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2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)最新文献

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Railtruck robotic spring end process operating system 轨道车辆机器人弹簧末端工艺操作系统
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002231
S. Platov, Y. Turygin
{"title":"Railtruck robotic spring end process operating system","authors":"S. Platov, Y. Turygin","doi":"10.1109/RAAD.2014.7002231","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002231","url":null,"abstract":"The present article describes the spring end process technology. The spring end plasma cutting has been reasonably chosen as the Robotic System (RS) most time saving and production cost value technology. The mentioned above method is RS implemented and has been used at the modern spring manufacturing enterprise over the period of two years. In the course of the industrial use the operation problems were identified. The quality and output rate threat was investigated. To eliminate the negative influences from the process of the RS operation and increase the output and production quality by the Robotics operating system (demonstrated further as a chart) enhancement, the goals were defined and the solution system was developed.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125964038","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
Outdoor UAV control and coordination system supported by biological inspired method 基于生物启发方法的户外无人机控制与协调系统
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002224
J. Zelenka, T. Kasanický
{"title":"Outdoor UAV control and coordination system supported by biological inspired method","authors":"J. Zelenka, T. Kasanický","doi":"10.1109/RAAD.2014.7002224","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002224","url":null,"abstract":"This paper presents control strategy for a group of multi-rotor unmanned aerial vehicles (UAV). Descripted biologically inspired method was developed to solve exploration or monitoring tasks. The proposed solution was tested in real environment on a quad-rotor UAV platform. Our abstract model is a decentralized adaptive system with a shared memory which represents the environment.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115581147","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: 14
Development of autonomous sensor based control of flying vehicles 基于自主传感器的飞行器控制研究进展
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002260
Tomas Malatinece, V. Popelka, Patrik Hudacko
{"title":"Development of autonomous sensor based control of flying vehicles","authors":"Tomas Malatinece, V. Popelka, Patrik Hudacko","doi":"10.1109/RAAD.2014.7002260","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002260","url":null,"abstract":"Nowadays design and construction of flying devices is very widely spread in amateur enthusiasts, and also in professional applications. This article focuses on the use of two different embedded platform for the collecting and processing data from sensors to provide a autonomy of a two types of flying vehicles such a classic helicopter and quadrocopter. This thesis serves many kinds of problems in field of mobile robotics, especially in problematic of UAV's. The field of interest is practical experience in automatic control, programming, communication, processing data from sensors.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129715139","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
Isotropic compliance in RRP planar manipulators RRP平面机械臂的各向同性柔度
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002272
M. Verotti, N. Belfiore
{"title":"Isotropic compliance in RRP planar manipulators","authors":"M. Verotti, N. Belfiore","doi":"10.1109/RAAD.2014.7002272","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002272","url":null,"abstract":"In the present paper, the isotropic compliance property is investigated, specifically focusing on RRP plane manipulators. The property is achieved by means of active stiffness regulation, considering three different control strategies, dependent on the joint exerting the control action. For each case, the analytical solutions and the corresponding workspace subsets are presented. To compare the three methods, the active and overall stiffness coefficients are evaluated in the postures defining the isotropic compliance subsets. The feasibility of the methods is also evaluated, considering the passive and active stiffness coefficients.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126878131","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
Estimation of mass parameters for cooperative human and soft-robots as basis for assistive control of rehabilitation devices 人与软机器人协作质量参数估计作为康复装置辅助控制的基础
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002229
André Wilkening, O. Ivlev
{"title":"Estimation of mass parameters for cooperative human and soft-robots as basis for assistive control of rehabilitation devices","authors":"André Wilkening, O. Ivlev","doi":"10.1109/RAAD.2014.7002229","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002229","url":null,"abstract":"For safe human-robot interaction, the robots, especially exoskeletons, should be transparent for the user, in a way that the user does not feel their weight. In robot-assisted orthopedic rehabilitation, where patients are often sensitive to pain and often not able to lift affected limbs by themselves, this requirement is of crucial importance. To allow patients directly after surgical intervention to participate actively, not only the weight of the robot, but also the weight of the patient's extremity must be compensated. Several assistive acting soft robotic rehabilitation devices have been developed for upper and lower extremities based on pneumatic actuators with rotary elastic chambers (REC-actuators), well suitable for human-robot interaction because of natural inherent compliance. The essential basis for developed adaptive model-based assistive control strategies, in order to provide robot transparency as well as take into account patient's behavior, effort and abilities, and support patients with high voluntary effort, are separated models of soft-robots and of individual patient's extremities. This paper presents an approach to estimate unknown mass parameters of soft robotic rehabilitation devices as well as of individual human's extremities, using a minimal number of experimental measurements as well as specific characteristics of pneumatic REC-actuators without the use of torque sensors. An experimental study shows the influence of using the models based on estimated parameters during control, using a four DoF soft-robot as well as a prototype of an assistive elbow trainer with an unimpaired subject, as first part of a upper extremity rehabilitation robot.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116492432","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: 3
Antropomorphic gripper with two symmetrical fingers, designed for industrial robots 两根对称手指的拟态夹持器，专为工业机器人设计
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002280
