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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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Accurate relative localization using odometry

Accurate relative localization using odometry

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nakju Doh H. Choset Wan Kyun Chung Robotics & Bio-Mechatronics Laboratory Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Sensor Based Planning Laboratory Mechanical Engineering Carnegie Mellon University Pittsburgh USA

All mobile robots suffer from odometry error. Relative localization from odometry has both the systematic and the non-systematic errors. However, once a precise system error model and its parameters are given, the accuracy of odometry can be remarkably improved. Most previous works on this effort focused on the differential drive robots with little attention to the other types of mobile bases. In this paper, we analyze sources of odometry error and propose an error model for the synchro drive robot. We then describe a novel procedure to accurately estimate the error parameters of the derived error model and the covariance matrix of the synchro drive robot. However, this procedure is general for all mobile bases, so we also apply our method for the differential drive robots and show experiments. This new process uses the shape of the path, as opposed to just end points, to estimate the error parameters and covariance matrix. We happen to use the generalized Voronoi graph to generate this path. Experimental results validate the error model of the synchro drive robot and precise estimation ability of the proposed method for the synchro and the differential drive robots.

关键词： Mobile robots Covariance matrix Parameter estimation Robot sensing systems Wheels Mechanical engineering Biomechatronics Biosensors Mechanical sensors Technology planning

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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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A six DOF passive robot system for spacesuit measurement

A six DOF passive robot system for spacesuit measurement

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

作者： M.H. Jin J.D. Zhao H.Y. Hu L.B. Du X.H. Gao T.Q. Li Y.J. Zhao H. Liu Robot Research Institute Harbin Institute of Technology Harbin China Institute of Space and Medico-Engineering Beijing China Institute of Robotics and Mechatronics German Aerospace Center Germany

This paper presents a novel passive robot system with 6 DOF force/torque sensors for measuring spacesuit joint damping parameters. The principle is based on robotics (kinematics and statics). Firstly the models of a 3 DOF flexible IVA (intra vehicular activity) spacesuit arm and the passive robot have been built. And then, a new method of solving the inverse kinematics of the spacesuit is proposed. The simulation on the SGI workstation and experimental results prove the effectiveness of the measuring system is also discussed.

关键词： Orbital robotics Extraterrestrial measurements Robot sensing systems Medical robotics Damping Space technology Kinematics Torque measurement Force measurement Force sensors

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Solution to the general robust strictly positive real synthesis problem for polynomial segments

Solution to the general robust strictly positive real synthe...

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2003 European Control Conference, ECC 2003

作者： Yu, Wensheng Wang, Long Ackermann, Jürgen Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing100080 China Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing100871 China Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center DLR-Oberpfaffenhofen Postfach 1116 WesslingD-82230 Germany

For any two n-th order polynomials a(s) and b(s), the Hurwitz stability of their convex combination is necessary and sufficient for the existence of a polynomial c(s) such that c(s)/a(s) and c(s)/b(s) are both strictl... 详细信息

ISBN: (纸本)9783952417379

关键词： Polynomials

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A passive robot system for measuring spacesuit joint damping parameters

A passive robot system for measuring spacesuit joint damping...

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Wang X.H. Gao M.H. Jin L.B. Du J.D. Zhao H.Y. Hu H.G. Cai T.Q. Li H. Liu Robot Research Institute Harbin Institute of Technology Harbin China Institute of Space and Medico-Engineering Beijing China Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

This paper presents a novel passive robot system with 6 DOF force/torque sensor for measuring spacesuit joint damping parameters. Based on its special mechanical structure, a 3 DOF model of flexible IVA (intra vehicular activity) spacesuit joint has been built. Experimental results prove the effectiveness of the measuring principle. Potential application of the measuring system is discussed.

关键词： Orbital robotics Damping Extraterrestrial measurements Robot sensing systems Torque measurement Medical robotics Force measurement Space technology Mechanical sensors Sensor systems

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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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A fuzzy track-keeping autopilot for ship steering

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Proceedings of the Institute of Marine engineering, Science and Technology Part A: Journal of Marine engineering and Technology 2003年第2期 23-29页

作者： Omerdic, E. Roberts, G.N. Vukic, Z. Mechatronics Research Centre University of Wales College Newport United Kingdom University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia Department of Mechatronics United Kingdom IFAC Technical Committee on Marine Systems United Kingdom IFAC Technical Committee on Mechatronic Systems United Kingdom Department of Control Engineering University of Zagreb Faculty of Electrical Engineering and Computing Croatia IEEE Control Systems/Robotics Automation Society Croatia

In this paper a non-linear fuzzy autopilot for ship track-keeping is presented. The proposed autopilot has four inputs (actual and desired heading, rate of change of heading and offset from the desired path) and one output (command rudder angle). The track-keeping problem is decomposed into two subtasks: (i) followthe desired heading, and (ii) bring the ship onto the desired path and keep tracking. Internally, the autopilot consists of two autopilots that fulfil these tasks simultaneously. The proposed control scheme has been verified using a non-linear model of a Mariner-class vessel and steering mechanism under the influence of wave and current disturbances. Results presented show how such a control strategy enables improved tracking performance.

关键词： Ships

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Stiffness analysis for 6-DOF mouth training parallel robot WY-5

Stiffness analysis for 6-DOF mouth training parallel robot W...

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

作者： G. Carbone H. Takanobu M. Ceccarelli A. Takanishi K. Ohtsuki M. Ohnishi A. Okino Humanoid Robotics Institute Waseda University Shinjuku-ku Tokyo Japan Laboratory of Robotics and Mechatronics DiMSAT - University of Cassino Cassino (Fr) Italy Department of Mechanical Systems Engineering Kogakuin University Shinjuku-ku Tokyo Japan Yamanashi University Tamaho-cho Nakakoma-gun Yamanashi Japan Okino Industries Ltd. Komae-shi Tokyo Japan

In this paper a mouth opening and closing training robot, named WY-5 (Waseda Yamanashi version 5), is analyzed in terms of stiffness characteristics. The basic models and formulation are proposed in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WY-5 architecture. A numerical simulation is also presented to discuss main features of the system.

关键词： Mouth Parallel robots Joints Humanoid robots Service robots Industrial training Numerical simulation Pain Medical treatment Algorithm design and analysis

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A biologically inspired hybrid three legged mobile robot

A biologically inspired hybrid three legged mobile robot

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Student Conference on Research and Development, SCOReD 2002

作者： How, Ong Chun Amin, S.H.M. Dept. of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Malaysia

ISBN: (纸本)0780375653

This paper describes the development of a biologically inspired mobile robot. The locomotion mechanism is a hybrid combination of legged locomotion supported by wheels for stability purposes. The mechanism design, the applied electronic circuit design and the behavior-based controller for navigation and reactive response to stimuli of the robot's environment are described. The locomotion mechanism of the mobile robot consists of a set of wheels and legs with crab-like features. Static and dynamic stability is provided by the set of wheels, while locomotion is mainly dependent on the three legs. The mechatronic modules of the mobile robot consist of the integration of micro-controller, motors and sensors. Each leg is powered by independently controlled actuators. Sensors placed at each of the legs provide the posture information. At the sides, front and rear of the robot's body, proximity sensors are arranged in an array to give information about the environment to the controller. The behavior of the hybrid three legged mobile robot is coordinated by the subsumption architecture implemented and it can be modified incrementally as the need arises. The navigation behavior of the mobile robot is emphasized with the behavior-based controller. It is expected that the robot will be able to traverse different terrain. © 2002 IEEE.

关键词： Mobile robots

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