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检索条件"机构=the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems"

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Modeling the stroke process in table tennis robot using neural network

Modeling the stroke process in table tennis robot using neur...

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IEEE International Conference on robotics and Biomimetics

作者： Kun Zhang Zaojun Fang Jianran Liu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781467396769

To hit incoming balls back to a desired position, it is a key factor for table tennis robot to get racket parameters accurately. For modeling the stroke process, a novel model is built based on multiple neural networks. The input data for neural networks are the ball velocity differences during the stroke, and racket parameters are the output data. To reduce the influences from the invalid data, a neural network based on each empirical data is established. The training data are clustered based on the empirical data. The way of choosing a neural network to compute the racket parameters depends on the comparison between the new coming data and the empirical data. Moreover, a novel way based on a binocular vision system to verify the stroke model is proposed. Experimental results have showed that the stroke model created via the proposed method is applicable and the verification method is effective.

关键词： modeling stroke process binocular

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IEEE International Conference on Mechatronics and Automation

作者： Ying Wu Qiang Huang Xuechao Chen Zhangguo Yu Libo Meng Gan Ma Peisen Zhang Weimin Zhang Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (纸本)9781479970995

This paper introduces the similarity evaluation on humanoid facial expression. For the purpose of understanding easily, firstly, the process of designing humanoid robot's facial expressions is explored in brief. Then, a similarity function is proposed to evaluate the similarity of the robot facial motion compared with the human being quantitatively based on both the kinematics and dynamics factors, also including how to select the key value of parameter in similarity function. Finally, the effectiveness of the similarity function is confirmed by an experiment of facial expressions based on BHR-4 robot.

关键词： Joints Kinematics Dynamics Trajectory Humanoid robots Rhythm

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A Mobile Robot Localization and Map Building Algorithm and Simulation 33

A Mobile Robot Localization and Map Building Algorithm and S...

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第三十三届中国控制会议

作者： ZHANG Qian Pei Hailong ZHANG Cheng Key Laboratory of Autonomous Systems and Networked Control (South China University of Technology) Ministry of Education

ISBN: (纸本)9781479947249

In order to realize the localization demand of mobile robot, the motion model and observation model of mobile robot were analyzed, and the mobile robot real-time localization algorithm of given map environment based on extended Kalman filtering was described. Besides, the algorithm was simulated. The landmark model of map was built in the process of simulation,and the landmark that was observed under control action was used to correct the location of mobile robot, by which the positioning of robot was realized. The result of simulation shows that the positional accuracy of this algorithm is very high. In addition, the construction method of real-time map of mobile robot was described on extended Kalman filtering under unknown environment based on this. Experimental result shows that this algorithm can identify the location of landmark accurately so as to give reference for the real-time positioning and mapping construction of mobile robot.

关键词： Mobile Robot,Extended Kalman Filtering,Localization,Map,Simulation

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Dynamic modeling and control simulation of a modified delta manipulator

Dynamic modeling and control simulation of a modified delta ...

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2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics

作者： Hao, Jianlong Xie, Xiaoliang Bian, Guibin Feng, Zhenqiu Gao, Zhanjie Hou, Zengguang Yu, Hongnian Vladareanu, Luige State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Faculty of Science and Technology Bournemouth University Poole DorsetBH12 5BB United Kingdom Robotics and Mechatronics Department Institute of Solid Mechanics Romanian Academy 15 C-tin Mille Street Bucharest 1 Romania

ISBN: (纸本)9781467391047

The delta parallel mechanism has proven to be a very successful parallel robot design and a number of variants have been proposed in the literature. Taking advantage of its simple construction and the intrinsic features such as high stiffness and accuracy, delta robots play an important role both in the fields of industrial robots and academical fields. In this paper, dynamic modeling and control simulation of a cable-driven modified delta manipulator for haptic interface are discussed. For the parallel mechanism is highly coupled and nonlinear, the dynamic model is of great importance for model-based controller to achieve a satisfactory performance. Based on the principle of virtual work, the dynamic equations of this manipulator are established. The proportional-derivative (PD) computed torque control scheme is proposed for trajectory tracking. With the help of the virtual prototype builded in ADAMS software and used in MATLAB software, the co-simulation is accomplished and the results validate the performance of the controller proposed in this paper. © 2015 IEEE.

关键词： Manipulators

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New Formula of 4-Instant g-Square Finite Difference(4Ig SFD) Applied to Time-Variant Matrix Inversion

New Formula of 4-Instant g-Square Finite Difference(4Ig SFD)...

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第27届中国控制与决策会议

作者： Yunong Zhang Jian Li Yang Shi Mingzhi Mao Hongzhou Tan School of Information Science and Technology Sun Yat-sen University SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781479970186

As the time-variant matrix inversion is considered to be one of basic problems widely encountered in a variety of scientific and engineering fields,a new formula of 4-instant g-square finite difference(4Ig SFD) for the time-variant matrix inversion is proposed and investigated,where g denotes the sampling *** that the new formula is based on Taylor expansion instead of Lagrange interpolation,and has a truncation error of O(g2).According to this novel formula,a new discrete-time Zhang dynamics(DTZD) model termed 4Ig SFD-type DTZD model is *** model uses the present and previous information to calculate the inverse of time-variant matrix for the next(or say,future) time instant with a high calculative ***,the stability and convergence of the 4Ig SFD-type DTZD model are guaranteed ***,we take different types of nonsingular time-variant matrices with different dimensions as testing examples and use different values of g in numerical *** numerical experiment results show the efficacy of the 4Ig SFD-type DTZD model for time-variant matrix inversion with truncation error being O(g3).

