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检索条件"机构=Robotics and Intelligent Control System Laboratory"

共 165 条记录，以下是151-160 订阅

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Development of an anthropomorphic flute robot for the application in science and technology museum

Development of an anthropomorphic flute robot for the applic...

引用

IEEE International Conference on robotics and Biomimetics

作者： Gao Huang Weimin Zhang Fei Meng Ye Tian Qing Shi Klaus Petersen Atsuo Takanishi Qiang Huang Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Faculty of Science and Engineering Waseda University Tokyo Japan Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479973989

To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and have a poor reliability and will not fit for the application in museums or human's daily lives. In this paper, to enable the low cost and high reliability robot to interact with humans naturally and sever humans more friendly, we imported advanced technology of the Waseda's flute robot and retained the most important mechanical parts, such as the lip, lungs and the fingers for the flute playing, on this basis, some other mechanical structures were redesigned; particularly, the robot's appearance was carefully designed; in addition, we also redesigned the hardware structure using our own joint controllers and software system based on CAN bus communication for the cost saving and high reliability. The redesigned robot had just 16 DOFs. Preliminary performance test results showed that this new redesigned robot achieved in producing high quality of flute sound and high sound conversion efficiency, and the period of communication was about 4ms.

关键词： Robot kinematics Robot sensing systems Lungs Joints Legged locomotion control systems

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Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning

Dual adaptive control of bimanual manipulation with online f...

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IEEE International Symposium on intelligent control (ISIC)

作者： Alex Smith Chenguang Yang Hongbin Ma Phil Culverhouse Angelo Cangelosi Etienne Burdet Center for Robotics and Neural Systems Plymouth University Devon UK Key Laboratory of Autonomous System and Network Control South China University of Technology Guangzhou P. R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Department of Bioengineering Imperial College London UK

A biomimetic controller with online adaptation of impedance and force is applied to a full kinematic and dynamic model of the Baxter bimanual robot. A set of fuzzy logic engines are proposed to infer the values of tuning gains which affect the control performance and control effort of the controller, which would conventionally be set to a static value based on expert knowledge of the controller; the aim of this being to avoid the use of arbitary values to set these values. A simulated experiment is carried out, where the Baxter robot is required to move an object through a trajectory while subjected to two different disturbance forces in four phases. The controller with fuzzy inferred control gains is compared against the same controller with fixed gains to gauge the effectiveness of the new method. Results show that fuzzy inference of control gains impart an improvement in both tracking error and control effort.

关键词： Trajectory Fuzzy logic Force Dynamics Mathematical model Manipulators

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Adaptive visual servoing using common image features with unknown geometric parameters

Adaptive visual servoing using common image features with un...

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作者： Liu, Yun-Hui Wang, Hesheng Chen, Weidong Zhou, Dongxiang Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin 150001 China Joint Center for Intelligent Sensing and Systems National University of Defense Technology China

This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method. © 2013 Elsevier Ltd. All rights reserved.

关键词： controllers

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Detecting, locating and crossing a door for a wide indoor surveillance robot

Detecting, locating and crossing a door for a wide indoor su...

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IEEE International Conference on robotics and Biomimetics

作者： DaWei Dai GuoLai Jiang Junbo Xin Xiang Gao LiangLiang Cui YongSheng Ou GuoQiang Fu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9781479927456

Crossing a door is usually a necessary action for autonomous patrol of an indoor surveillance robot. However, it is difficult for a large robot to cross narrow doors. In this paper, a method for detecting, locating and crossing a door for an indoor surveillance robot with Kinect is presented. Firstly, doors are detected and located based on RGB-D data collected form Kinect. Then, the conversion between robot coordinate system and world coordinate system is discussed. Thirdly, a nonlinear adaptive controller is designed for the robot to move perpendicularly through the door. Experiments were taken on a surveillance robot and the results illustrated the effectiveness of this method.

关键词： Robot kinematics Image edge detection Mobile robots Cameras Surveillance Robot sensing systems

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Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery

Kinematics analysis and trajectory planning of a multiarm me...

