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IEEE International Conference on robotics and Automation (ICRA)

作者： Dejun Guo Hesheng Wang Weidong Chen Ming Liu Zeyang Xia Kam K. Leang DARC (Design Automation Robotics & Control) Lab University of Utah Robotics Center Salt Lake City Utah USA State Key Laboratory of Robotics and System (HIT) Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong China Institute of Biomedical and Health Engineering Chinese Academy of Sciences Shenzhen China

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Cameras Robot vision systems Kinematics Mobile robots Calibration Automation

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Matrix ODE Tool for Solution of Matrix-valued ODE with Application to Online Time-varying Matrix Inversion 13

Matrix ODE Tool for Solution of Matrix-valued ODE with Appli...

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Yunong Zhang Nanhao Wang Jiadi Wang Chen Peng Yingbiao Ling School of Information Science and Technology Sun Yat-sen University (SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781509013463

In modern engineering researches, dynamics of systems are often studied by well-design computer simulations,and these dynamics are usually depicted in the form of vectoror matrix-valued ordinary differential equation(ODE) systems.A common approach for solution of matrix-valued ODE in MATLAB is to use the Kronecker product and vectorization technique. However, the vectorization procedure may be troublesome, and it can be difficult if not impossible to vectorize a complicated matrix-valued ODE(especially when it is nonlinear).Differing from the traditional approach, this paper proposes an elegant, compact and effective tool(named MatrixO DE)for solving a matrix-valued ODE with arbitrary right hand side. As a complement and extension of the built-in solvers in MATLAB, the proposed MatrixO DE tool allows solving a matrix-valued ODE using matrix language directly, i.e., users do not need to perform matrix-vector transformations. Application of the proposed MatrixO DE tool to online time-varying matrix inversion further substantiates its effectiveness for matrix-valued ODE solving.

关键词： Special software for simulation dynamical equations scientific computation matrix-valued ODE time-varying matrix inversion

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Sigmoid Function Aided Zhang Dynamics control for Output Tracking of Time-Varying Linear System with Bounded Input 35

Sigmoid Function Aided Zhang Dynamics Control for Output Tra...

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第35届中国控制会议

作者： ZHANG Yunong ZHANG Deyang QIU Bibbin WANG Jinjin LI Jian School of Information Science and Technology Sun Yat-sen University (SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781509009107

This paper investigates the output-tracking control of time-varying linear（TVL） *** that the input is always limited in a range due to actuator physical constraints or energy-saving *** combining the Zhang dynamics（ZD） and the sigmoid function,an effective controller,termed sigmoid function aided ZD（SFAZD） controller,is designed for tracking the TVL *** verifications substantiate that the proposed SFAZD controller can achieve accurate tracking results,and limit the input in the range during the tracking process.

关键词： Tracking control Time-Varying Linear System Zhang Dynamics Sigmoid Function Bounded Input

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Complete Framework of Jerk-Level Inverse-Free Solutions to Inverse Kinematics of Redundant Robot Manipulators 35

Complete Framework of Jerk-Level Inverse-Free Solutions to I...

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第35届中国控制会议

作者： ZHANG Yunong HE Liangyu LUO Jiawei TAN Hongzhou School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781509009107

By applying the gradient dynamics(GD) and Zhang dynamics(ZD) to the motion planning and control for redundant robot manipulators at the joint-jerk level,three novel types of inverse-free solutions,namely Z2G1 type,Z1G2 type and Z0G3 type,are thus proposed,developed and investigated in this *** solutions only need to calculate the transpose of Jacobian matrix rather than the complex pseudo-inverse of Jacobian matrix,more efficiently resolving the complicated time-varying inverse-kinematics(IK) problem for robot ***,the path-tracking applications based on a 4-link robot manipulator show that the manipulator's motion is pretty smooth,fully illustrating the effectiveness,accuracy and superiority of such inverse-free ***,it is the first time for the researchers to propose a relatively complete inverse-free solution framework at the joint-jerk *** proposed approaches can provide effective solutions to the motion planning and control at different levels(e.g.,the joint-velocity,joint-acceleration and joint-jerk levels),having a wider application range and also obtaining a perfect tracking performance for redundant robot manipulators.