关键词： Finite Difference,Time-Variant Matrix Inversion,DTZD Model,Stability and Convergence,Residual Error

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Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Shared control for teleoperation enhanced by autonomous obst...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

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Inertial Guided Visual Sample Consensus based wearable orientation estimation for body motion tracking

Inertial Guided Visual Sample Consensus based wearable orien...

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IEEE International Conference on robotics and Biomimetics

作者： Yinlong Zhang Jindong Tan Wei Liang Yang Li University of Chinese Academy of Sciences Beijing China Department of Mechanical University of Tennessee Konxville TN USA Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781467396769

This paper presents a novel orientation estimate scheme using Inertial Guided Visual SAmple Consensus (IGVSAC) strategy for human body motion tracking. Unlike the traditional visual based orientation estimation methods where outliers among image-pair putative correspondences are removed based on hypothesize-and-verify models such as costly RANSAC, our approach novelly exploits motion prior information (i.e., rotation and translation) deduced from quick-response Inertial Measurement Unit (IMU) as the initial body pose to assist visual sensor in removing hidden outliers, which effectively overcomes the major drawback of those sample- and-consensus models. In addition, our IGVSAC algorithm is able to ensure the estimation accuracy even in the presence of large quantity of outliers among correspondences. Apart from that, the estimated orientation from visual sensor is, in turn, able to correct the IMU estimates using feedback control tactic, which can address IMU inherent long-term drifting issue. Extensive experiments are conducted to verify the effectiveness and robustness of our IGVSAC algorithm. The comparisons with highly accurate VICON Optical Motion Tracking System prove that our orientation estimate system is quite suitable for human body joint capturing.

关键词： Visualization Cameras Estimation Tracking Robustness Linear programming Robot sensing systems

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controller Groups of Z1G0 and Z1G1 Types for Brusselator with Efficacy and Superiority Shown

Controller Groups of Z1G0 and Z1G1 Types for Brusselator wit...

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第27届中国控制与决策会议

作者： Sitong Ding Huinan Xiao Pei Chen Mingzhi Mao Yunong Zhang School of Information Science and Technology Sun Yat-sen University (SYSU) SYSU-CMU Foshan International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

This paper focuses on solving the tracking control problem of Brusselator system using coefficients as control *** two effective controller design methods – Zhang dynamics(ZD) and gradient dynamics(GD),two types of controller groups,namely Z1G0 and Z1G1 controller groups,are *** to conventional or Z1G0 controller group,three designed Z1G1 controller groups could achieve the tracking control task of Brusselator system ***,Z1G1 controller groups could conquer the singularity problem(i.e.,the division-by-zero problem) *** on a number of numerical simulations and their related analysis,the efficacy and superiority of both Z1G0 and Z1G1 controller groups in realizing the tracking control of Brusselator system are further substantiated in this paper.

关键词： Brusselator,Zhang Dynamics(ZD),Gradient Dynamics(GD),Tracking control,Singularity

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Padded-Dyck-Path-Based Rendezvous Algorithms for Heterogeneous Cognitive Radio Networks

Padded-Dyck-Path-Based Rendezvous Algorithms for Heterogeneo...

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International Conference on Computer Communications and Networks (ICCCN)

作者： Bo Yang Meng Zheng Wei Liang Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

Rendezvous is a vital step for secondary users who want to initiate a communication in cognitive radio networks. In this paper, we propose a novel Padded-Dyck-Path-based (PDP) rendezvous algorithm that generates channel hopping sequences utilizing global channels. PDP is designed according to the roundabout Dyck path so as to increase rendezvous opportunities. As the global channels may not be shared in distributed environments, we also propose a local PDP (L-PDP) heterogeneous rendezvous algorithm that generates channel hopping sequences utilizing only local available channels. L-PDP can significantly reduce rendezvous latency and allow for distributed implementations. We prove that both PDP and L-PDP can provide guaranteed rendezvous and derive their upper bounds of rendezvous latency. Analytical and simulation results show that PDP and L-PDP outperform existing algorithms in terms of time-to-rendezvous in global and local scenarios, respectively.

关键词： Clocks Algorithm design and analysis Cognitive radio Amplitude modulation Sensors Lattices Simulation

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ZG Stabilization and Tracking control for Bilinear System of u-Integration Type

ZG Stabilization and Tracking Control for Bilinear System of...

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第27届中国控制与决策会议

作者： Yunong Zhang Yinyan Zhang Xiaogang Yan Binbin Qiu Hongzhou Tan 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)9781479970186

In this paper,the stabilization control and tracking control for a bilinear system of u-integration type are *** applying the Zhang-gradient(ZG) method,a ZG stabilization controller is designed and proposed to realize the stabilization control of the bilinear *** order to show the superiority of the proposed ZG stabilization controller for the stabilization control of the bilinear system,the comparison with the controller designed by means of the back-stepping(BS) technique is conducted via a ***,we design and propose two ZG tracking controllers for the tracking control of the bilinear system with one output and two *** addition,simulation results verify the efficacy of the proposed ZG controllers in fulfilling the stabilization and tracking control of the bilinear system.

关键词： Bilinear System,Stabilization,Tracking,control,Zhang-Gradient(ZG) Method

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