2006 IEEE 3rd Latin American Robotics Symposium最新文献_第3页

Comments on Manipulability Measure in Redundant Planar Manipulators 冗余平面机械臂可操纵性测度的若干问题

2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334333

Ad.M. Martins, A.M. Dias, P. Alsina

引用次数: 11

Evaluation of Accelerometers as Inertial Navigation System for Mobile Robots 加速度计作为移动机器人惯性导航系统的评价

2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334323

G. A. Piedrahíta, D.M. Guayacundo

引用次数: 14

Fuzzy Sliding Mode Control based on Takagi & Sugeno Model Design and its application to a Simulated Robot Hand 基于Takagi & Sugeno模型设计的模糊滑模控制及其在仿真机械手中的应用

2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334324

G. Chacon, J. Ruiz-del-Solar, D. Śaez

引用次数: 2

A Mobile Robotics Course for Undergraduate Students in Computer Science 计算机科学本科移动机器人课程

2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334322

A. Soto, P. Espinace, R. Mitnik

{"title":"A Mobile Robotics Course for Undergraduate Students in Computer Science","authors":"A. Soto, P. Espinace, R. Mitnik","doi":"10.1109/LARS.2006.334322","DOIUrl":"https://doi.org/10.1109/LARS.2006.334322","url":null,"abstract":"A first generation of mobile robots able to cope with the high uncertainty of natural environments is starting to emerge. As a consequence, there is an increasing need for theoretical and practical courses that can formally teach the state of the art of the technology. This paper describes our experience teaching a mobile robotics course as part of our computer science curriculum for undergraduate students. The course has a strong experimental part, where the goal is to provide the students with a set of hand-on experiences using real mobile robots. In particular, we show how using a simple differential drive mobile platform and a low cost visual sensor, it is possible to teach the topics that are currently most relevant to the area of mobile robot programming for autonomous navigation. The course starts by illustrating low level control routines, such as locomotion, and simple behaviors, such as obstacle avoidance and target tracking in non-structured environments. Then, as the course moves to higher level tasks such as localization and mapping, the real world becomes too complex and a more structured world is needed. A structured world, called MazeWorld is then presented where we are able to illustrate high level topics using limited perception capabilities. In addition to the main parts of the class, we also describe the perception algorithms that we developed to achieve autonomous navigation in non-structured environments and in MazeWorld. Our experience indicates that the course is highly motivating for the students. They are able to reinforce several topics from the computer science curriculum and they learn the basis for advanced coursework, research, and the development of applications in robotics and related fields, such as, artificial intelligence and computer perception","PeriodicalId":129005,"journal":{"name":"2006 IEEE 3rd Latin American Robotics Symposium","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124038848","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 13

Didactic Material Development for Robotics in Non-Formal Technology Education 非正规技术教育中机器人教学材料的开发

2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334314

D.C. Caro, G.P. Solorzano, M.F. Avellaneda, T. Bustos

{"title":"Didactic Material Development for Robotics in Non-Formal Technology Education","authors":"D.C. Caro, G.P. Solorzano, M.F. Avellaneda, T. Bustos","doi":"10.1109/LARS.2006.334314","DOIUrl":"https://doi.org/10.1109/LARS.2006.334314","url":null,"abstract":"This article details the experience of the engineering team and young technology club tutors developing didactic material for non-formal teaching of robotics in Maloka, an Interactive Science and Technology Center in Bogota, Colombia. It describes the processes of design, prototyping and evaluation of a phototropic robot, used as a motivational tool for children and youngsters. These audiences are interested on learning robotics and related topics such as mechanics, electronics and control. The process has three general stages, the first one is the definition of the pedagogic and technical guidelines that orientates the robot, followed by the formal design and the construction of prototypes, and finally, an evaluation process in non-formal education scenarios with different audiences. The document defines a set of components of evaluation that allow the analysis of the didactic material's motivational effectiveness: functionality, communication, interactivity and backgrounds recognition. The exercise results point out that a successful motivational experience depends on the technical reliability of the robot, the methodology used to explore and experiment, and the support material that guides the experience","PeriodicalId":129005,"journal":{"name":"2006 IEEE 3rd Latin American Robotics Symposium","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127079156","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

UChile1 Strikes Back, 2006 Team Description Paper UChile1 Strikes Back, 2006年团队描述论文

2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334343

J. Ruiz-del-Solar, P. Guerrero, P. Vallejos, P. Loncomilla, R. Palma-Amestoy, P. Astudillo, R. Dodds, J. Testart, D. Monasterio, A. Marinkovic

引用次数: 2

Probabilistic kick selection in robot soccer 机器人足球的概率踢法选择

2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334337

R. Dodds, P. Vallejos, J. Ruiz-del-Solar

引用次数: 5

A Biologically-Inspired Wolf Pack Multiple Robot Hunting Model 一个受生物学启发的狼群多机器人狩猎模型

2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334327

A. Weitzenfeld, A. Vallesa, H. Flores

引用次数: 39

Eagle Knights 2006: Four-Legged League 老鹰骑士队2006:四足联赛

2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334346

A. Weitzenfeld, A. Martinez, B. Mucino, G. Serrano, C. Ramos, C. Rivera

引用次数: 1

Controller Fusion Based on the Velocity Vector for Redundant Manipulator 基于速度矢量的冗余机械臂控制器融合

2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI: 10.1109/LARS.2006.334329

A.M. Dias, P. Alsina

{"title":"Controller Fusion Based on the Velocity Vector for Redundant Manipulator","authors":"A.M. Dias, P. Alsina","doi":"10.1109/LARS.2006.334329","DOIUrl":"https://doi.org/10.1109/LARS.2006.334329","url":null,"abstract":"Redundant manipulator control involves the mapping of error measured in Cartesian space (where the task is defined) to joint space (where the actuators are controlled). In classical algorithms, the mapping is made through Jacobian pseudo-inverse matrix that has a high computational cost. This work proposes a new approach for control of redundant manipulators based on controller fusion techniques. In this approach the control task is divided in subtasks. For example, a subtask can be tool positioning in a single Cartesian dimension, or obstacle avoidance, or singularity avoidance. A controller is implemented for each subtask, and these simple controllers are called subtask controllers. The resultant signals are fused to generate the control signal to be applied to the robotic arm. The fusion system analyzes the resultant signals of the subtask controllers associating a weight to each one. These weights depend of the control task. When the control task is trajectory following, a measure based on the trajectory variation is necessary. In this paper, the measure is obtained from the velocity of the reference trajectory. Preliminary tests showing the viability of subtask controllers and simulation results of the fusion algorithms are presented","PeriodicalId":129005,"journal":{"name":"2006 IEEE 3rd Latin American Robotics Symposium","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123711846","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0