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2020 International Conference Nonlinearity, Information and Robotics (NIR)最新文献

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Control of adaptive mover optimal diameter taking into account multi-criteria analysis 考虑多准则分析的自适应动器最优直径控制
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290160
A. Ivanyuk, A. Makarov, Y. Serdobintsev, M. Kukhtik, Y. Kalinin
{"title":"Control of adaptive mover optimal diameter taking into account multi-criteria analysis","authors":"A. Ivanyuk, A. Makarov, Y. Serdobintsev, M. Kukhtik, Y. Kalinin","doi":"10.1109/NIR50484.2020.9290160","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290160","url":null,"abstract":"The technique of automatic control of mover diameter for increase of ground and profile passability of adaptive mobile robotic complex has been proposed. Boundary conditions and estimation criteria have been revealed and mathematical apparatus for determination of optimal diameter taking into account mass, geometric and ground characteristics has been proposed. General equation of variation of adaptive mover diameter for mobile robotic complex has been obtained in terms of dependencies graphs of optimal diameters from correlation of weighting coefficients, mass, geometric and ground characteristics.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128904531","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
A Study of the Dynamics of an Omnidirectional Platform, Taking into Account the Design of Mecanum Wheels and Multicomponent Contact Friction 考虑机轮设计和多分量接触摩擦的全向平台动力学研究
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290193
B. Adamov, G. Saypulaev
{"title":"A Study of the Dynamics of an Omnidirectional Platform, Taking into Account the Design of Mecanum Wheels and Multicomponent Contact Friction","authors":"B. Adamov, G. Saypulaev","doi":"10.1109/NIR50484.2020.9290193","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290193","url":null,"abstract":"The object of research is an omnidirectional mobile platform equipped with four mecanum wheels. The movement of the system on a horizontal plane is considered. The aim of the research is to study the dynamics of the omnidirectional platform, taking into account the design of mecanum wheels: the shape of the rollers and their finite number. The equations of motion of the onmidirectional mobile platform are derived taking into account the real design of the mecanum wheels, their slippage, and the forces of multicomponent contact friction. A comparative analysis of the results of numerical modeling for various models of contact friction is performed.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123787624","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
Theoretical and experimental investigations of the controlled motion of the Roller Racer 滚轮运动控制的理论与实验研究
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290220
K. Yefremov, T. B. Ivanova, A. Kilin, Y. Karavaev
{"title":"Theoretical and experimental investigations of the controlled motion of the Roller Racer","authors":"K. Yefremov, T. B. Ivanova, A. Kilin, Y. Karavaev","doi":"10.1109/NIR50484.2020.9290220","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290220","url":null,"abstract":"In this paper we address the problem of the motion of the Roller Racer. We assume that the angle φ(t) between the platforms is a prescribed function of time and that the no-slip condition (nonholonomic constraint) and viscous friction force act at the points of contact of the wheels. In this case, all trajectories of the reduced system asymptotically tend to a periodic solution. In this paper it is shown analytically and experimentally that the chosen control defines periodic trajectories of the attachment point of the platforms on an average along a straight line. We determine the conditions for optimal control when the system moves along a straight line depending on the mass and geometric characteristics of the system and control parameters.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114296857","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
On Gain Selection of Active Damping Injection Controller for Series Elastic Actuators 串联弹性执行器主动阻尼注入控制器增益选择研究
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290226
I. Dalyaev, V. Kopylov, V. Titov, I. Shardyko
{"title":"On Gain Selection of Active Damping Injection Controller for Series Elastic Actuators","authors":"I. Dalyaev, V. Kopylov, V. Titov, I. Shardyko","doi":"10.1109/NIR50484.2020.9290226","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290226","url":null,"abstract":"Among different types of robotic actuators, series elastic actuators (SEA) have found their well-deserved place in last decades. With all the advantages of SEA they all possess one inherent drawback, which is the oscillatory behavior due to the presence of the elasticity. Thus, control system designers searched for answers to two questions: what structure should the controller have? and how to select the values of the controller gains? Certainly, the first question is more fundamental, but still the implementation is not convenient or even possible if the second question is neglected. A brief history on the types of SEA-control approaches as well as on the gain tuning for some of them is presented in the current article while the contribution of the article is the gain selection strategy for a recently suggested controller based on active damping injection.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116223406","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
Controlled motion of a highly maneuverable mobile robot along curvilinear trajectories 高机动性移动机器人沿曲线轨迹的受控运动
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290159
V. Shestakov, I. Mamaev, Y. Karavaev
{"title":"Controlled motion of a highly maneuverable mobile robot along curvilinear trajectories","authors":"V. Shestakov, I. Mamaev, Y. Karavaev","doi":"10.1109/NIR50484.2020.9290159","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290159","url":null,"abstract":"This paper presents the control algorithm of an omnidirectional mobile robot to implement motion along curvilinear trajectories. The trajectory is defined by the Bezier curves of the third order. An algorithm is proposed to generate control actions for the robot’s motion along a given curvilinear trajectory, taking into account the processes of acceleration and deceleration. The experimental results confirm the applicability of the proposed method.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125858174","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
Autonomous Navigation in Rural Environment based on Digital Filters and LIDAR Data 基于数字滤波和激光雷达数据的农村环境自主导航
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290215
Evgenii Maksimychev, S. Gafurov, I. Shapovalov
