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检索条件"机构=Robotics and Computer Engineering"

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Generalization of optimal motion trajectories for bipedal walking

Generalization of optimal motion trajectories for bipedal wa...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Werner D. Trautmann Dongheui Lee R. Lampariello German Aerospace Center (DLR) Institute of Robotics and Mechatronics Chair of Automatic Control Engineering Department of Electrical and Computer Engineering Technische Universität München (TUM)

Control of robot locomotion profits from the use of pre-planned trajectories. This paper presents a way to generalize globally optimal and dynamically consistent trajectories for cyclic bipedal walking. A small task-space consisting of stride-length and step time is mapped to spline parameters which fully define the optimal joint space motion. The paper presents the impact of different machine learning algorithms for velocity and torque optimal trajectories with respect to optimality and feasibility. To demonstrate the usefulness of the trajectories, a control approach is presented that allows general walking including transitions between points in the task-space.

关键词： Trajectory Legged locomotion Machine learning algorithms Cost function Splines (mathematics)

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Fusion of Thermal and Depth Images for Occlusion Handling for Human Detection from Mobile Robot

Fusion of Thermal and Depth Images for Occlusion Handling fo...

引用

Asian Control Conference

作者： H. S. Hadi M. Rosbi U. U. Sheikh S. H. M. Amin Dept. of Mechatronics and Robotics Universiti Teknologi Malaysia UTM Dept. of Electronic and Computer Engineering Universiti Teknologi Malaysia UTM

ISBN: (纸本)9781479978632

In this paper we present a vision-based approach to detect multiple persons from a mobile robot in real world scenarios using thermal and depth images. First, human upper-body is detected from thermal image to obtain the bounding box coordinates (BBC). This is used as an initial estimate of the position of a person. Then, depth image is fused with the region of interest obtained from the thermal image. Occlusion detection is then performed using the BBC to obtain the actual position of detected persons. The proposed method is able to detect persons and is able to resolve occlusions during the detection process to correctly obtain all the persons in the view.

关键词： Robot vision Thermal images Depth images Image fusion

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Safety-Critical and Constrained Geometric Control Synthesis using Control Lyapunov and Control Barrier Functions for Systems Evolving on Manifolds

Safety-Critical and Constrained Geometric Control Synthesis ...

引用

American Control Conference

作者： Guofan Wu Koushil Sreenath Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA 15213 Depts. of Mechanical Engineering Robotics Institute and Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213

ISBN: (纸本)9781479917730

Geometric controllers for mechanical system have been well-developed in past research work. Although geometric controllers possess the advantages of being coordinate-free and compact, these controllers don't take into account constraints such as safety-critical collision constraints or input saturations. In this paper, we utilize the concepts of control Lyapunov function (CLF) and control Barrier function (CBF) to incorporate various constraints in a state-dependent quadratic programming (QP). Through relaxation, a proper trade-off has been made between the constraints imposed by CLF and CBF. Then qualitative analysis of this design method is derived in detail, and we provide convincing simulation results on a point mass, a spherical pendulum, and a 3D pendulum.

关键词： Manifolds Research work design approach Controllers Standing Orders Mechanical systems Constraint Clock weights

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A real-time webcam based Eye Ball Tracking System using MATLAB

A real-time webcam based Eye Ball Tracking System using MATL...

引用

International Symposium for Design and Technology of Electronics Packages (SIITME)

作者： Osama Mazhar Taimoor Ali Shah Muhammad Ahmed Khan Sameed Tehami Computer Vision and Robotics University of Burgundy Burgundy France Electrical Engineering & Information Technology Technische Hochschule Ingolstadt Ingolstadt Germany Biomedical Engineering NED University of Engineering & Technology Karachi Pakistan

Eye Ball Tracking System is a device which is intended to assist patients that cannot perform any voluntary tasks related to daily life. Patients who only can control their eyes can still communicate with the real-world using the assistive devices like one proposed in this paper. This device provides a human computer interface in order to take decisions based on their eye movement. A real time data stream is captured via webcam that transfers data serially to MATLAB. Then a sequential image processing scheme segments the iris of the eye and calculates the centroid, thereby generating control signal with the help of a reference axis. The control signals are then used to manipulate the position of a motorized platform via USB-microcontroller interface.

关键词： Image processing MATLAB Gaze tracking Webcams Microcontrollers Real-time systems computers

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A six-degree-of-freedom robotic system for lower extremity rehabilitation

A six-degree-of-freedom robotic system for lower extremity r...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Aaron Yurkewich S. Farokh Atashzar Ahmed Ayad Rajni V. Patel Canadian Surgical Technologies and Advanced Robotics (CSTAR) London ON Canada Department of Electrical & Computer Engineering The University of Western Ontario Mcchatronic Systems Engineering Program The University of Western Ontario

ISBN: (纸本)9781479918096

This paper describes the design, control and implementation of a sensorized robotic platform for versatile rehabilitation of stroke patients living with lower extremity neuromuscular deficit. The proposed device is composed of a six-degree-of-freedom actuation mechanism with a large workspace for lower extremity rehabilitation regimens. With a small footprint, lightweight, and low-cost design and a wireless interface this device is portable and well-suited for at-home and in-clinic use. A custom six-degree-of-freedom force/torque sensor was developed to measure real-time patient forces, and an admittance controller was implemented to provide assistive motion therapy. The results obtained show the suitability of this device for human-robot interaction for the implementation of lower extremity rehabilitation therapy.

关键词： Robot sensing systems Force Robot kinematics Medical treatment Extremities Torque

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A Computationally Efficient Implementation of Fictitious Play in a Distributed Setting

A Computationally Efficient Implementation of Fictitious Pla...

