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

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Independent torque and stiffness adjustment of a pneumatic direct rotary soft-actuator for adaptable human-robot-interaction 适用于人机交互的气动直接旋转软执行器的独立扭矩和刚度调节
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002257
D. Baiden, O. Ivlev
{"title":"Independent torque and stiffness adjustment of a pneumatic direct rotary soft-actuator for adaptable human-robot-interaction","authors":"D. Baiden, O. Ivlev","doi":"10.1109/RAAD.2014.7002257","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002257","url":null,"abstract":"An important property of rehabilitation robots required for safe and human-like interaction is compliant actuation combined with light-weight design. This requirement can be fulfilled by fluidic soft-actuators like pneumatic muscles due to inherent passive compliancy and high power to weight ratio. However because of the nonlinear dependency on actuator chamber contraction and air pressure as well as friction effects control of such actuator type still remains challenging, even for common position or force control. For human-robot-interaction (HRI) it is necessary to adapt the actuator output characteristics appropriately depending on the manipulation task and/or the capabilities of the individual person. This paper presents an approach to independently adjust torque and compliance/stiffness of a soft-actuator with direct acting antagonistic rotary elastic chambers (REC) and illustrates a possible example of application with an exoskeleton robot for lower extremities training.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"62 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":"132348603","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
Strategic behavior of the group of mobile robots for robosoccer (category Mirosot) 机器人足球(Mirosot类)移动机器人群体的策略行为
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002266
Marek Sukop, M. Hajduk, R. Jánoš
{"title":"Strategic behavior of the group of mobile robots for robosoccer (category Mirosot)","authors":"Marek Sukop, M. Hajduk, R. Jánoš","doi":"10.1109/RAAD.2014.7002266","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002266","url":null,"abstract":"This article is dedicated to way of implementation the overall strategy development capabilities to the application developed robotic soccer team SjF TU Robotics. Choice the overall strategy, the user can set up the basic behavior of the system. According to the master agent described in this Policy affects the behavior of players' agents in various situations. Just this level of choice it affects how the behavior of the players will look for the viewer (defensive play, offensive play, etc.).","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"49 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":"128075761","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 real-time nearly time-optimal point-to-point trajectory planning method using dynamic movement primitives 基于动态运动原语的实时近时间最优点对点轨迹规划方法
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002244
K. Springer, H. Gattringer, Christoph Stöger
{"title":"A real-time nearly time-optimal point-to-point trajectory planning method using dynamic movement primitives","authors":"K. Springer, H. Gattringer, Christoph Stöger","doi":"10.1109/RAAD.2014.7002244","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002244","url":null,"abstract":"This paper focuses on highly efficient real-time capable time-optimal trajectory planning for point-to-point motions. A method based on the concept of dynamic movement primitives is developed. Thereby an offline generated time-optimal point-to-point trajectory considering nonlinear physical constraints serves as reference for a movement primitive. Through variation of the goal position in a small range around the reference target, new nearly time-optimal point-to-point trajectories are obtained. For the required reconsideration of the physical constraints, a strategy is derived from a common minimum-time optimization problem formulation. Finally a comparison between this and existing realtime capable time-optimal trajectory planning methods is drawn using a six degree-of-freedom serial robot.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"640 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":"125973830","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
Design of compliant micro-stage based on Peaucellier-Lipkin straight-line mechanism 基于波塞利-利普金直线机构的柔性微工作台设计
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002262
J. Hricko
{"title":"Design of compliant micro-stage based on Peaucellier-Lipkin straight-line mechanism","authors":"J. Hricko","doi":"10.1109/RAAD.2014.7002262","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002262","url":null,"abstract":"Design of small robotic positioning devices is required for some special tasks in field of robotics. In the case that workspace is smaller as 1mm then only compact compliant devices could be utilized. But in the case that straight-line output motion is required too; the design of such devices is more complicated, because the parasitic deformations must be minimized. As suitable solution is seemed combination of principles straight-line devices and compliant mechanisms in design process. This paper deals with design procedures for device based on compact compliant mechanical structure, where kinematical structure of Peaucellier-Lipkin straight-line mechanism was utilized. Design problems of transformation between straight-line mechanisms and flexure structures are discussed.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"13 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":"121718427","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
Neural-genetic control algorithm of robots 机器人的神经遗传控制算法
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002243
S. Kajan, S. Kozák
{"title":"Neural-genetic control algorithm of robots","authors":"S. Kajan, S. Kozák","doi":"10.1109/RAAD.2014.7002243","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002243","url":null,"abstract":"The paper deals with a soft computing state control method for multi input - multi output (MIMO) non-linear dynamic model of a robot. Soft methods based on neural networks and genetic algorithms have proven their effectiveness for this application. They are based on quite simple principles, but take advantage of their mathematical nature: non-linear iterative computation solutions. One way of controlling such nonlinear systems is to use of neural networks as effective controllers. In this paper a new methodology is proposed, where neural controller structure and parameters are computed by a genetic algorithm (GA). The proposed approach is represented by a direct neural controller using a multilayer perceptron (MLP) network in the feedback control loop. The training method using GA allows finding optimal adjustment of neural network weights so that high performance is achieved. The proposed control method is realized in Matlab/Simulink and demonstrated on a typical non-linear system with two inputs and two outputs (two-link robot).","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"16 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":"121862287","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
