2008 IEEE International Conference on Robotics and Biomimetics最新文献_第2页

A modified serpenoid equation for snake robots 蛇形机器人的修正蛇形方程

2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-26 DOI: 10.1109/ROBIO.2009.4913248

M. Dehghani, M. Mahjoob

引用次数: 11

3D SLAM for omnidirectional camera 全向相机3D SLAM

2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-26 DOI: 10.1109/ROBIO.2009.4913107

Yuttana Suttasupa, A. Sudsang, N. Niparnan

引用次数: 1

A neuroinspired cognitive behavioral control architecture for visually driven mobile robotics 视觉驱动移动机器人的神经启发认知行为控制架构

2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-26 DOI: 10.1109/ROBIO.2009.4913342

Cornelia Beck, U. Olcese, A. Montagner, Stefan Ringbauer, H. Neumann, A. Frisoli, R. Almeida, M. Bergamasco, G. Deco

引用次数: 1

Proprioceptive control of a hybrid legged-wheeled robot 腿轮混合机器人本体感觉控制

2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-26 DOI: 10.1109/ROBIO.2009.4913098

M. Eich, F. Grimminger, F. Kirchner

{"title":"Proprioceptive control of a hybrid legged-wheeled robot","authors":"M. Eich, F. Grimminger, F. Kirchner","doi":"10.1109/ROBIO.2009.4913098","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913098","url":null,"abstract":"In this work we describe an innovative proprioceptive control architecture for our hybrid legged-wheeled robot ASGUARD. This robot is able to cope with a variety of stairs, very rough terrain, and is able to move with the speed of two body-lengths per second on flat ground. An additional proprioceptive inclination feedback is used to make the same controller more robust in terms of stair-climbing capabilities. Contrary to existing approaches, we did not use a pre-defined walking pattern for stair climbing, but an adaptive approach based only on internal sensor information. The data we use in our architecture is based on proprioceptive information, like body inclination and external torques, which are acting on the driving motors. In this work we show how this adaptivity results in a versatile controller for hybrid legged-wheeled robots. For the locomotion control we use an adaptive model of motion pattern generators. In contrast to many other walking pattern based robots, we use the direct proprioceptive feedback in order to modify the internal control loop, thus adapting the compliance of each leg on-line. For different terrains and stairs we use a phase-adaptive pattern which is using directly the proprioceptive data from each leg. We show that our adaptive controller is able to improve the stair-climbing behaviour in terms of energy consumption and energy distribution.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131237411","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: 21

Micro pneumatic curling actuator - Nematode actuator - 微型气动卷曲执行器-线虫执行器

2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-26 DOI: 10.1109/ROBIO.2009.4913047

K. Ogura, S. Wakimoto, K. Suzumori, Yasutaka Nishioka

引用次数: 51

A methodology for implementing the CPAC approach to path tracking with Six-DOF robotic manipulators 六自由度机械臂路径跟踪的CPAC方法实现方法

2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-26 DOI: 10.1109/ROBIO.2009.4913001

Bo Wang, Shilong Jiang, Shengguang Wu, Hong Wu, Zexiang Li

{"title":"A methodology for implementing the CPAC approach to path tracking with Six-DOF robotic manipulators","authors":"Bo Wang, Shilong Jiang, Shengguang Wu, Hong Wu, Zexiang Li","doi":"10.1109/ROBIO.2009.4913001","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913001","url":null,"abstract":"To serve expanding machine and industrial automation requirement, many control languages are included into industrial system design. There is a well-known standard of industrial control language IEC61131-3. It covers both PLC control and process control fields. Although the IEC61131-3 based industrial control systems have been launched 10 years before, it is still empty for industrial robotic manipulators control fields. Robot suppliers like YASAKAWA still have closed-architecture as black box, in which it is difficult for end-user to improve and realize new tracking algorithms. So many users chose PC based white box controller instead, however, normally it cannot satisfy RT (real-time) requirement that many robot tracking algorithms belong to time-based approaches. Hence, in this paper, the authors firstly present CPAC (Computerized Programmable Automation Controller) approach to design open-architecture IEC61131-3 based RT control system for industrial robotic manipulators. It could apply some existed tracking algorithms into RT kernel under PC's open architecture; the model of six-DOF robot is represented. The major work of this paper is: comparing CPAC approach and PC based approach by two general complex robot tracking algorithms. Later the simulation results and experiments results conducted on six-DOF Industrial robotic manipulator was shown to prove CPAC approach has good performance in general.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123847139","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

Robotic juggling by iterative learning control using optimization 机器人杂耍的迭代学习优化控制

2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-26 DOI: 10.1109/ROBIO.2009.4913210

H. Miyashita, T. Yamawaki, M. Yashima

引用次数: 1

Poultry tracking system with camera using particle filters 家禽跟踪系统与相机使用粒子过滤器

2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-26 DOI: 10.1109/ROBIO.2009.4913289

Toshiyuki Fujii, H. Yokoi, T. Tada, Kotaro Suzuki, K. Tsukamoto

引用次数: 11

Augmented control for mobile robot using PocketPC 基于PocketPC的移动机器人增强控制

2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-26 DOI: 10.1109/ROBIO.2009.4913211

S. Charoenseang, Khanchai Kingkangwan

引用次数: 0

Common-patterns based mapping for robot navigation 用于机器人导航的基于公共模式的映射

2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-26 DOI: 10.1109/ROBIO.2009.4913071

Aram Kawewong, Yutaro Honda, M. Tsuboyama, O. Hasegawa

{"title":"Common-patterns based mapping for robot navigation","authors":"Aram Kawewong, Yutaro Honda, M. Tsuboyama, O. Hasegawa","doi":"10.1109/ROBIO.2009.4913071","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913071","url":null,"abstract":"Mobile Robot Navigation problem has been extensively studied for decades, but a general solution which suits to various environments remains a challenging topic. One of the popular methods is to build the map and then navigate based on such map. Although most of the map-building approaches, either metric or topological, can efficiently create the map in an unknown environment, they rely on coordinates so that the error in self-pose estimation is unavoidable. In this paper, we alternatively propose a new map-building approach which is especially suitable to mobile robot navigation and does not rely on coordinates. Two key ingredients of the proposed method are (i) the self-organized common-pattern and (ii) the reasoning technique. First the common-patterns are generated in an unsupervised manner by the Self-Organizing and Incremental Neural Networks (SOINN). These patterns are used to incrementally represent the map of environments. The map generated in this manner is called Common-Patterns Based Map (CPM). The CPM is incrementally generated while the robot wandering in the environment. The reasoning technique is proposed to optimize the CPM. The evaluation of the proposed method is done by the experiment of 3D-physical robot simulators (Webots). All environments are the maze. The results show that the CPM is suitable to the navigation with an impressive rate of memory consumption. The loop can be closed successfully. The navigating performance is superior to that of reinforcement learning as it always requires only two episodes.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117281073","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