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European Signal Processing Conference

作者： BRIAN SWENSON SOUMMYA KAR JOAO XAVIER Department of Electrical and Computer Engineering Carnegie Mellon University Institute for Systems and Robotics (ISR/IST) LARSyS Instituto Superior Tecnico University of Lisbon

ISBN: (纸本)9781479988518

The paper deals with distributed learning of Nash equilibria in games with a large number of players. The classical fictitious play (FP) algorithm is impractical in large games due to demanding communication requirements and high computational complexity. A variant of FP is presented that aims to mitigate both issues. Complexity is mitigated by use of a computationally efficient Monte-Carlo based best response rule. Demanding communication problems are mitigated by implementing the algorithm in a network-based distributed setting, in which player-to-player communication is restricted to local subsets of neighboring players as determined by a (possibly sparse, but connected) preassigned communication graph. Results are demonstrated via a simulation example.

关键词： Games Distributed Learning Fictitious Play Nash Equilibrium

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Coverage enhancement for deployment of multi-camera networks

Coverage enhancement for deployment of multi-camera networks

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

作者： Xuebo Zhang Jose Luis Alarcon-Herrera Xiang Chen Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin China Department of Electrical and Computer Engineering University of Windsor Windsor ON Canada

The deployment of multi-camera networks is usually accomplished by maximizing the covered area, while the coverage strength is difficult to be optimized simultaneously. We propose a coverage enhancement approach in this paper to improve the coverage strength of three-dimensional (3D) scenes, by using convex optimization approach to refine the initial deployment. The 3D scene is represented by a triangle mesh, with each triangle being a basic atomic unit. In addition, the sensing range of a single camera is modeled as a visual frustum. Frobenius distance and Euclidean distance between a triangle unit and a visual frustum, are novelly introduced to reflect the camera-to-triangle coverage strength. On this basis, the coverage enhancement is accomplished by minimizing the sum of squares of these two distances. Due to the use of the Frobenius distance and Euclidean distance, it is shown that the problem can be solved by convex optimization techniques. Comparative simulation results are presented to verify the effectiveness of the proposed approach.

关键词： Cameras Tensile stress Visualization Convex functions Optimization Solid modeling Shape

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Depth-based tracking with physical constraints for robot manipulation

Depth-based tracking with physical constraints for robot man...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Tanner Schmidt Katharina Hertkorn Richard Newcombe Zoltan Marton Michael Suppa Dieter Fox Dept. of Computer Science & Engineering University of Washington Seattle USA Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

This work integrates visual and physical constraints to perform real-time depth-only tracking of articulated objects, with a focus on tracking a robot's manipulators and manipulation targets in realistic scenarios. As such, we extend DART, an existing visual articulated object tracker, to additionally avoid interpenetration of multiple interacting objects, and to make use of contact information collected via torque sensors or touch sensors. To achieve greater stability, the tracker uses a switching model to detect when an object is stationary relative to the table or relative to the palm and then uses information from multiple frames to converge to an accurate and stable estimate. Deviation from stable states is detected in order to remain robust to failed grasps and dropped objects. The tracker is integrated into a shared autonomy system in which it provides state estimates used by a grasp planner and the controller of two anthropomorphic hands. We demonstrate the advantages and performance of the tracking system in simulation and on a real robot. Qualitative results are also provided for a number of challenging manipulations that are made possible by the speed, accuracy, and stability of the tracking system.

关键词： Visualization Joints Robot sensing systems Cameras Calibration

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VLR: Cockroach millirobot with load decoupling structure

VLR: Cockroach millirobot with load decoupling structure

引用

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

作者： Dongwon Yun Ronald S. Fearing Department of Robotics and Mechatronics University of California Berkeley CA USA Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA

This paper presents the development of Very Large RoACH (VLR), which is a rapidly-prototyped folded cardboard cockroach-like robot for carrying relatively heavy loads. To increase load capacity, a vertically movable platform is designed, which can decouple an internal payload from loading the robot hips. Based on the previous VelociRoACH design, VLR is designed for greater load capacity, by 160% size scaling. After building a prototype, experiments are performed. The speed and traction force are measured to validate the performance of the proposed robot. Through these experiments, it was found that the speed of the robot increases by 2.2 times and the traction force increases by 1.4 times using the proposed mechanism compared to the design without load decoupling.

关键词： Legged locomotion Force Friction Joints Hip Springs

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Global Exponential Stabilization on the n-Dimensional Sphere

Global Exponential Stabilization on the n-Dimensional Sphere

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American Control Conference

作者： Pedro Casau Christopher G. Mayhew Ricardo G. Sanfelice Carlos Silvestre Department of Electrical and Computer Engineering and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal Department of Computer Engineering University of California Santa Cruz CA 95064 Department of Electrical and Computer Engineering of the Faculty of Science and Technology of the University of Macau Macao China

ISBN: (纸本)9781479917730

In this paper, we show that the existence of centrally synergistic potential functions on the n-dimensional sphere, denoted by S~n, is a sufficient condition for the global asymptotic stabilization of a point in S~n. Additionally, if these functions decrease exponentially fast during flows and are bounded from above and from below by some polynomial function of the tracking error, then the reference point can be globally exponentially stabilized. We construct two kinds of centrally synergistic functions: the first kind consists of a finite family of potential functions on S~n while the second kind consists of an uncountable number of potential functions on S~n. While the former generates a simpler jump logic, the latter is optimal in the sense that it generates flows with minimal length.

关键词： Tin Manifolds Robots Trajectory Robustness Three-dimensional displays computers

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