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Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)最新文献

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On use of Campbell-Baker-Hausdorff-Dynkin formulas in nonholonomic motion planning Campbell-Baker-Hausdorff-Dynkin公式在非完整运动规划中的应用
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791072
I. Dulęba
{"title":"On use of Campbell-Baker-Hausdorff-Dynkin formulas in nonholonomic motion planning","authors":"I. Dulęba","doi":"10.1109/ROMOCO.1999.791072","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791072","url":null,"abstract":"In this paper discrete and continuous Campbell-Baker-Hausdorff-Dynkin formulas are used for designing the control method to steer driftless nonholonomic systems. The formulas offer complementary properties of controls: the discrete formula produces piecewise constant controls with many switches and practically without computational effort; while the continuous formula provides piecewise continuous controls with only a few switches, in computationally involved procedure. Both of the formulas can be used in nonholonomic motion planning. A simple algorithm of motion planning based on the formulas is presented. Examples of controls obtained for exemplary motion planning of a unicycle robot in an obstacle free environment are included.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121417260","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: 9
The model of the control of aerial robot with autonomous system of ground object seeking and tracking 具有地物搜索与跟踪自主系统的航空机器人控制模型
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791050
Z. Koroba
{"title":"The model of the control of aerial robot with autonomous system of ground object seeking and tracking","authors":"Z. Koroba","doi":"10.1109/ROMOCO.1999.791050","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791050","url":null,"abstract":"The paper presents a mathematical model of the dynamics and kinematics of seeking, tracking and laser illumination from the deck of a light aerial robot. It also discusses the means of determination of the control moments affecting gyroscope frames both in target seeking and tracking as well as the values of the rudder angles indispensable to the autonomous robot flight control.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121675555","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: 1
Modelling and dynamics of miliwalking robots 步行机器人的建模与动力学
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791049
J. Frączek, A. Morecki
{"title":"Modelling and dynamics of miliwalking robots","authors":"J. Frączek, A. Morecki","doi":"10.1109/ROMOCO.1999.791049","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791049","url":null,"abstract":"The results of simulation and measurement of the contact forces of miliwalking HERMES/sup TM/ robot is presented. HERMES is a six-legged miliwalking robot which incorporates high-powered processing, rich sensing and high mobility into a compact body. To develop the kinematics and dynamics of HERMES machine the model of real insect locomotion was used. In the dynamical model two contact-impact models are considered. In the first approach the model was built using general multibody formalism with differential algebraic equation the sign of the constraint force was a test to decide if the respective contact will break or not. This approach implicitly assumes that the contact forces are continuous with respect to time. The general results of the paper concern mainly with this approach. The second approach proposed by Nikravesh (1990) is based on the model which uses the general trend of the Hertz contact law. The dissipated energy in impact is represented by hysteresis form of damping function.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132457762","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
Design of autonomous hexapod 自主六足机构设计
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791054
T. Zielińska, T. Goh, Choong Kwong Chong
{"title":"Design of autonomous hexapod","authors":"T. Zielińska, T. Goh, Choong Kwong Chong","doi":"10.1109/ROMOCO.1999.791054","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791054","url":null,"abstract":"The specification of a six legged walking robot is given. The hardware, software and mechanical parameters of the autonomous hexapod are listed. Nondimensional analysis of energy consumption is presented. Correctness of the proposed design was proved on a test rig which currently consists of two legs.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128409913","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: 4
Design of reference trajectory to stabilize desired nominal cyclic gait of a biped 稳定两足动物名义循环步态的参考轨迹设计
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791069
Y. Aoustin, A. Formal'sky
{"title":"Design of reference trajectory to stabilize desired nominal cyclic gait of a biped","authors":"Y. Aoustin, A. Formal'sky","doi":"10.1109/ROMOCO.1999.791069","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791069","url":null,"abstract":"The paper presents the design of a reference trajectory to stabilize a desired nominal motion of a planar biped. It consists of five rigid links, with no feet; only the hip and knee joints are actuated. The gait is composed of alternating phases of single and double support. Biped is under actuated during single support motion. Instantaneous double support is modeled by passive impact equations. We choose the inter-link angles for four actuated articulations as polynomials depending on the angle of supporting leg shin relative to the vertical position. Final inter-link angular velocities and accelerations are assumed zeros. The configuration of our biped does not change before an impact and the biped rotates as a rigid body around the ankle joint. The nominal cyclic motion of the biped is obtained numerically. We design the Poincare map and show that this nominal motion is asymptotically stable. We then improve the stability of the nominal regime by changing the inclination of the torso during the single support phase.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127169735","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: 18
A new control algorithm in terms of normalized quasi-velocities with gravitational forces 基于归一化准速度的重力控制新算法
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791059
K. Kozlowski, P. Herman