{"title":"Autonomous Navigation in Rural Environment based on Digital Filters and LIDAR Data","authors":"Evgenii Maksimychev, S. Gafurov, I. Shapovalov","doi":"10.1109/NIR50484.2020.9290215","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290215","url":null,"abstract":"Road detection is one of the essential problems in autonomous driving. Common approaches for road detection are heavily based on predetermined highly accurate digital maps. Such approaches work good in urban locations. Outside of them, in rural environment, building of such maps as well as their storing and transmission are very challenging tasks. Moreover, rural environment is known to vary rapidly due to natural and human factors. These factors limit the implementation of the state-of-the-art approaches suitable for urban environments. In this paper, we present the approach which performs road surface detection based on sensor perception system without detailed prior maps. We detect road borders on the obtained surface by computing the distance from a car to all surrounding points and process this data by digital filters and observation of distance dashes. After road detection calculation of car position relative to road borders is performed. Such approach allows generating feasible trajectories for the vehicles to reach path waypoints. The generated trajectories are updated taking into account vehicle odometry and IMU data. We demonstrate the performance of the approach on a full-scale autonomous vehicle navigating in rural environment. Obtained results proved the approach allows the vehicle to navigate in rural environment reliably and at a high speed.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126861086","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
Workspace Analysis of Tensegrity Structures with an Iterative Energy-based Algorithm 基于迭代能量算法的张拉整体结构工作空间分析
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290196
S. Savin, Oleg Balakhnov, A. Klimchik
{"title":"Workspace Analysis of Tensegrity Structures with an Iterative Energy-based Algorithm","authors":"S. Savin, Oleg Balakhnov, A. Klimchik","doi":"10.1109/NIR50484.2020.9290196","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290196","url":null,"abstract":"The paper studies the use of energy-based forward and inverse kinematics procedures for calculation of operational space of tensegrity robotics structures. Tensegrity structures are compliant and highly dynamical, which makes them a favorable robotics component for a number of difficult tasks (such as collaborative robotics, space exploration and others), but at the same times make trajectory planning and control highly non-trivial.In the paper it is demonstrated that the studied forward and inverse kinematics methods can be used to find workspaces of tensegrity structures, using six bar structure as an example. It is shown that the method can adjust to the choice of actuated and passive elastic elements, making it a design tool which maps the actuation pattern to the resulting workspace or to the law of change of the rest lengths of the actuated elastic elements.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"225 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121960836","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
Lateral gait analysis of a crawling robot by means of controlling the lengths of links and friction in the supports 通过控制连杆长度和支架摩擦力对爬行机器人的横向步态进行分析
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290216
L. Vorochaeva, S. Savin, Hany Hamed
{"title":"Lateral gait analysis of a crawling robot by means of controlling the lengths of links and friction in the supports","authors":"L. Vorochaeva, S. Savin, Hany Hamed","doi":"10.1109/NIR50484.2020.9290216","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290216","url":null,"abstract":"The present paper describes three developed designs of multi-link crawling robots intended for movement on rough surfaces with obstacles. The characteristic feature of the first design is the ability to control the friction coefficients in the supports of the central link, the second design is supplemented by the ability to lift off the side links in order to \"step over\" obstacles. The third design is distinguished by the ability to control the friction coefficients in the supports of all links, as well as the lengths of the links in addition to the implementation of the function \"stepping over\" obstacles. A comparative description of the implementation of the lateral gait by the robots of all the designs is presented. The operation of the control system for the lengths of the robot’s links is described, which is based on a sequential algorithm for changing the length of the first central link and then the side links when the central one reaches its shortest length.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"196 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122599450","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
Dynamics of point vortices and a cylinder in an ideal fluid 理想流体中点涡和圆柱体的动力学
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290156
I. Mamaev, I. Bizyaev
{"title":"Dynamics of point vortices and a cylinder in an ideal fluid","authors":"I. Mamaev, I. Bizyaev","doi":"10.1109/NIR50484.2020.9290156","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290156","url":null,"abstract":"This paper addresses the problem of the motion of a circular foil and point vortices in an ideal fluid. A complete qualitative analysis of the motion of a balanced foil and one vortex is carried out. In particular, periodic solutions are found and their stability is investigated. Using a Poincaré map, it is shown that for an unbalanced foil a reduced system exhibits chaotic trajectories.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127099303","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
Preliminary Study on Slack-Free Model Predictive Control of Twisted String-Based Antagonistic Joints 扭弦对抗关节无松弛模型预测控制的初步研究
2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI: 10.1109/NIR50484.2020.9290167
Oleg Balakhnov, Simeon Nedelchev, I. Gaponov
{"title":"Preliminary Study on Slack-Free Model Predictive Control of Twisted String-Based Antagonistic Joints","authors":"Oleg Balakhnov, Simeon Nedelchev, I. Gaponov","doi":"10.1109/NIR50484.2020.9290167","DOIUrl":"https://doi.org/10.1109/NIR50484.2020.9290167","url":null,"abstract":"In this work, we propose a model predictive controller (MPC) for simultaneous position and tension tracking in twisted string actuator-based antagonistic joints. The proposed controller takes into account unidirectional nature of the cables and minimize trajectory tracking error as well as control effort. The approach has been evaluated numerically in a series of simulations that demonstrated its feasibility and highlighted its advantage over the unconstrained controller, with position tracking accuracy improved by a factor of 10. The proposed MPC can be generalized and serve as the starting point for antagonistic control in multiple-degree-of-freedom systems based on twisted string actuators.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134470371","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
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