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Locomotion Analysis and Experiment for Climbing Motion of RPRS

Locomotion Analysis and Experiment for Climbing Motion of RP...

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IEEE International Conference on robotics and automation (ICRA)

作者： Liping Zhang Shugen Ma Bin Li Guowei Zhang Xinyuan He Minghui Wang Zheng Zhang Binggang Cao School of Mechanical Engineering Xi''an Jiaotong University Xi'an China Robotics Laboratory Shenyang Institute of Automation (SIA) Chinese Academy and Sciences Shenyang China School of Engineering Ibaraki University Hitachi Japan

A new Reconfigurable Planetary Robot System (RPRS) is introduced in this paper. The locomotion mechanism, especially the static force analysis and the climbing ability for different configurations of the multiple child-robots are presented in detail. The basic configurations of two child-robots systems were given in three modes: connecting in series with arm in front or back and combining to a loop with grasper. The simulation results of these three configurations based on static analysis demonstrate that the climbing ability is closely correlated to their configurations. Compared the results, the conclusion can be obtained that the loop configuration has the best effect than others on slope climbing. The actual experiments of the child-robots system have illustrated the simulating results, and an exciting phenomenon has emerged, which shows that all the configurations can climb bigger gradient than the simulating results. The phenomenon rightly discloses the characteristic of the novel architecture of the child-robot.

关键词： Motion analysis robotics and automation Joining processes Robots Orbital robotics Humans Helium Mechanical engineering Laboratories Research and development

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Haptic Interface of Mobile Robot with Delay Time via Internet

Haptic Interface of Mobile Robot with Delay Time via Interne...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Chao Wang Xin-Ting Zhang Hong-Jun Sun Qing-Hao Meng Schilling School of Electrical Engineering and Automation Tianjin University TJU Tianjin China Informatics VII Robotics and Telematics Julius-Maximilians University Wuerzburg Wurzburg Germany

The haptic interface enables an operator to feel remote environment via Internet. However there is uncertain delay time via Internet, the feedback information can’t be gotten by the haptic interface in time. The speed of the sampling and calculation in the interface device is faster than the speed of the information feedback from the remote robot. So it is difficult for an operator to feel the force in the remote robot quickly and correctly via Internet. In this paper, A calculation method of the feedback force is proposed in order to implement the fast response of the haptic interface. The simulation results are given to show the effectiveness of the proposed method.

关键词： Haptic interfaces Mobile robots Delay effects Internet Robot kinematics Robot sensing systems Intelligent sensors Feedback Intelligent robots robotics and automation

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Modeling of human driving behavior based on piecewise linear model

Modeling of human driving behavior based on piecewise linear...

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IEEE International Symposium on Industrial Electronics 2005, ISIE 2005

作者： Kim, Jong-Hae Okuma, Shigeru Kim, Young-Woo Hwang, Don-Ha Kim, Min-Huei Kim, Dong-Hee Dept. of Electrical Engineering and Computer Science Graduate School of Engineering Nagoya University Japan Space Robotics Research Center Toyota Technological Institute Nagoya City Japan Changwon Korea Republic of Dept. of Electrical and Automation Eng. Yeungnam College of Sci. and Tech. Daegu Korea Republic of Dept. of Electrical Engineering Yeungnam University Kyongsan Kyungbuk Korea Republic of

ISBN: (纸本)0780387384

This paper presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver's stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver's sensory information and the operation of the driver such as braking amount is expressed by PWL model, which is a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the 'control low' according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver's stopping maneuver. © 2005 IEEE.

关键词： Behavioral research

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Serpentine locomotion of a snake-like robot controlled by cyclic inhibitory CPG model

Serpentine locomotion of a snake-like robot controlled by cy...

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作者： Lu, Zhenli Ma, Shugen Li, Bin Wang, Yuechao Robotics Laboratory Shenyang Institute of Automation Nanta Street Shenyang 110016 China Shenyang Ligong University Gujiazi Street Shenyang 110168 China Faculty of Engineering Ibaraki University 4-12-1 Naka-Narusawa-Cho Hitachi-Shi 316-8511 Japan Graduate School Chinese Academy of Sciences 100039 China

ISBN: (纸本)0780389123

Based on the structure of both biological snakes and snake-like robots and their rhythm locomotion, the theory of the cyclic inhibitory CPG is adopted as a control method to construct a neuron network model of the snake-like robot. The relation between the CPG parameters and the serpentine locomotion of the snake-like robot is defined in this paper. The validity of the serpentine locomotion controlled by the CPG model is verified through a snake-like robot model. The modulating methods of the CPG parameters are brought forward and simulated to realize the required turn motion and the reconfiguration. Moreover, we present that real snake-like robot can successfully exhibit serpentine locomotion by using controller output of the proposed architecture. Finally, the aspects of future researches are discussed. © 2005 IEEE.

关键词： Serpentine

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Serpentine locomotion of a snake-like robot controlled by musical theory

Serpentine locomotion of a snake-like robot controlled by mu...