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6th International Conference on Complex Medical Engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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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 novel visual servoing with stereo cameras using QR decomposition and disturbance observer

A novel visual servoing with stereo cameras using QR decompo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joon-Soo Lee Il Hong Suh Bum-Jae You Sang-Rok Oh Intelligent Control and Robotics Laboratory Hanyang University Ansan Gyeonggi South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

This paper proposes a visual serving method based on QR decomposition and disturbance observer. The QR decomposition factorizes the image feature Jacobian into a unitary matrix and an upper triangular matrix. It is shown that several performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability can be improved for any general image feature Jacobian by OR decomposition and disturbance observer. To show the validities of the proposed approach, visual servoing with stereo cameras is experimented on Samsung FARAMAN 6-axis industrial manipulator.

关键词： Visual servoing Cameras Jacobian matrices Matrix decomposition controllability Manipulators intelligent control intelligent robots Robot vision systems Robot sensing systems

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intelligent compliance control for robot manipulators using adaptive stiffness characteristics

Intelligent compliance control for robot manipulators using ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Byoung-Ho Kim Nak Young Chong Sang-Rok Oh Il Hong Suh Young-Jo Cho Intelligent System Control Research Center KIST Seoul South Korea Biorobotics Division Robotics Department MEL Limited Japan Intelligent Control and Robotics Laboratory Hanyang University Seoul South Korea

A compliance control strategy for robot manipulators is proposed by employing a self-adjusting stiffness function. To be specific, each entry of the diagonal stiffness matrix corresponding to task coordinate in Cartesian space is adaptively adjusted during contact along the corresponding axis based on the contact force with its environment. It can also be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end-effector. The experimental results show the effectiveness of the proposed method by employing a two-link direct drive manipulator interacting with an unknown environment.

关键词： intelligent robots intelligent control Robot control Manipulators Programmable control Adaptive control Robot kinematics Force control Orbital robotics Servomechanisms

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A novel visual servoing approach involving disturbance observer

A novel visual servoing approach involving disturbance obser...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joon-Soo Lee Il Hong Suh Bum-Jae You Sang-Rok Oh Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea Intelligent Control and Robotics Laboratory Hanyang University Ansan Gyeonggi South Korea

To improve the visual servoing performance, several strategies have been proposed by using redundant feature points, by using a point with different height, and by a weighted selection of image features. The performance of these visual servoing methods depends on the configuration between the camera and objects. And redundant feature points require much computational efforts. The paper proposes a visual servoing method based on a disturbance observer which compensates the effect of the off-diagonal component of the image feature Jacobian to be null. The performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise, and controllability are improved when an image feature Jacobian is given as a block diagonal matrix. The proposed approach is applied to the PUMA560 and Samsung FARAMAN 6-axis industrial robot manipulators successfully.

关键词： Visual servoing Jacobian matrices Robot sensing systems Manipulators Service robots Image sensors intelligent control intelligent robots Cameras controllability

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Experiments on a visual servoing approach using disturbance observer

Experiments on a visual servoing approach using disturbance ...

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Proceedings 1999 IEEE/RSJ International Conference on intelligent Robots and systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

作者： Joon-Soo Lee Il Hong Suh Bum-Jae You Sang-Rok Oh Intelligent Control and Robotics Laboratory Hanyang University Ansan Kyunggi South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

A visual servoing method has been proposed based on a disturbance observer to eliminate the effect of the off-diagonal component of the image feature Jacobian, since performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise, and controllability could be improved when an image feature Jacobian was given as a block diagonal matrix. In this paper, experimental results of disturbance observer-based visual servoing are discussed, where a Samsung FARAMAN-ASI 6-axis industrial robot manipulator is employed. Also, the feature saturator is proposed to stabilize the disturbance observer loop by saturating the differential changes of the image features.

关键词： Visual servoing Jacobian matrices Manipulators Robot sensing systems intelligent control intelligent robots control systems controllability Service robots Image sensors

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