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ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.最新文献

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Optimal control strategy for hybrid automata 混合自动机的最优控制策略
ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507394
D. Botturi, A. Castellani, Paolo Fiorini
{"title":"Optimal control strategy for hybrid automata","authors":"D. Botturi, A. Castellani, Paolo Fiorini","doi":"10.1109/ICAR.2005.1507394","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507394","url":null,"abstract":"The research described in this paper addresses the problem of automatic execution of robotic tasks, considering uncertain environment. The focus on the paper is on the mathematical methodology used to address this problem, which belongs to the family of optimum systems control methods. The main mathematical definitions and the methodology background are given and a hybrid system model of a compliant task is analyzed in order to design the control law. The execution of this task requires the definition off a nominal trajectory that can drive the robot to the task successful completion. To this aim, we define an optimal strategy to compute the nominal trajectory off-line. An example of the computational methods to implement this approach conclude the paper together with some simulation results","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117081652","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
3D grasping solutions through MWS models 通过MWS模型的三维抓取解决方案
ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507411
A. Adán, A. Vázquez, F. Molina
{"title":"3D grasping solutions through MWS models","authors":"A. Adán, A. Vázquez, F. Molina","doi":"10.1109/ICAR.2005.1507411","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507411","url":null,"abstract":"In order to solve a great number of robotics problems in 3D environments, raw information yielded by visual sensors can be discretized imposing a 3D model with a specific mesh topology. The goal of this work is to use the solid representation model MWS (modeling wave set) for solving grasping problems on 3D free shape objects. This implies to reinforce the connection between the fields of modeling and 3D-grasping. Through the concept of direction kernels, integrated in the model MWS, we define the interaction regions and the criteria for evaluating an optimal grasp. The set of direction kernels is a global feature of the object which represents their main normal directions and their relative weight in the mesh model. The key property of such a model to be used in robot interaction applications consists of the direction kernels invariance to affine transformations. This strategy has been experimented with real objects sensed with a 3D laser-scanner. The system successfully calculates the optimal grasp points, ordered according to the quality function, for two-finger grippers maintaining the requirements of form closure and safety and stability of the grasp. The obtained results may lead to the successful application of this strategy in systems with a greater number of grasp contacts","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115273324","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
A case study of mobile robot's energy consumption and conservation techniques 移动机器人能耗与节能技术的案例研究
ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507454
Yongguo Mei, Yung-Hsiang Lu, Y.C. Hu, C.S.G. Lee
{"title":"A case study of mobile robot's energy consumption and conservation techniques","authors":"Yongguo Mei, Yung-Hsiang Lu, Y.C. Hu, C.S.G. Lee","doi":"10.1109/ICAR.2005.1507454","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507454","url":null,"abstract":"Mobile robots are used in many applications, such as carpet cleaning, pickup and delivery, search and rescue, and entertainment. Energy limitation is one of the most important challenges for mobile robots. Most existing studies on mobile robots focus on motion planning to reduce motion power. However, motion is not the only power consumer. In this paper, we present a case study of a mobile robot called Pioneer 3DX. We analyze the energy consumers. We build power models for motion, sonar sensing and control based on experimental results. The results show that motion consume less than 50% power on average. Therefore, it is important to consider the other components in energy-efficient designs. We introduce two energy-conservation techniques: dynamic power management and real-time scheduling. We provide several examples showing how these techniques can be applied to robots. These techniques together with motion planning provide greater opportunities to achieve better energy efficiency for mobile robots. Although our study is based on a specific robot, the approach can be applied to other types of robots","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"262 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132470856","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: 229
Real-time generation of fast, torque-efficient motions 实时生成快速，扭矩高效的运动
ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507383
F. Park, Jinhyeok Choi, Soonkyum Kim
{"title":"Real-time generation of fast, torque-efficient motions","authors":"F. Park, Jinhyeok Choi, Soonkyum Kim","doi":"10.1109/ICAR.2005.1507383","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507383","url":null,"abstract":"We present a method for generating fast, torque-efficient motions in real-time. Given a dynamic model of a robot, we first obtain a reasonably large set of minimum torque motions for arbitrary starting and ending configurations, that also achieve minimum time without actuator saturation; these motions are obtained through a Lie group dynamics-based optimization procedure previously developed by the authors. After classifying the minimum torque motions according to the region of the workspace traversed, a principal component analysis is performed for each class of motions. The dominant principal components are then used as basis functions in a simple interpolating scheme for generating torque-efficient motions between arbitrary starting and ending configurations. Results obtained for a typical industrial manipulator clearly demonstrate the performance advantages over traditional spline interpolation methods","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131993670","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
Predictive fuzzy control for a mobile robot with nonholonomic constraints 具有非完整约束的移动机器人预测模糊控制
ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507391
Xianhua Jiang, Y. Motai, Xingquan Zhu