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ISBN: (纸本)0780389123

Based on the structure of both biological snakes and snake-like robots and their rhythmic locomotion, the musical theory is adopted as a control method to study on a snake-like robot. The relation between the rules and symbols of the musical theory and the control process of the snake-like robot is defined in this paper. Thus the data sequence of the relative angles in the serpentine locomotion is melodized. The gait score of the serpentine locomotion is utilized to control a snake-like robot named "Perambulator-I". Finally, the aspects of the future researches are discussed. © 2005 IEEE.

关键词： Serpentine

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Design of a snake-like robot controller with cyclic Inhibitory CPG model

Design of a snake-like robot controller with cyclic Inhibito...

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2005 IEEE International Conference on robotics and Biomimetics, ROBIO

作者： Lu, Zhenli Shugen, Ma Li, Bin Wang, Yuechao Robotics Laboratory Shenyang Institute of Automation Nanta Street Shenyang 110016 China Shenyang Ligong University Gujiazi Road Shenyang 110168 China Faculty of Engineering Ibaraki University 4-12-1 Nakanarusawa-Cho Hitachi-Shi 316-8511 Japan Graduate School Chinese Academy of Sciences Beijing 100039 China

ISBN: (纸本)0780393155

Snake-like robots that behaves biological snakes' characteristics have possibility to make them supremely adapted for environment. In this paper, we firstly design a snake-like robot controller with cyclic inhibitory CPG model, and then analyze the stability of single neuron, CPG model and the neuron oscillator network (NON). By implementing this control architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot named "Perambulator-I", we present preliminary policies about parameter setting of the CPG controller for serpentine locomotion. Moreover, we show that "Perambulator-I" can successfully exhibit serpentine locomotion by using controller output of the proposed architecture. This paper provides a realistic approach to design an artificial CPG controller. ©2005 IEEE.

关键词： Robots

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Development of a shape shifting robot for search and rescue

Development of a shape shifting robot for search and rescue

引用

IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Bin Li Shugen Ma Jinguo Liu Yuechao Wang Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation China Department of Systems Engineering Faculty of Engineering Ibaraki University Japan Graduate School of Chinese Academy of Sciences Beijing China

ISBN: (纸本)078038945x

A novel link-type modular robot, which can change its shape, has been developed for potential application in urban search and rescue (USAR) operation. The advantages of the robot with link-type structure have been specified, and its shape shifting principle has been discussed. A three-module shape shifting robot has three kinds of symmetry configurations, that is, line type, triangle type and row type. Each configuration possesses its unique mobility. A tracked prototype has been built and tested under various unstructured environment Experiments have demonstrated its mobility and flexibility.

关键词： Shape Robot sensing systems robotics and automation Mobile robots Fellows Laboratories Systems engineering and theory Prototypes Testing Earthquakes

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Vision-based formation control of mobile robots with relative motion states

Vision-based formation control of mobile robots with relativ...

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IEEE International Conference on robotics and Biomimetics

作者： Shicai Liu Dalong Tan Guangjun Liu Graduate School Chinese Academy and Sciences China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences China Department of AeroSpace Engineering Ryerson University Canada

In this paper, a formation control algorithm for mobile robots is developed based on a relative motion sensory system such as a pan/tilt camera vision system, without the need for global sensing and communication between robots. This is achieved by employing the velocity variations, instead of actual velocities, as the control inputs. Simulations and experimental results have demonstrated the effectiveness of the proposed control methods

关键词： Motion control Robot control Mobile robots Communication system control Robot vision systems Control systems Cameras Machine vision Mobile communication Robot sensing systems

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Design of a snake-like robot controller with cyclic inhibitory CPG model

Design of a snake-like robot controller with cyclic inhibito...

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IEEE International Conference on robotics and Biomimetics

作者： Zhenli Lu Shugen Ma Bin Li Yeuchao Wang Graduate School of Chinese Academy of Sciences Beijing China Robotics Laboratory Shenyang Institute of Automation Sheyang China Gujiaz Road Shenyang Ligong University Sheyang China Faculty of Engineering Ibaraki University Hitachi Japan

关键词： Robot control Robot kinematics Biological system modeling robotics and automation Neurons Legged locomotion Motion control Oscillators Control systems Automatic control

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A methodological approach relating the classification of gesture to identification of human intent in the context of human-robot interaction

A methodological approach relating the classification of ges...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： C.L. Nehaniv K. Dautenhahn J. Kubacki M. Haegele C. Parlitz R. Alami Adaptive Systems Research Group School of Computer Science University of Herfordshire Hatfield Hertfordshire UK Fraunhofer Institute for Manufacturing Engineering and Automation Stuttgart Germany Robotics & Artificial Intelligence Group LAAS CNRS Toulouse France

In order to infer intent from gesture, a broad classification of types of gestures into five main classes is introduced. The classification is intended as a generally applicable basis for incorporating the understanding of gesture into human-robot interaction (HRI). Examples from human-robot interaction show the need to take into account not only the kinematics of gesture, but also the interactional context. Requirements for the operational classification of gesture by a robot interacting with humans are suggested and initial steps in its deployment are discussed.

关键词： Human robot interaction Intelligent robots Cognitive robotics Manufacturing automation robotics and automation Human computer interaction Adaptive systems Computer science Educational institutions Computer aided manufacturing

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