2010 IEEE International Conference on Robotics and Automation最新文献_第3页

Pushing methods for working six-legged robots capable of locomotion and manipulation in three modes 能够在三种模式下运动和操作的六足工作机器人的推动方法

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509220

Kenji Inoue, K. Ooe, Suwoong Lee

{"title":"Pushing methods for working six-legged robots capable of locomotion and manipulation in three modes","authors":"Kenji Inoue, K. Ooe, Suwoong Lee","doi":"10.1109/ROBOT.2010.5509220","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509220","url":null,"abstract":"A working six-legged robot which can switch three modes for locomotion and manipulation was already developed. In its vertical four-leg two-arm mode, lower four legs are used for locomotion and upper two legs for manipulation with its body vertical to the ground. In order to expend capabilities of this robot, a method of pushing a large object in this mode is proposed. The robot holds the object using its upper two legs and body. The robot leans against the object and applies pushing force. Then it walks by moving the outer and inner pairs of the lower four legs alternately. Because of this symmetric walking, the robot can push the object with keeping lateral balance. It can apply large force owing to the effect of its body weight. Because holding the object firmly, the robot can push the object stably without falling down. For comparison, two methods are also analyzed. First the robot simply walks by tripod gait with its body touching the object. Second the robot pushes the object using its upper two legs and walks using its lower four legs in vertical four-leg two-arm mode. Then the merits of the proposed method are clarified. Three methods are experimentally ascertained using the developed robot.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126714641","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

Autonomous acquisition of visual multi-view object representations for object recognition on a humanoid robot 面向人形机器人目标识别的多视点目标表征自主获取

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509328

K. Welke, J. Issac, David Schiebener, T. Asfour, R. Dillmann

引用次数: 55

Psychophysical evaluation of control scheme designed for optimal kinesthetic perception in scaled teleoperation 尺度遥操作中最优动觉控制方案的心理物理评价

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509368

H. Son, T. Bhattacharjee, Hoeryong Jung, D. Lee

引用次数: 8

Towards dynamic team formation for robot ensembles 机器人组合的动态组队

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509490

T. Mather, M. A. Hsieh, Emilio Frazzoli

引用次数: 4

Enhanced trajectory tracking control with active lower bounded stiffness control for cable robot 基于主动下界刚度控制的缆索机器人增强轨迹跟踪控制

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509458

Kun Yu, Leng-Feng Lee, C. Tang, V. Krovi

引用次数: 23

A robotic hand rehabilitation system with interactive gaming using novel Electro-Rheological Fluid based actuators 一种采用新型电流变液作动器的具有交互游戏功能的机械手康复系统

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509806

Ozer Unluhisarcikli, B. Weinberg, Mark L. Sivak, A. Mirelman, P. Bonato, C. Mavroidis

引用次数: 18

Automated microassembly using precision based hybrid control 采用精密混合控制的自动化微装配

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509155

Aditya N. Das, D. Popa, H. Stephanou

{"title":"Automated microassembly using precision based hybrid control","authors":"Aditya N. Das, D. Popa, H. Stephanou","doi":"10.1109/ROBOT.2010.5509155","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509155","url":null,"abstract":"Microassembly is an enabling technology for micro manufacturing that offers well-known pathways to building heterogeneous microsystems with a higher degree of robustness and more complex designs than monolithic fabrication. The success of assembly in micro domain, however, is directly related to the level of precision automation employed. Control and planning are two defining factors for the microassembly yield and its cycle time. Assembly at the microscale harbors many difficult challenges due to scaling of physics, stringent tolerance budget, high precision requirements, limited work volumes, and so on. These difficulties warrant new control and planning algorithms, different than their macro-scale counterparts. In this paper, we use precision metrics to formalize a hybrid controller for automated MEMS assembly. In the past, we formulated the “high yield assembly condition (HYAC)”, which gives a quantitative condition for the success and failure of compliant microassembly. Using this quatitative tool, we formalize a precision-adjusted hybrid controller switching between open, closed, and calibrated operation in the microassembly cell. Simulation and experimental results for the assembly of a microspectrometer are presented to indicate that the proposed hybrid controller lead to high yields at faster cycle times than traditional precision control methods.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117036785","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: 15

On the transparency of automata as discrete-event control specifications 作为离散事件控制规范的自动机的透明性

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509246

M. Pham, A. Dhananjayan, K. T. Seow

引用次数: 6

Localization of probabilistic robot formations in SLAM SLAM中概率机器人编队的定位

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509213

M. T. Lázaro, J. A. Castellanos

引用次数: 30

A quadratic regulator-based heuristic for rapidly exploring state space 一种快速探索状态空间的二次型调节器启发式算法

2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509718

Elena L. Glassman, Russ Tedrake

{"title":"A quadratic regulator-based heuristic for rapidly exploring state space","authors":"Elena L. Glassman, Russ Tedrake","doi":"10.1109/ROBOT.2010.5509718","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509718","url":null,"abstract":"Kinodynamic planning algorithms like Rapidly-Exploring Randomized Trees (RRTs) hold the promise of finding feasible trajectories for rich dynamical systems with complex, nonconvex constraints. In practice, these algorithms perform very well on configuration space planning, but struggle to grow efficiently in systems with dynamics or differential constraints. This is due in part to the fact that the conventional distance metric, Euclidean distance, does not take into account system dynamics and constraints when identifying which node in the existing tree is capable of producing children closest to a given point in state space. We show that an affine quadratic regulator (AQR) design can be used to approximate the exact minimum-time distance pseudometric at a reasonable computational cost. We demonstrate improved exploration of the state spaces of the double integrator and simple pendulum when using this pseudometric within the RRT framework, but this improvement drops off as systems' nonlinearity and complexity increase. Future work includes exploring methods for approximating the exact minimum-time distance pseudometric that can reason about dynamics with higher-order terms.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129824343","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: 74