{"title":"Predictive fuzzy control for a mobile robot with nonholonomic constraints","authors":"Xianhua Jiang, Y. Motai, Xingquan Zhu","doi":"10.1109/ICAR.2005.1507391","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507391","url":null,"abstract":"Automatic control of a mobile robot with nonholonomic constraints normally depends on complex signal processing mechanisms, e.g. predictive control. This paper presents a new trajectory tracking method for a mobile robot by combining predictive control and fuzzy control. To overcome the time delay caused by the slow response of the sensor, the algorithm employs predictive control to predict the position and orientation of the robot. In addition, fuzzy control is adopted to deal with nonlinear characteristic of the system. The advantages of this predictive fuzzy controller include high reliability for a slow sensor response, small error of absolute tracking, availability of a linearized predictive model and simplified fuzzy rules, which reduce the computing complexity. In our experiments, we applied this control method to the soccer robot. Accuracy and convergent performance was compared with a traditional PID controller, as well as with a conventional fuzzy controller. The experiment results demonstrated the feasibility and advantages of this predictive fuzzy control on the trajectory tracking of a mobile robot","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"193 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131748611","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: 33
A simple navigation algorithm with no local minima 一个简单的导航算法，没有局部最小值
ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507476
J. Graciano
{"title":"A simple navigation algorithm with no local minima","authors":"J. Graciano","doi":"10.1109/ICAR.2005.1507476","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507476","url":null,"abstract":"In this article we propose a new function, or algorithm, for navigation of robots that interprets artificial potential functions in a differential game theory framework. The total artificial potential field used for navigation is constructed in a way that eliminates the local minima problem. This also allows for the use of a broader range of AP-functions. Situations with single and multiple obstacles are simulated. Results are shown to be encouraging","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126480146","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: 4
Vision-based tracking control for mobile robots 基于视觉的移动机器人跟踪控制
ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507405
R. Carelli, Carlos Soria, B. Morales
{"title":"Vision-based tracking control for mobile robots","authors":"R. Carelli, Carlos Soria, B. Morales","doi":"10.1109/ICAR.2005.1507405","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507405","url":null,"abstract":"This work presents a control strategy that allows a follower robot to track a target vehicle moving along an unknown trajectory with unknown velocity. It uses only artificial vision to establish both the robot's position and orientation relative to the target, so as to maintain a specified formation at a given distance. The control system is proved to be asymptotically stable at the equilibrium point, which corresponds to the navigation objective. Experimental results with two robots, a leader and a follower, are included to show the performance of the proposed vision-based tracking control system","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121546257","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
Constrained path planning and task-consistent path adaptation for mobile manipulators 移动机械臂约束路径规划与任务一致路径自适应
ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507423
D. Aarno, Frank Lingelbach, Danica Kragic
{"title":"Constrained path planning and task-consistent path adaptation for mobile manipulators","authors":"D. Aarno, Frank Lingelbach, Danica Kragic","doi":"10.1109/ICAR.2005.1507423","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507423","url":null,"abstract":"This paper presents our ongoing research in the design of a versatile service robot capable of operating in a home or office environment. Ideas presented here cover architectural issues and possible applications for such a robot system with focus on tasks requiring constrained end-effector motions. Two key components of such system is a path planner and a reactive behavior capable of force relaxation and path adaptation. These components are presented in detail along with an overview of the software architecture they fit into","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122054574","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: 8
Free space structurization of telerobotic environment for on-line transition to autonomous tele-manipulation 在线过渡到自主遥控操作的遥控机器人环境的自由空间结构
ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507496
T. Hasegawa, D. Mukai, H. Kobune, K. Murakami, R. Kurazume
{"title":"Free space structurization of telerobotic environment for on-line transition to autonomous tele-manipulation","authors":"T. Hasegawa, D. Mukai, H. Kobune, K. Murakami, R. Kurazume","doi":"10.1109/ICAR.2005.1507496","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507496","url":null,"abstract":"This paper proposes a new approach to structuring a free space model in tele-robotic environment by using a slave manipulator equipped with a stereo vision tele-operated by a human operator. Using initial tele-operated motion data of the manipulator, structure of the empty space is reliably and conservatively obtained without explicit geometric model of objects in the environment. A post-processing method enables efficient acquisition of the free space model, which is then utilized to autonomously plan collision-free motion. Thus on-line transition to autonomous tele-operation from master-slave manipulation is achieved. This feature enables wider application of the tele-robotic system in unstructured environment","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117246251","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
Rotational legged locomotion 腿的旋转运动
ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507416
D. Lyons, K. Pamnany
{"title":"Rotational legged locomotion","authors":"D. Lyons, K. Pamnany","doi":"10.1109/ICAR.2005.1507416","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507416","url":null,"abstract":"In this paper we presented a novel, agile robot mechanism, which we call a rotopod, which combines aspects of wheeled and legged locomotion. A general description of how a tripedal rotopod can be made to step, rotating the mechanism about one leg, and moving the center of the mechanism, is presented. The concept of a gait for this mechanism is defined, and is used to show how extremely agile the mechanism can be. Specific resistance is employed as a way to explore the relative efficiency of this mechanism versus a wheel. Finally, we describe our first prototype rotopod and report on experiments conducted to characterize stepping","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123195358","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: 9
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