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Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)最新文献

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E-MIP: a new mechanism for dynamic coalition formation in a robot team E-MIP:机器人团队动态联盟形成的新机制
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240905
A. Chella, M. Gentile, R. Sorbello
{"title":"E-MIP: a new mechanism for dynamic coalition formation in a robot team","authors":"A. Chella, M. Gentile, R. Sorbello","doi":"10.1109/ROMOCO.2004.240905","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240905","url":null,"abstract":"When mobile robots colonies move in dynamic, not predictable and time variable environments, the problem now is on how can they achieve distributed solving strategies for solving complicate and difficult tasks. The development of a new robotic architecture for the coordination of robot colonies in dangerous and dynamic environments is outlined. The name of this new architecture is Economic Metaphor of Italian Politics (E-MIP), because it takes inspiration from the political organizations of Italian democratic governments, where the leader isn't only one robot but a government of three robots constitutes it while a second group of robots, the Robot Citizens, are the executor of the mission. Moreover, it is based on economic theories for the dynamic regeneration of the coalition in accordance with external conditions, choosing from time to time the best coalition capable to apply the most suitable strategy for the current situation. To validate the effectiveness of our approach we have realized a framework based on the MissionLab robot simulation software developed at the Mobile Robot Lab of the Georgia Institute of Technology.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121842445","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
Trajectory planning of multiple manipulators 多机械臂轨迹规划
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240908
G. Pająk, I. Pająk, M. Galicki
{"title":"Trajectory planning of multiple manipulators","authors":"G. Pająk, I. Pająk, M. Galicki","doi":"10.1109/ROMOCO.2004.240908","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240908","url":null,"abstract":"In the paper, a global method of redundancy resolution has been proposed to solve the task of trajectories planning for multiple manipulators operating in a common workspace. The task of manipulators is to follow, via end-effectors, the geometric paths given in a task space. A final time of the task performance is not fixed. The control constraints and state inequality constraints resulting from collision avoidance are taken into account. This task has been solved based on the calculus of variations. A computer example involving two planar redundant manipulators of three revolute kinematics pairs is presented.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133600023","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: 7
Practical stabilization of 4WD skid-steering mobile robot 四轮驱动滑转向移动机器人的实用稳定
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240580
D. Pazderski, K. Kozlowski, Marek Lawniczak
{"title":"Practical stabilization of 4WD skid-steering mobile robot","authors":"D. Pazderski, K. Kozlowski, Marek Lawniczak","doi":"10.1109/ROMOCO.2004.240580","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240580","url":null,"abstract":"This paper presents an algorithm based on kinematic oscillator which is used to control four wheel skid-steering mobile robot (4WD SSMR). This proposition is an extension of the original kinematic controller proposed by W.E. Dixon et al. (2001) and it allows to ensure practical stabilization (see works done by P. Morin and C. Samson (2002)) for non-admissible trajectories. In order to improve robustness of the control law, a dynamical model of SSMR is included by using backstepping technique and Lyapunov analysis. Theoretical results are verified by numerical simulations performed in Matlab/Simulink environment.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133135685","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
Visual tracking of surgical tools for laparoscopic surgery 腹腔镜手术工具的视觉跟踪
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240569
P. Dutkiewicz, Marcin Kiełczewski, M. Kowalski
{"title":"Visual tracking of surgical tools for laparoscopic surgery","authors":"P. Dutkiewicz, Marcin Kiełczewski, M. Kowalski","doi":"10.1109/ROMOCO.2004.240569","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240569","url":null,"abstract":"In this paper a concept of vision feedback in control of position of surgical tools for minimal invasive surgery (MIS) is presented. Vision feedback of robotic laparoscope positioning system for MIS is based on recognition of surgical tools on the image coming from a laparoscope camera. This information has to be used for automatic moving of camera during such operation. This is particularly useful in surgery, where the tool executes only small displacements. For laparoscopic surgeon it is very most important to keep position of the surgical tool in center of the image. In the paper, experimental results obtained using described method are presented. The prototype surgery telerobotic system is based on the Staubli robot equipped with laparoscopic camera mounted at the force-torque sensor.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122042721","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: 11
Walking control strategy for a planar under-actuated biped robot based on optimal reference trajectories and partial feedback linearization 基于最优参考轨迹和部分反馈线性化的平面欠驱动双足机器人行走控制策略
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240640
A. Chemori, A. Loría
