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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Berges A. Bowling Robotics and Dynamic Systems Laboratory AeroSpace and Mechanical Engineering Department University of Notre Dame Notre Dame IN USA

An energetic approach to the impact problem in planar legged robot locomotion is hereby presented. The goal is to find the configurations that yield zero tangential velocity at the impacting leg, a condition known as sticking, and restitute the least energy back into the system. With this analysis, the ground contact friction and the inertial properties of the system, including those of the servo motors, play a determinant role in the impact analysis. This approach yields an energetic criterion for the analysis of the transition from impact to contact constraint conditions. This paper presents a simple, robust method that uses the system generalized coordinates and velocities, the Jacobian, the mass matrix, the coulomb friction law, and the energetic coefficient of restitution to determine whether or not the current configuration is advantageous for maintaining contact, and thereby controllability, in the presence of impulsive forces.

关键词： Legged locomotion Robot kinematics Friction Jacobian matrices Leg Servomechanisms Servomotors Robust control Transmission line matrix methods Controllability

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Step-climbing analysis of a novel tracked robot

Step-climbing analysis of a novel tracked robot

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2005 IEEE International Conference on robotics and Biomimetics, ROBIO

作者： Guangping, Lan Shugen, Ma Dept. of Systems Engineering Faculty of Eng. Ibaraki University 4-12-1 Nakanarusawa-Cho Hitachi Ibaraki 316-8511 Japan Robotics Laboratory CAS Shenyang Institute of Automation 114 Nanta Street Shenyang 110015 China

ISBN: (纸本)0780393155

In this paper, we introduce a novel crawler-driven module that is capable of climbing over high steps autonomously, and present the cooperative driving of these two crawler-driven modules for increasing the robot mobility of step-climbing. The proposed mechanism of the crawler-driven module equipped with planetary gear reducers can provide two outputs in different form only be one actuator. Through experimental tests, it is known that the developed crawler-driven module can not only move on the even ground but also pass over high steps without any sensors for discriminating obstacles and any extra actuators or mechanisms for assistance. It is also shown by experimental tests that the mobility of the crawler-driven mechanism can be highly improved by cooperatively driving two of these crawler-driven modules. © 2005 IEEE.

关键词： Mobile robots

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Step-climbing analysis of a novel tracked robot

Step-climbing analysis of a novel tracked robot

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IEEE International Conference on robotics and Biomimetics

作者： Guangping Lan Shugen Ma Department of Systems Engineering Faculty of Engineering Ibaraki University Hitachi Japan Robotics Laboratory CAS Shenyang Institute of Automation Shenyang China

关键词： Mobile robots robotics and automation Actuators Crawlers Orbital robotics Gears Testing Joining processes Vehicles systems engineering and theory

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Development of a novel crawler for irregular terrain access

Development of a novel crawler for irregular terrain access

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

作者： Guangping Lan Shugen Ma K. Inoue Department of Systems Engineering Ibaraki University Hitachi Ibaraki Japan CAS Shenyang Institute of Automation Robotics Laboratory Shenyang China

We propose a novel (racked mechanism, called as "rotatory crawler", which can be applied to mobile robots in irregular environment. The foremost innovation in this crawler is that it adopts a planetary gear reducer and a triangular gear reducer as power transmission. The characters of the planetary gear reducer enable the crawler to provide two outputs in different form only by one actuator. The rotatory crawler can move on flat ground like a normal tracked vehicle, it also can overcome high obstacles such as steps or stairs by rotating its both sides of crawler units wholly.

关键词： Crawlers Mobile robots Gears Service robots robotics and automation Land vehicles Road vehicles Orbital robotics Vehicle safety systems engineering and theory

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Analysis of stairs-climbing ability for a tracked reconfigurable modular robot

Analysis of stairs-climbing ability for a tracked reconfigur...

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

作者： Jinguo Liu Yuechao Wang Shugen Ma Bin Li Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation China Graduate School of Chinese Academy of Sciences Bejing China Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation (SIA) China Department of Systems Engineering Ibaraki University JAPAN

ISBN: (纸本)078038945x

Stairs-climbing ability is the crucial performance of mobile robot for urban environment mission such as urban search and rescue or urban reconnaissance. The track type mobile mechanism has been widely applied for its advantages such as high stability, easy to control, low terrain pressure, and continuous drive. Stairs-climbing is a complicated process for a tracked mobile robot under kinematics and dynamics constraints. In this paper, the stairs-climbing process has been divided into riser climbing, riser crossing, and nose line climbing. During each climbing process, robot's mobility has been analyzed for its kinematics and dynamics factor. The track velocity and acceleration's influences on riser climbing have been analyzed. And the semiempirical design method of the track grouser and the module length has been provided in riser crossing and nose line climbing correspondingly. Finally, stairs-climbing experiments have been made on the two-module robot in line type, and three-module robot in line type and in triangle type respectively.

