belonging to the Institute of mechatronics and system Dynamics at the Gerhard Mercator University Duisburg is described using this method.

关键词： Autonomous Vehicles Similitude Analysis Path Planning

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