Design of smart robotic mechanisms 智能机器人机构设计
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002270
S. Havlík
{"title":"Design of smart robotic mechanisms","authors":"S. Havlík","doi":"10.1109/RAAD.2014.7002270","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002270","url":null,"abstract":"Robotic mechanisms that could be denoted as “smart” are discussed in this paper. Smart mechanisms, beside their principal function in the positioning system, exhibit features that improve their performance as to functionality and reliability of the robotic device. For this reason they should integrate functions of positioning mechanics and various sensory devices. The attention in this paper is devoted to compliant mechanisms that contemporary work as multi-component force sensors designed mainly for small and micro robotic devices. The design study and performance analysis of such positioning mechanism - force sensor is presented. The smart behavior is important in cases of precise robotic devices, modular or reconfigurable robotic structures.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"1969 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":"130100398","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 portable light weight system for saffron harvesting 一种用于藏红花收获的轻便系统
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002276
A. M. Bertetto, G. Niccolini, R. Ricciu
{"title":"A portable light weight system for saffron harvesting","authors":"A. M. Bertetto, G. Niccolini, R. Ricciu","doi":"10.1109/RAAD.2014.7002276","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002276","url":null,"abstract":"The system described here is conceived as a shoulder portable device for saffron flowers detaching and collecting. The system is a portable light machine, carried by the human operator on his back during the harvesting phase of the saffron production. The main parts of the system are two: the first one is a gripper designed to detach the flower containing three stigmas, which are the costly final product; the second one is aimed to collect the detached flower through a vacuum collector. In this paper, the operating principles of detaching and collecting devices are described: a model of the gripper is written and compared to the experimental laboratory tests, The model is also used to investigate the system operating principle sensitivity to the variation of some physical characteristics of the gripper. Experimental tests on field are also described to know on field performances of the system.","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":"128849114","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
Room volume estimation based on statistical properties of binaural signals using humanoid robot 基于双耳信号统计特性的仿人机器人房间体积估计
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002274
R. Shimoyama, Reo Fukuda
{"title":"Room volume estimation based on statistical properties of binaural signals using humanoid robot","authors":"R. Shimoyama, Reo Fukuda","doi":"10.1109/RAAD.2014.7002274","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002274","url":null,"abstract":"Humans can recognize approximate room size only by binaural audition. However, sound reverberation is not negligible in most environments. The reverberation causes temporal fluctuation in the short-term Interaural Phase Differences (IPDs) of sound pressure. In this study, a novel method for estimating room volume is proposed based on the short-term IPDs of sound pressure by using a binaural humanoid robot. The humanoid robot turns its head toward a sound source, recognizes the sound source, then estimates the ego-centric distance by its stereovision. By interpolating the relations between room volume, average standard deviation and egocentric distance experimentally obtained for various rooms in a prepared database, the room volume was estimated by binaural audition from the average standard deviation of short-term IPDs at the estimated distance.","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":"130465661","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
Modeling and analysis of 3D deformable object grasping 三维可变形物体抓取建模与分析
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002259
L. Zaidi, B. Bouzgarrou, L. Sabourin, Y. Mezouar
{"title":"Modeling and analysis of 3D deformable object grasping","authors":"L. Zaidi, B. Bouzgarrou, L. Sabourin, Y. Mezouar","doi":"10.1109/RAAD.2014.7002259","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002259","url":null,"abstract":"Robotic grasping has been extensively studied in the last two decades. Most of the researches in this field have been dedicated to rigid body grasping and only few of them have considered the case of deformable objects. Nevertheless, robotized grasping of deformable objects has many potential applications in various areas including bio-medical processing, food processing industry, service robotics, robotized surgery, etc. In this paper we address the problem of the grasping of 3D deformable object using a multi-fingered robotic hand. The deformable object behavior is modeled by using a non-linear isotropic mass-spring system. In order to deal with the interactions between the manipulated body and the robotic hand fingers, a contact model is proposed. It is based on force calculations between the hemispherical finger tips and each facet of the meshed contact surfaces. The initial fingers' configuration is defined so that a force closure grasping is obtained, which eliminates any relative Euclidean motion of the manipulated object, meanwhile, a grasping criterion is optimized. Several grasping criteria are evaluated along a pick and place operation on the deformable object.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"46 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":"129051732","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
A comparison of learning-by-demonstration methods for force-based robot skills 基于力的机器人技能示范学习方法的比较
2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI: 10.1109/RAAD.2014.7002256
Aljaz Kramberger
{"title":"A comparison of learning-by-demonstration methods for force-based robot skills","authors":"Aljaz Kramberger","doi":"10.1109/RAAD.2014.7002256","DOIUrl":"https://doi.org/10.1109/RAAD.2014.7002256","url":null,"abstract":"Conventional programming techniques for robotic operations in unstructured environments are not suitable for human-like robot executions. In this paper we present a comparison of three different learning-by-demonstration techniques. A force-based representation of the learned data is presented and analyzed. The action to verify the experimental results can be related to Peg-in-Hole action. The results show which method is the most suitable to use for the specified task.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"85 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":"127196282","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
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