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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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A sensor system for the localisation of climbing robots 一种用于爬行机器人定位的传感器系统
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240906
Carsten Hillenbrand, K. Berns
{"title":"A sensor system for the localisation of climbing robots","authors":"Carsten Hillenbrand, K. Berns","doi":"10.1109/ROMOCO.2004.240906","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240906","url":null,"abstract":"This paper describes the development of a sensor system for the localization and navigation of climbing robots. Based on 3 angular velocity sensors, 3 accelerometers and a dead reckoning wheel, the position and the orientation of a climbing machine are determined. Also the electronic concept is introduced, which allows the calculation of position and orientation in real-time.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"24 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":"131467729","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
A simple stability study for a biped walk with under and over actuated phases 一个简单的两足行走的稳定性研究下和过驱动阶段
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240638
S. Miossec, Y. Aoustin
{"title":"A simple stability study for a biped walk with under and over actuated phases","authors":"S. Miossec, Y. Aoustin","doi":"10.1109/ROMOCO.2004.240638","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240638","url":null,"abstract":"We numerically study the orbital stability with Poincare map in seven dimensions of a cyclic dynamically stable gait which is composed of single and double support phases and impacts. Physical constraints as ground reactions and limited torques are taken into account with the control. The double support is used to improve the stability of the biped. Numerical tests are presented, where the maximum modulus of the eigenvalues of the linearized Poincare map around the fixed point of the periodic motion is checked with the power method to be less than one, to ensure stability.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"8 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":"121609577","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
Real time controller for a nonholonomic mobile robot 非完整移动机器人的实时控制器
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240587
J. Majchrzak, M. Michalski
{"title":"Real time controller for a nonholonomic mobile robot","authors":"J. Majchrzak, M. Michalski","doi":"10.1109/ROMOCO.2004.240587","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240587","url":null,"abstract":"In this paper the usage of controller implemented in real time operating system (RTAI Linux) for nonholonomic robot control is presented. The multilayer controller enables user interaction for on-line performance visualization and setting of parameters for reference trajectory and control algorithm. To verify and present capabilities of the controller, a kinematic oscillator algorithm was chosen, which has nontrivial computing requirements. The algorithm's parameters used to control real object were set during simulations performed with described controller. The paper presents results of simulations and real robot behavior experiments as well.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"145 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":"127488024","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
The fuzzy logic application in rapid prototyping of mechatronic systems 模糊逻辑在机电系统快速成型中的应用
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240654
T. Buratowski, T. Uhl
{"title":"The fuzzy logic application in rapid prototyping of mechatronic systems","authors":"T. Buratowski, T. Uhl","doi":"10.1109/ROMOCO.2004.240654","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240654","url":null,"abstract":"This paper presents problems connected with the fuzzy logic application in identification of dynamic motion equations derived on the basis of Maggi equations for a 2-wheeled mobile robot. Online identification structure has been presented with the use of fuzzy logic algorithms.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"415 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":"122793477","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
Feedback error learning neural network applied to a scara robot 反馈误差学习神经网络在scara机器人中的应用
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240645
F. Passold, M. Stemmer
{"title":"Feedback error learning neural network applied to a scara robot","authors":"F. Passold, M. Stemmer","doi":"10.1109/ROMOCO.2004.240645","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240645","url":null,"abstract":"This paper describes experimental results applying artificial neural networks to perform the position control of a real scara manipulator robot. The general control strategy consists of a neural controller that operates in parallel with a conventional controller based on the feedback error learning architecture. The main advantage of this architecture is that it does not require any modification of the previous conventional controller algorithm. MLP and RBF neural networks trained online have been used, without requiring any previous knowledge about the system to be controlled. The approach has performed very successfully, with better results obtained with the RBF networks when compared to PID and sliding mode positional controllers.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"29 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":"126428069","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
Using an extended Kalman filter for relative localisation in a moving robot formation 利用扩展卡尔曼滤波在移动机器人编队中进行相对定位