关键词： Mobile robots robotics and automation Kinematics Vehicle dynamics Nose Medical robotics Wheels Stability Pressure control Safety

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Recognizing interaction from a robot's perspective

Recognizing interaction from a robot's perspective

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： T. Salter F. Michaud K. Dautenhahn D. Letourneau S. Caron LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada Adaptive Systems Research Group School of Computer Science University of Herfordshire Hatfield UK

For meaningful interaction between a robot and a human, an autonomous robot must recognize whether the experienced situation is created by people or by the environment. Using only proprioceptive data from a mobile robotic platform, we discover that it is possible to distinguish sensory data patterns involving interaction. These patterns are obtained whilst navigating varying environments, both human populated and unpopulated. The paper reports the initial set of trials using Roball, a spherical mobile robot. Also described is the experimental methodology currently followed to validate the hypothesis that child interaction can be perceived directly from navigation sensors onboard a robotic platform.

关键词： Robot sensing systems Mobile robots Human robot interaction Navigation Intelligent robots Sensor phenomena and characterization Infrared sensors Educational institutions Plastics Mobile computing

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IVS O5: New developments and research trends for intelligent vehicles

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IEEE Intelligent systems 2005年第4期20卷 10-14页

作者： Wang, Fei-Yue Li, Li Song, Jingyan Niehsen, Wolfgang Zheng, Nan-Ning University of Arizona Chinese Academy of Science United States University of Arizona United States Tsinghua University China Chinese Academy of Sciences China Robert Bosch Corporate Research United States Xi'an Jiaotong University China Department of Automation Tsinghua University Beijing China University of Arizona's Systems Industrial Engineering Department United States University's Program in Advanced Research of Complex Systems United States Key Laboratory of Complex Systems and Intelligence Science Chinese Academy of Sciences China Robert Bosch Corporate Research United States Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University China

Recent advances and research trends for intelligent vehicles were studied. Vehicle-state sensing focuses on measuring a vehicle's movement and monitoring its actuators. Individual-vehicle-control research focuses mainly on guaranteeing driving safety. The results suggest that intervehicle, vehicle-roadside, and vehicle-driver information sharing currently the most attractive trend in intelligent-vehicle research.

关键词： Intelligent vehicle highway systems

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Localization of multiple robots with simple sensors

Localization of multiple robots with simple sensors

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IEEE International Conference on Mechatronics and Automation

作者： M. Peasgood C. Clark J. McPhee Laboratory for Intelligent and Autonomous Robotics Department of Mechanical Engineering University of Waterloo Waterloo ONT Canada Motion Research Group Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada

This paper presents a distributed particle filter algorithm for localizing multiple mobile robots that are equipped only with low cost/low power sensors. This method is applicable to multi-micro robot systems, where size limitations restrict sensor selection (e.g. small infrared range finders). Localization of three robots in a known environment is conducted by combining measurements from a small number of simple range sensors with inter-robot distances obtained through an acoustic range finder system. The localization problem is formulated as estimating the global position and orientation of a single triangle, where corners of the triangle represent the positions of robots. The robot positions relative to the centroid of the triangle are then determined by trilateration using the inter-robot distance measurements. Each robot uses an identical particle filter algorithm to estimate the global position of the triangle. The best estimates determined by each particle filter are distributed among the robots for use in the following iteration. Simulations demonstrate the ability to perform global localization of three robots, each using a compass and two range finders. The results illustrate that this method can globally localize the robot team in a simulated indoor environment The results are compared to simulations where robots have access to only their own sensor data, which are unable to successfully localize under equivalent conditions.

关键词： Robot sensing systems Particle filters Acoustic sensors Sensor systems Infrared sensors Mobile robots Costs Acoustic measurements Distance measurement Indoor environments

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Development of a shape shifting robot for search and rescue

Development of a shape shifting robot for search and rescue

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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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Remote sensing and teleoperation of a mobile robot via the Internet

Remote sensing and teleoperation of a mobile robot via the I...

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International Conference on Information and Automation (ICIA)

作者： X. Xue S.X. Yang M.Q.-H. Meng Advanced Robotics and Intelligent Systems Laboratory University of Guelph Guelph ONT Canada Department of Electronic Engineering Chinese University of Hong Kong New Territories Hong Kong China

Teleoperations are desirable when robots are not able to deal with a certain task autonomously. On the other hand, using mobile robots equipped with sensors provide a way to acquire the information in a hazardous environment. With the mature and universal Internet technology, Internet-based teleoperation of robotic system has created new opportunities in resources sharing, long-distance learning, and remote experimentation. This paper introduces a network-enabled teleoperation system with a wireless mobile robot, which involves TCP/IP, socket and le cache technology. The operator can receive the dynamic sensor information and teleoperate the mobile robot via the Internet through a control panel. Experiments on wall-following in an indoor environment demonstrated the effectiveness of this teleoperation system.

关键词： Remote sensing Mobile robots Internet Robot sensing systems Control systems Intelligent robots Humans Hardware Telerobotics Vehicle dynamics

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