2012 IEEE International Conference on Robotics and Automation最新文献_第8页

Point-to-point motion planning of a parallel 3-dof underactuated cable-suspended robot 并联三自由度欠驱动悬索机器人的点对点运动规划

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224598

Nathaniel Zoso, C. Gosselin

引用次数: 49

Motion control of Tetrahymena pyriformis cells with artificial magnetotaxis: Model Predictive Control (MPC) approach 具有人工趋磁性的梨形四膜虫细胞运动控制:模型预测控制方法

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225015

Yan Ou, Dalhyung Kim, P. Kim, M. J. Kim, A. Julius

{"title":"Motion control of Tetrahymena pyriformis cells with artificial magnetotaxis: Model Predictive Control (MPC) approach","authors":"Yan Ou, Dalhyung Kim, P. Kim, M. J. Kim, A. Julius","doi":"10.1109/ICRA.2012.6225015","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6225015","url":null,"abstract":"The use of live microbial cells as microscale robots is an attractive premise, primarily because they are easy to produce and to fuel. In this paper, we study the motion control of magnetotactic Tetrahymena pyriformis cells. Magnetotactic T. pyriformis is produced by introducing artificial magnetic dipole into the cells. Subsequently, they can be steered by using an external magnetic field. We observe that the external magnetic field can only be used to affect the swimming direction of the cells, while the swimming velocity depends largely on the cells' own propulsion. Feedback information for control is obtained from a computer vision system that tracks the cell. The contribution of this paper is twofold. First, we construct a discrete-time model for the cell dynamics that is based on first principle. Subsequently, we identify the model parameters using the Least Squares approach. Second, we formulate a model predictive approach for feedback control of magnetotactic T. pyriformis. Both the model fitness and the performance of the feedback controller are verified using experimental data.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133972443","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: 16

Local Force Closure 关闭本地警力

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225091

H. Krüger, E. Rimon, A.F. van der Stappen

{"title":"Local Force Closure","authors":"H. Krüger, E. Rimon, A.F. van der Stappen","doi":"10.1109/ICRA.2012.6225091","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6225091","url":null,"abstract":"We introduce the concept of Local Force Closure. We define a local force closure grasp as a grasp which is capable of resisting some given external wrench as well as (through local variation in contact wrenches) any wrench in some neighborhood of the given wrench, with grasp quality exceeding some given threshold. Local force closure is useful in applications where a grasp only needs to resist some given external wrench, rather than fully constraining object, but where there is some uncertainty regarding the exact external wrench that needs to be resisted, or where there is a possibility of having to cope with some (relatively small) unknown disturbance forces. We show that by allowing disc-shaped fingers in contact with convex vertices of a polygonal object, any given wrench can be resisted by just two frictionless fingers. For a given polygonal object with n vertices and an external wrench wext, we show how to find all pairs of features of P, that admit grasps capable of resisting wext with grasp quality greater or equal to some threshold Q, in O(n3/2+ε + K) time, where K is the number of pairs in the output and ε is some arbitrarily small, positive constant. We then show how to adapt our algorithm to guarantee that the features reported, admit local force closure grasps.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131547057","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

The kinematics of the redundant N − 1 wire driven parallel robot 冗余N−1线驱动并联机器人的运动学

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224615

J. Merlet

引用次数: 23

Constrained filtering with contact detection data for the localization and registration of continuum robots in flexible environments 基于接触检测数据的连续体机器人定位配准约束滤波

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225080

Steven Tully, A. Bajo, G. Kantor, H. Choset, N. Simaan

{"title":"Constrained filtering with contact detection data for the localization and registration of continuum robots in flexible environments","authors":"Steven Tully, A. Bajo, G. Kantor, H. Choset, N. Simaan","doi":"10.1109/ICRA.2012.6225080","DOIUrl":"https://doi.org/10.1109/ICRA.2012.6225080","url":null,"abstract":"This paper presents a novel filtering technique that uses contact detection data and environmental stiffness estimates to register and localize a robot with respect to an a priori 3D surface model. The algorithm leverages geometric constraints within a Kalman filter framework and relies on two distinct update procedures: 1) an equality constrained step for when the robot is forcefully contacting the environment, and 2) an inequality constrained step for when the robot lies in the free-space of the environment. This filtering procedure registers the robot by incrementally eliminating probabilistically infeasible state space regions until a high likelihood solution emerges. In addition to registration and localization, the algorithm can estimate the deformation of the surface model and can detect false positives with respect to contact estimation. This method is experimentally evaluated with an experiment involving a continuum robot interacting with a bench-top flexible structure. The presented algorithm produces an experimental error in registration (with respect to the end-effector position) of 1.1 mm, which is less than 0.8 percent of the robot length.","PeriodicalId":246173,"journal":{"name":"2012 IEEE International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130711838","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: 16

Decentralised information gathering with communication costs 分散的信息收集与通信成本

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224806

Abdallah Kassir, R. Fitch, S. Sukkarieh

引用次数: 11

Correct high-level robot control from structured English 从结构化英语中正确掌握高级机器人控制

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225161

Gangyuan Jing, Cameron Finucane, Vasumathi Raman, H. Kress-Gazit

引用次数: 16

Reciprocal collision avoidance for multiple car-like robots 多类车机器人的互防碰撞

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6225166

Javier Alonso-Mora, A. Breitenmoser, P. Beardsley, R. Siegwart

引用次数: 124

Formation control of underactuated autonomous surface vessels using redundant manipulator analogs 基于冗余机械臂模拟的欠驱动自主水面舰艇编队控制

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224865

B. Bishop

引用次数: 5

Design and development of a soft robotic octopus arm exploiting embodied intelligence 利用具身智能的柔性机械章鱼臂的设计与开发

2012 IEEE International Conference on Robotics and Automation Pub Date : 2012-05-14 DOI: 10.1109/ICRA.2012.6224696

M. Cianchetti, M. Follador, B. Mazzolai, P. Dario, C. Laschi

引用次数: 64