{"title":"A new control algorithm in terms of normalized quasi-velocities with gravitational forces","authors":"K. Kozlowski, P. Herman","doi":"10.1109/ROMOCO.1999.791059","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791059","url":null,"abstract":"This paper presents a new control algorithm for manipulators whose dynamics is expressed in terms of quasi-velocities. In contrary to our previous algorithms (1995) this one also considers gravitational forces. Robot dynamic algorithms in terms of quasi-velocities are recursive in nature and consists of two recursions: one starts from a base of the manipulator towards its tip and the other in opposite direction. Both recursions are described by using vector-matrix notation. The algorithm presented makes the system stable in the sense of Lyapunov. The algorithm was tested on the model of a manipulator with two degrees of freedom.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122581694","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: 4
The stability of the adapt tracking controller of rigid and flexible joint robots 刚性和柔性关节机器人自适应跟踪控制器的稳定性
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791058
K. Kozlowski, P. Sauer
{"title":"The stability of the adapt tracking controller of rigid and flexible joint robots","authors":"K. Kozlowski, P. Sauer","doi":"10.1109/ROMOCO.1999.791058","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791058","url":null,"abstract":"This paper considers the control scheme for manipulators with elastic joints. The proposed algorithm requires only position signal measurements. This algorithm is an extension of the control algorithm proposed by Loria and Ortega (1995). We have developed for the proposed model of manipulator an adaptive version of the control algorithm, based on the Lyapunov stability theory. This algorithm ensures that the position regulation error or tracking error possess desirable convergence property: semiglobal convergence to an arbitrarily small neighbourhood of zero in the presence of bounded disturbance. This paper considers three theorems, which were used to prove that this algorithm is semiglobal stable. New adaptive control algorithms which require only link position measurements, have been developed and tested, both on PC computer and on an experimental set-up.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128233619","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: 6
Fault-tolerant dynamic control for underactuated manipulators 欠驱动机械臂的容错动态控制
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791063
M. C. Ramos, A.J. Koivo
{"title":"Fault-tolerant dynamic control for underactuated manipulators","authors":"M. C. Ramos, A.J. Koivo","doi":"10.1109/ROMOCO.1999.791063","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791063","url":null,"abstract":"The control of an underactuated serial-link manipulator can be achieved by using the coupling effects between links. The control goal is to move the end-effector from a given initial pose to a specified final pose. The proposed controller is designed based on a reduced-order model. The control scheme first moves the actuated joints to the desired positions. The desired end-effector pose is then achieved using an open loop optimal control that minimizes a penalty function; this control influences the unactuated joint via the coupling effects.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131888507","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
Design of a quadruped walking machine for terrain adaptation 地形适应四足步行机的设计
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791053
Debao Zhou, K. H. Low, T. Zielińska
{"title":"Design of a quadruped walking machine for terrain adaptation","authors":"Debao Zhou, K. H. Low, T. Zielińska","doi":"10.1109/ROMOCO.1999.791053","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791053","url":null,"abstract":"The design of a legged robot that can walk in various kinds of terrain is a subject in the development of walking machines. The body shape of the proposed robot is rectangular and a simple 2-bar mechanism is proposed as the component of the legs. There are 3 degrees of freedom in each leg. Based on the mechanical structure, the kinetic description including the direct and inverse kinematics is given. The walking sequence can then be achieved according to the kinematic analysis. Design of the robot is explained and the prototype of the robot is presented. Such a robot with its simple structure and full functions can be used as a simple and cheap device for exploration of unknown areas, for transportation, carriage, etc.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116825574","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
The use of truncated joint velocities and simple uniformed procedures in an adaptive control of mechanical devices 在机械装置的自适应控制中使用截短关节速度和简单的均匀程序
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791064
J. Tar, I. Rudas, K. Kozlowski, L. Horváth
{"title":"The use of truncated joint velocities and simple uniformed procedures in an adaptive control of mechanical devices","authors":"J. Tar, I. Rudas, K. Kozlowski, L. Horváth","doi":"10.1109/ROMOCO.1999.791064","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791064","url":null,"abstract":"This paper is a brief report on the recent improvement of a novel approach for the control of approximately and partially known multivariable, nonlinear, strongly coupled mechanical systems under dynamic interaction with an unmodeled environment. This method uses simple uniform structures and standard procedures. In contrast to the traditional approaches, instead of Kolmogorov's approximation theorem, these special structures originate from the mathematical framework of the Lagrangian mechanics. This results in a considerable reduction of modeling complexity since the number of the tunable parameters can be derived by knowing only the degree of freedom of the system to be controlled. This fact simplifies parameter tuning or \"learning\". Further advantage is that the great majority of \"scaling\" problems can be avoided in the case of the structures used here. The operation of the method is illustrated by simulation results developed for a 3 degree-of-freedom SCARA robot.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114266468","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: 4
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