2015 International Conference on Advanced Robotics (ICAR)最新文献_第8页

Distributed fault diagnosis for multiple mobile robots using an agent programming language 基于智能体编程语言的多移动机器人分布式故障诊断

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251486

M. G. Morais, Felipe Meneguzzi, Rafael Heitor Bordini, Alexandre M. Amory

引用次数: 9

Asymmetric stability property of a sagittal-plane model with a compliant leg and Rolling contact 具有柔腿和滚动接触的矢状面模型的不对称稳定性

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251442

Chun-Kai Huang, Pei-Chun Lin

引用次数: 2

A bio-inspired model of visual pursuit combining feedback and predictive control for a humanoid robot 结合反馈与预测控制的仿人机器人仿生视觉追踪模型

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251454

E. Falotico, Lorenzo Vannucci, Nicola Di Lecce, P. Dario, C. Laschi

{"title":"A bio-inspired model of visual pursuit combining feedback and predictive control for a humanoid robot","authors":"E. Falotico, Lorenzo Vannucci, Nicola Di Lecce, P. Dario, C. Laschi","doi":"10.1109/ICAR.2015.7251454","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251454","url":null,"abstract":"Humans are able to track a moving visual target by generating voluntary smooth pursuit eye movements. The purpose of smooth pursuit eye movements is to minimize the target velocity projected onto the retina (retinal slip). This is not achievable by a control based on a negative feedback due to the delays in the visual information processing. In this paper we propose a model, suitable for a robotic implementation, able to integrate the main characteristics of visual feedback and predictive control of the smooth pursuit. The model is composed of an inverse dynamics controller for the feedback control, a neural predictor for the anticipation of the target motion and an Weighted Sum module that is able to combine the previous systems in a proper way. Our results, tested on a simulated eye model of our humanoid robot, show that this model can use prediction for a zero-lag visual tracking, use a feedback based control for “unpredictable” target pursuit and combine these two approaches properly switching from one to the other, depending on the target dynamics, in order to guarantee a stable visual pursuit.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130742880","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 humanoid walking pattern generator for sole design optimization 鞋底设计优化的仿人行走模式生成器

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251441

Adrien Pajon, Giovanni De Magistris, S. Miossec, K. Kaneko, A. Kheddar

引用次数: 12

Switching method to avoid algorithmic singularity in vision-based control of a space robot 空间机器人视觉控制中避免算法奇异性的切换方法

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251467

S. Shah, V. Anurag, A. Hafez, K. Krishna

引用次数: 5

Additive manufacturing for agile legged robots with hydraulic actuation 液压驱动敏捷腿式机器人的增材制造

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251444

C. Semini, Jake Goldsmith, D. Manfredi, F. Calignano, E. Ambrosio, J. Pakkanen, D. Caldwell

{"title":"Additive manufacturing for agile legged robots with hydraulic actuation","authors":"C. Semini, Jake Goldsmith, D. Manfredi, F. Calignano, E. Ambrosio, J. Pakkanen, D. Caldwell","doi":"10.1109/ICAR.2015.7251444","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251444","url":null,"abstract":"Agile and versatile legged robots are expected to become useful machines for applications in unstructured environments where traditional vehicles with wheels and tracks cannot go. Hydraulic actuation has proven to be a suitable actuation technology due to its high power density, robustness against impacts and high stiffness for high bandwidth control. In this paper we demonstrate how additive manufacturing (AM) can produce highly integrated hydraulic components with reduced weight and higher complexity when compared to traditionally manufactured manifolds. To the best knowledge of the authors, this is the first time a successful implementation of direct metal laser sintering (DMLS) of hydraulic manifolds made in aluminium alloy AlSiMg is presented. AlSiMg has several advantages for the construction of hydraulic components when compared to the commonly used Titanium alloys (e.g. Ti64): lower cost, higher thermal conductivity, lower density and easier to post-process. This paper first explains the build process with DMLS of AlSiMg and a pre-study of a pressure-tested hydraulic tube that demonstrated the suitability of AlSiMg for AM hydraulic components. Then, we discuss part orientation and support material during the build process of a highly-integrated hydraulic manifold for the legs of IIT's new hydraulic quadruped robot HyQ2Max. A comparison of this manifold with a traditionally manufactured alternative concludes the paper.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125633916","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: 40

Performance analysis of time-delay bilateral teleoperation using impedance-controlled slaves 基于阻抗控制从机的时延双边遥操作性能分析

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251429

J. Rebelo, A. Schiele

{"title":"Performance analysis of time-delay bilateral teleoperation using impedance-controlled slaves","authors":"J. Rebelo, A. Schiele","doi":"10.1109/ICAR.2015.7251429","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251429","url":null,"abstract":"Recently developed impedance-controlled robots are better suited than conventional industrial robots for executing human-like contact tasks. However, performance of a system when using such device as a slave in time-delay bilateral teleoperation is still unknown. It is the goal of this paper to analyse the performance of a 4-channel time-delay bilateral teleoperation system with an impedance-type master device commanding an impedance-controlled slave. Using the newly introduced reflected damping in free-air criterion, it is shown that the damping felt by the human operator interacting with the system while the slave is in free-air is dependent on the local controller parameters and increases linearly with the time-delay with a factor dependent on the master and slave proportional controller gains. The transparency analysis of the system shows that, independently of the time-delay or controller parameters, a stiffness equal to that of the environment is transmitted to the operator. The experimental validation, using a 1-dof master-slave teleoperation system, shows that the proposed criterion can approximate the identified damping with an accuracy of 5% for time-delay values up to 30 ms. It is also highlighted by the experimental results that, in the transition between free-air and rigid contact, the impedance rendered to the operator is lower than that of the actual environment.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133479318","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

Cooperative approach for an optimal area coverage and connectivity in multi-robot systems 多机器人系统中最佳区域覆盖和连接的协作方法

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251452

Zineb Laouici, Mami Mohammed Amine, Khelfi Mohamed Fayçal

引用次数: 9

Vector based closed-loop control methodology for industrial robots 基于矢量的工业机器人闭环控制方法

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251495

A. Buschhaus, Andreas Blank, J. Franke

{"title":"Vector based closed-loop control methodology for industrial robots","authors":"A. Buschhaus, Andreas Blank, J. Franke","doi":"10.1109/ICAR.2015.7251495","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251495","url":null,"abstract":"Improving the absolute accuracy of industrial robots is addressed by multiple activities of research institutes and robot manufacturers. Challenging in this context is an accuracy improvement of the robot during the movement. This is due to the necessity of providing time efficient and accurate target and actual state determination modules, an adequate data synchronization and a proper correction value calculation. This information can then be used to establish an online closed-loop control of the robot. One difficulty in such a system is to guarantee a smooth and steady movement despite the continuous inaccuracy compensation. To overcome this problem, recent research activities address a vector based control method. Thereby, the path planning is transferred to an external control unit, which performs all calculation steps. Based on this calculation, movement vectors synchronized with the interpolation cycle time of the robot are computed, continuously sent to the robot controller and brought to execution. These vectors include components, which describe the deviation between actual and target state and hence allow a compensation of the inaccuracies. Thereby, the robot is “pushed” along its optimal trajectory by small increments. Experiments already show good results, allowing a reactive control together with a smooth movement execution.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124777363","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

Building maps with Multi-Robot Systems under limited communication 在有限通信条件下用多机器人系统构建地图

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251489

José Gilmar Nunes de Carvalho Filho, J. Farines, J. Cury

引用次数: 0