2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol最新文献_第3页

Control of Nonholonomic Mobile Bases Supported by Measuring of the Slipping and Skidding Variations 基于滑移和滑移变化测量的非完整移动支承控制

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.14

C. P. Peña Fernández, Jés Jesus Fiais Cerqueira, A. Lima

引用次数: 5

An Approach for Coordinating of the Cooperative Mapping in a Self-Adaptive Formation System Based on a Modification of the Ant Colony Algorithm 基于改进蚁群算法的自适应编队系统协同映射协调方法

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.16

J. R. Oliveira, R. Calvo, Roseli A. F. Romero, M. Figueiredo

{"title":"An Approach for Coordinating of the Cooperative Mapping in a Self-Adaptive Formation System Based on a Modification of the Ant Colony Algorithm","authors":"J. R. Oliveira, R. Calvo, Roseli A. F. Romero, M. Figueiredo","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.16","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.16","url":null,"abstract":"In this work, an approach for cooperative and distributed mapping in a self-adaptive formation system based on a modified version of the ant colony optimization algorithm is proposed. The strategy is distributed, decentralized, real time and it is applied to tasks in which formation characteristic is an essential requirement. The coordination system's design is inspired by the biological mechanisms that define a social organization in collective systems, specifically, the ant colony system. Voronoi tessalation and Delaunay triangulation techniques are used to model the formation strategy. The approach is adaptable for scenarios with suffer changes in the structure of the environment. The performance of the system is evaluated using a simulator. Simulation results show that the cooperative mapping is efficient, the trials are performed considering an indoor environment. Besides results show that the proposed formation approach is able to rearrange spatially the robots as they navigate, changing the relative robot distances according to the spatial environment restrictions.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121391508","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

Vision-Based Autonomous Navigation with a Probabilistic Occupancy Map on Unstructured Scenarios 非结构化场景下基于视觉的概率占用地图自主导航

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.13

R. L. Klaser, F. Osório, D. Wolf

引用次数: 5

Hardware and Software Aspects of the Design and Assembly of a New Humanoid Robot for RoboCup Soccer 机器人世界杯足球赛用新型人形机器人的软硬件设计与装配

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.39

D. Perico, I. J. Silva, Claudio O. Vilão, T. P. D. Homem, R. C. Destro, Flavio Tonidandel, Reinaldo A. C. Bianchi

引用次数: 16

Searching and Tracking Anomalies with Multiple Robots: A Probabilistic Approach 用多机器人搜索和跟踪异常:一种概率方法

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.42

David Saldaña, L. Chaimowicz, M. Campos

引用次数: 2

Improving RRT's Efficiency through Motion Primitives Generation Optimization 通过运动原语生成优化提高RRT的效率

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.20

Hiparco Lins Vieira, V. Grassi

引用次数: 4

Low Level Model Identification of a Quadrotor X3D-BL 四旋翼飞机X3D-BL的低水平模型识别

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.18

Leonardo Lelis Lopes, M. Sarcinelli Filho, A. Brandão, R. Carelli

引用次数: 1

Simulation of Rovers for Precision Agriculture 面向精准农业的漫游车仿真

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.30

John Faber Archila, Junior Marques Moreira, Victor Ivar Van Halts, Luiz Antonio Neto Alves, O. E. Rueda, M. Becker

引用次数: 6

Impedance Control of Rehabilitation Robots for Lower Limbs, Review 下肢康复机器人的阻抗控制，综述

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.53

J. C. Pérez Ibarra, A. Siqueira

{"title":"Impedance Control of Rehabilitation Robots for Lower Limbs, Review","authors":"J. C. Pérez Ibarra, A. Siqueira","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.53","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.53","url":null,"abstract":"Impedance control is commonly used in rehabilitation robots to maintain the human-robot interaction force below safe levels for the patient, and simultaneously, to control the limb position according to the desired trajectories determined by the therapy. Impedance control aims to regulate the dynamic relationship between the robot force and the actuator movement. On the other hand, design of rehabilitation robots for lower limbs demands specific features that come from their biomechanical functions as weight bearing and locomotion. This paper aims to review the main features for implementing an impedance control in a lower limb rehabilitation robot. Initially, we present a general formulation of the impedance control starting from the dynamic equations toward the most basic forms of this controller. We emphasize that impedance control enable real-time variations in the amount of assistance via the variation of the impedance parameters (inertia, damping and stiffness) of the controller without significant problems of stability. Control performance does not only depend on the control schemes but also a good selection of all the elements of the control loop, including sensors and actuators. We review on the most commonly used actuators for impedance controlled robots. Finally, we addressed the main challenges and limitations for research and development of most efficient implementations and indicates the most relevant trends that literature evidence.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129250759","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: 19

Optimization Strategies for Actuators of Kinematically Redundant Manipulators to Achieve High Dynamic Performance 运动冗余度机械手执行机构的高动态性能优化策略

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.32

João V. C. Fontes, J. C. Santos, M. M. da Silva

{"title":"Optimization Strategies for Actuators of Kinematically Redundant Manipulators to Achieve High Dynamic Performance","authors":"João V. C. Fontes, J. C. Santos, M. M. da Silva","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.32","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.32","url":null,"abstract":"It is known that the kinematic redundancy promotes, among other benefits, a significant reduction of the presence of singularities. However, the evaluation of the kinematic redundancy as a good solution to increase the dynamic performance was not studied. Kinematic redundancy corresponds to the introduction of an actuator in a kinematic chain. Due to this redundancy, the mechanism can reconfigure itself in order to avoid high torque levels. This can be generally achieved in two different manners: the offline and the online ways. The former manner is the simplest way to use redundancy since the position/orientation of the redundant actuator is modified before the desired trajectory is performed. This position/orientation is selected according to performance indexes via an optimization problem. The latter manner exploits the full capacity of the redundant actuators updating their position/orientation while the trajectory is being performed. The online optimization is implemented in two different methods: the simple online optimizes only the positions and the complex online optimizes the accelerations and positions of the redudant actuator. In order to evaluate these strategies, three kinematically redundant configurations of the 3RRR planar manipulator have been evaluated through kinematic and dynamic models: the (P)RRR+2RRR, the 2(P)RRR+RRR and the 3(P)RRR. The main objective of this paper is to evaluate the impact of the different levels of redundancy to design high performance parallel manipulators. Moreover, comparisons between the online and offline reconfiguration strategies have been done demonstrating a reduction on the required actuation forces.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132364129","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