关键词： Joint-Jerk Level Robot Manipulators Motion Planning and control Inverse-Free Solutions Framework

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control 5.0: From Newton to Merton in Popper's Cyber-Social-Physical Spaces

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IEEE/CAA Journal of Automatica Sinica 2016年第3期3卷 233-234页

作者： Fei-Yue Wang IEEE State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences (SKL-MCCS CASIA) Research Center of Computational Experiments and Parallel Systems The National University of Defense Technology

The future of control in cyberspace of parallel worlds is discussed. It argues for the coming age of control 5.0,the control technology for the new IT capable of dealing with artificial worlds with VR, AR, AI and robotics. The discipline of automation needs a new interpretation of its core knowledge and skill set of modeling, analysis, and control for cyber-socialphysical systems, and a paradigm shift from Newtonian systems with Newton's Laws or Big Laws with Small Data to Mertonian systems with Merton's Laws or Small Laws with Big Data.

关键词： control 5.0 parallel control knowledge automation CPS CSP CPSS Merton Wiener Popper

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Teleoperation control for Bimanual robots based on RBFNN and Wave Variable

Teleoperation Control for Bimanual robots based on RBFNN and...

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2017 9th International Conference on Modelling, Identification and control (ICMIC 2017)

作者： Xingjian Wang Chenguang Yang Junpei Zhong Rongxin Cui Min Wang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of Technology Zienkiewicz Centre for Computational Engineering Swansea University National Institute of Advanced Industrial Science and Technology School of Marine Science and Technology Northwestern Polytechnical University

In this paper,a dual arm control method in a teleoperation system is *** a bimanual robot,moving a common object precisely requires real-time cooperation between the two *** such conditions the force interaction including the internal forces applied on the object must be taken into *** the dynamics models for master device,slave robot and the object are first *** the presence of the uncertainties in the dynamics model of the remote robot,a neural network method is used for compensation in the slave *** order to guarantee the stability of the teleoperation system,the wave variable approach is employed in the communication *** the controllers in both the master and the slave part are designed based on their dynamics *** the tracking convergence and system stability are proven by the Lyapunov *** simulation experiments are carried out to show the good performance of trajectory tracking and force reflection.

关键词： Bimanual Robot Teleoperation control Wave Variable RBF NN

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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

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IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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Cloud-aided state estimation of a full-car semi-active suspension system

arXiv

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arXiv 2017年

作者： Zhang, Lixian Yin, Xunyuan Shen, Junnan Yu, Haitao Research Institute of Intelligent Control and System Harbin Institute of Technology Harbin150080 China Department of Chemical and Materials Engineering University of Alberta EdmontonT6G 2V2 Canada State Key Laboratory of Robotics and Systems Harbin Institute of Technology 150001 China

In this work, we investigate a state estimation problem for a full-car semi-active suspension system. To account for the complex calculation and optimization problems, a vehicle-to-cloud-to-vehicle (V2C2V) scheme is utilized. Moving horizon estimation is introduced for the state estimation system design. All the optimization problems are solved in a remotely-embedded agent with high computational ability. Measurements and state estimates are transmitted between the vehicle and the remote agent via networked communication channels. The effectiveness of the proposed method is illustrated via a set of simulations. Copyright © 2017, The Authors. All rights reserved.

关键词： state estimation

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Teleoperation control of Baxter Robot based on Human Motion Capture

Teleoperation Control of Baxter Robot based on Human Motion ...

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IEEE International Conference on Information and Automation

作者： Guangzhu Peng Chenguang Yang Yiming Jiang Long Cheng Peidong Liang Key Lab of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781509041039

The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.

关键词： Teleoperation control Baxter Robot Human Motion Capture

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A 6D-ICP approach for 3D reconstruction and motion estimate of unknown and non-cooperative target

A 6D-ICP approach for 3D reconstruction and motion estimate ...

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第28届中国控制与决策会议

作者： Ke Wang Hong Liu Bensheng Guo Yunfeng Gao State Key Laboratory of Robotics and Systems Harbin Institute of Technology

ISBN: (纸本)9781467397155

For on-orbit maintenance and service of space robot,this paper presents a 6D-ICP approach for 3D reconstruction and state estimate of unknown non-cooperative target based on stereo *** flow is applied to target image features tracking in each monocular camera extracted by Harris detector across successive *** features tracked successively in each camera will be matched between two cameras,and corresponding 3D structure points on the targets are generated *** use 6D ICP-based method to estimate the target state and reconstruct 3D target *** experimental results are shown to demonstrate the feasibility of the proposed method.

关键词： space robot 6D-ICP 3D reconstruction unknown non-cooperative target

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