{"title":"Walking control strategy for a planar under-actuated biped robot based on optimal reference trajectories and partial feedback linearization","authors":"A. Chemori, A. Loría","doi":"10.1109/ROMOCO.2004.240640","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240640","url":null,"abstract":"This paper deals with a control approach for a planar under-actuated biped robot based on optimal reference trajectories generation and partial feedback linearization. The basic feature of the proposed strategy is to generate, for the actuated joints, on-line optimal reference trajectories with respect to the zero dynamics. Then partial feedback linearizing control enables the tracking of these trajectories, which results in the convergence of the zero dynamics to a stable limit cycle. Simulation of a forward walking at constant mean velocity is investigated to illustrate the efficiency of the proposed scheme.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126626263","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: 11
Magnetostrictive actuator control taking hysteresis into account 考虑磁滞的磁致伸缩作动器控制
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240969
G. Szymanski, Michał Waszak
{"title":"Magnetostrictive actuator control taking hysteresis into account","authors":"G. Szymanski, Michał Waszak","doi":"10.1109/ROMOCO.2004.240969","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240969","url":null,"abstract":"Dynamics of magnetostrictive actuators exhibit hysteresis, which must be incorporated in control design. Finite element method model defined in terms of magnetic vector potential combined with magnetic hysteresis model is proposed to describe underlying phenomena. Closed loop control is coupled to the actuator model. The performance of a linear controller is studied.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114697606","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
The rationality of virtual realization of organizational functions 组织功能虚拟实现的合理性
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240588
S. Trzcielinski, Arkadiusz Dymek
{"title":"The rationality of virtual realization of organizational functions","authors":"S. Trzcielinski, Arkadiusz Dymek","doi":"10.1109/ROMOCO.2004.240588","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240588","url":null,"abstract":"In this paper the phenomena of passing some functions to external suppliers is called \"virtual realization of function\". This form is often practiced by companies as they looked for cost reduction and getting strategic advantages. Usually the decision about virtual realization of functions is taken by solving a \"make or buy\" problem, which stresses on economic criteria only. It follows from the research undertaken in companies that more holistic approach to decision making about virtual realization of function should be implemented. In this paper a multicriterion method for solving this problem is presented.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114411790","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
A new 3-DOF parallel manipulator 一种新型三自由度并联机械臂
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240571
M. Petko, G. Karpiel, D. Prusak, A. Martowicz
{"title":"A new 3-DOF parallel manipulator","authors":"M. Petko, G. Karpiel, D. Prusak, A. Martowicz","doi":"10.1109/ROMOCO.2004.240571","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240571","url":null,"abstract":"The paper presents a novel, versatile 3-RRP_RR (revolute-revolute-prismatic-revolute-revolute joints), fully-parallel manipulator with three translational degrees of freedom for pick-and-place and machining applications, characterizing in comparatively high payload capacity, large workspace and high attainable accelerations. The construction of the manipulator is shown, its kinematics and dynamics is analysed and modelled. A trajectory generator and a controller are proposed, simulated and experimentally investigated. Finally, the conclusions and future works are presented.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"133 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132695746","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: 5
Analysis of speech separation for ASR systems ASR系统的语音分离分析
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240584
A. Dabrowski, D. Cetnarowicz, T. Marciniak
{"title":"Analysis of speech separation for ASR systems","authors":"A. Dabrowski, D. Cetnarowicz, T. Marciniak","doi":"10.1109/ROMOCO.2004.240584","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240584","url":null,"abstract":"This work presents some aspects concentrated on improving quality of the voice input signal for automatic speech recognition (ASR) systems. It is clear that proper separation of the desired voice from disturbances improves the recognition performance. We have tested the independent component analysis (ICA) infomax algorithm applied to the separation of isolated words. Detection of Polish words (commands used for the remote voice control of a robot) was tested using the dynamic time warping (DTW) approach.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134478163","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
Cartesian space motion planning for robots. An industrial implementation 机器人笛卡尔空间运动规划。工业实施
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240741
G. Antonelli, S. Chiaverini, M. Palladino, G. Gerio, Gerardo Renga
{"title":"Cartesian space motion planning for robots. An industrial implementation","authors":"G. Antonelli, S. Chiaverini, M. Palladino, G. Gerio, Gerardo Renga","doi":"10.1109/ROMOCO.2004.240741","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240741","url":null,"abstract":"This work presents an industrial implementation of a minimum time path-following algorithm. The proposed algorithm handles Cartesian-space based trajectories that exhibit a trapezoidal velocity profile; point-to-point linear and circular motions as well as fly movements are considered. The proposed solution works off-line, is based on the knowledge of the dynamic-model and is not iterative; moreover, the computational burden is kept limited by suitable simplifications. The development and testing has been achieved considering a Comau SMART H4 robot, a closed-chain six-degree-of-freedom industrial manipulator.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132313684","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: 10
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