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240902
Frank E. Schneider, D. Wildermuth
{"title":"Using an extended Kalman filter for relative localisation in a moving robot formation","authors":"Frank E. Schneider, D. Wildermuth","doi":"10.1109/ROMOCO.2004.240902","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240902","url":null,"abstract":"This work presents a new approach to relative position estimation in multi robot systems. The information of laser scanner systems is used to estimate the relative positions between each other. An extended Kalman filter (EKF) is used to combine this information into one continuously updated position estimation. All robots of a group use these data in order to generate one common coordinate system. Experimental results are presented including formation movement as an example application.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"53 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":"128632970","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: 21
Application of different imaging techniques in medical diagnostics and therapy 不同影像技术在医学诊断和治疗中的应用
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240567
A. Cysewska-Sobusiak, A. Sowier, P. Skrzywanek
{"title":"Application of different imaging techniques in medical diagnostics and therapy","authors":"A. Cysewska-Sobusiak, A. Sowier, P. Skrzywanek","doi":"10.1109/ROMOCO.2004.240567","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240567","url":null,"abstract":"The major goal of the paper is to present attributes of selected combined methods of imaging techniques used to aid diagnostics and minimally invasive surgical manipulations. Advantages and limitations of these methods are discussed here on the basis of several examples of real interventions. Different imaging techniques were used, including video endoscopy, X-ray, and ultrasound imaging to improve efficiency of complex diagnostic and therapeutic procedures.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"93 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":"114334280","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
Control of autonomous and semi-autonomous systems 自主和半自主系统的控制
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240565
R. D’Andrea
{"title":"Control of autonomous and semi-autonomous systems","authors":"R. D’Andrea","doi":"10.1109/ROMOCO.2004.240565","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240565","url":null,"abstract":"This brief paper outlines several test-beds at Cornell University used for research in control of autonomous and semi-autonomous systems. In this paper we discuss four test-beds, and the key research questions associated with these test-beds: an autonomous flying vehicle, a formation flight experiment, and the Cornell RoboCup and RoboFlag projects.","PeriodicalId":176081,"journal":{"name":"Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)","volume":"134 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":"128265011","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
Steps toward derandomizing RRTs 非随机化RRTs的步骤
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240739
Stephen R. Lindemann, S. LaValle
{"title":"Steps toward derandomizing RRTs","authors":"Stephen R. Lindemann, S. LaValle","doi":"10.1109/ROMOCO.2004.240739","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240739","url":null,"abstract":"We present two new motion planning algorithms, based on the rapidly exploring random tree (RRT) family of algorithms. These algorithms represent the first work in the direction of derandomizing RRTs; this is a very challenging problem due to the way randomization is used in RRTs. In RRTs, randomization is used to create Voronoi bias, which causes the search trees to rapidly explore the state space. Our algorithms take steps to increase the Voronoi bias and to retain this property without the use of randomization. Studying these and related algorithms would improve our understanding of how efficient exploration can be accomplished, and would hopefully lead to improved planners. We give experimental results that illustrate how the new algorithms explore the state space and how they compare with existing RRT algorithms.","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":"130742261","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: 48
Force control of a Scara robot using neural networks Scara机器人的神经网络力控制
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI: 10.1109/ROMOCO.2004.240735
F. Passold, M. Stemmer
{"title":"Force control of a Scara robot using neural networks","authors":"F. Passold, M. Stemmer","doi":"10.1109/ROMOCO.2004.240735","DOIUrl":"https://doi.org/10.1109/ROMOCO.2004.240735","url":null,"abstract":"This paper describes experimental results achieved by applying artificial neural networks (NNs) in trying to perform force/position control of a real Scara manipulator robot. The general control strategy consists of a neural controller that operates in parallel with a conventional controller based on feedback error learning architecture. Two NNs are used: one for the position loop control and another to the force loop control based on the structure known as the hybrid force/position control. The main purpose was to let the NNs compensate the dynamical effects that arises when a manipulator is in contact with an environment. Successful results have been achieved for the position loop control but practical problems were observed which are related to the force loop control using NNs even with different sets of input data for this NN. Practical problems are discussed.","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":"114086801","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
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