Marian Bolboe, I. Starețu
{"title":"Antropomorphic gripper with two symmetrical fingers, designed for industrial robots","authors":"Marian Bolboe, I. Starețu","doi":"10.1109/RAAD.2014.7002280","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002280","url":null,"abstract":"This paper describes a two-fingered anthropomorphic gripper with two phalanxes on each finger. This gripper was designed as an alternative to the very complex and expensive anthropomorphic grippers, which often show a low liability and which are not available for current gripping applications in robotic manipulation operations. In order to determine the structural and functional characteristics of the gripper, we carried out a multi-criteria analysis of 16 known anthropomorphic grippers. After completing the structural-kinematic diagram, we went on with the kinematic and static analysis, upon which the CAD project was drawn, then followed the functional simulation and the prototype. The prototype was tested on an experimental stand, while gripping different shaped objects, with all sorts of physical-mechanical characteristics. A further version will allow the installation and testing of the gripper on an industrial robot.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132949873","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: 3
Simulation of foot-ground contact for bipedal robots 双足机器人的地面接触仿真
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002254
M. Nikolic, B. Borovac, M. Raković
{"title":"Simulation of foot-ground contact for bipedal robots","authors":"M. Nikolic, B. Borovac, M. Raković","doi":"10.1109/RAAD.2014.7002254","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002254","url":null,"abstract":"This paper discusses a way of simulating of foot-ground contact for bipedal robots. For walking robots the most fundamental issue is maintaining contact between the foot and the ground. During simulation, the most common approach is to assume rigid contact between the foot and the ground. However this kind of contact cannot model sliding, foot rotation and deformation. That can create inaccurate results and compromise the simulation outcome, which can jeopardize the usefulness of the simulation at the first place. In this paper the authors present a way to simulate viscoelastic foot-ground contact in order to model contact dynamics more precisely. Firstly, the contact model for a single point is derived. After that, the contact between the foot and ground is modeled as a matrix of single point contacts. Several simulation cases which present the usefulness and ease of use of such a model are presented.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132096751","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: 3
Estimation of contact information using nonlinear optimization 用非线性优化估计接触信息
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002230
Nejc Likar, L. Žlajpah
{"title":"Estimation of contact information using nonlinear optimization","authors":"Nejc Likar, L. Žlajpah","doi":"10.1109/RAAD.2014.7002230","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002230","url":null,"abstract":"The paper presents an algorithm for estimating the contact information i.e. the contact force and the contact location. The estimation algorithm is based on the measurement of the part of joint torques which are caused by the external force. This torques may arise from a wide variety of contact situations, which makes this a complex nonlinear problem. Using some approximations, the complexity of the estimation problem is reduced and solved by the proposed algorithm based on nonlinear constrained optimization. In this paper only the robots with cylindrically shaped links are considered. The simulation and experimental results show that the proposed approach allows estimation of contact forces by using only joint torque sensors without any additional external sensory systems for detection of contacts along the robot body structure.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131834674","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
Wall climbing robots: Mechanics, control and adaptation to environment 爬墙机器人:力学、控制与环境适应
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002240
V. Gradetsky, M. Knyazkov
{"title":"Wall climbing robots: Mechanics, control and adaptation to environment","authors":"V. Gradetsky, M. Knyazkov","doi":"10.1109/RAAD.2014.7002240","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002240","url":null,"abstract":"Wall Climbing Robots (WCR) are estimated as mobile machines having possibilities to move along horizontal, vertical surfaces and to pass from one surface to another one situated under different angles to horizon. The robots are intended for various technological operations fulfillment under extreme conditions or over complex surfaces such as walls of buildings, hulls of ships, areas of vessels or tanks. Presentation includes analysis of structure and performance of robot mechanics, control and adaptation features to environment. Mechanical composition of such robots may be variable - two platforms, multilinks sliding seal. Comparison of the methods for coupling with surfaces irregularities is under consideration. It is noted that mobile robots can be equipped with one or several technological manipulators depending on the problems to be solved. Complex control problems are solving by means of multilevel control system on strategy, tactical and executive levels with embedded microprocessors and microsensors devices. To increase effectiveness, reliability and collision avoidance with the obstacles, the adaptation to changing environment was applied by means of sensory fusion control and feedback loops. Modular system design is reserved for predicted tasks and it includes such modules as mechanical transportation, information measuring, adaptive control, and technological manipulation.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115763138","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
Anthropomorphic walking design for special exoskeletons 特殊外骨骼的拟人化行走设计
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002250
Alexander A. Ptakhin, A. Aliseychik, I. Orlov, V. Pavlovsky
{"title":"Anthropomorphic walking design for special exoskeletons","authors":"Alexander A. Ptakhin, A. Aliseychik, I. Orlov, V. Pavlovsky","doi":"10.1109/RAAD.2014.7002250","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002250","url":null,"abstract":"Work deals with biped mechanical systems, so called exoskeletons. General purpose of this work is to construct control for exoskeleton motion similar to human walking. In the work the following problems are considered: kinematics synthesis based on motion capture technology, solving direct dynamics problems for finding control torques, full control system elaborating and verifying constructed system in a program of physical modeling.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123541453","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
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