2012 12th IEEE International Workshop on Advanced Motion Control (AMC)最新文献_第6页

Towards integrated walking and jumping motion planning in complex environments: Jumping trajectory generation 复杂环境下行走跳跃运动综合规划:跳跃轨迹生成

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197122

K. V. Heerden, A. Kawamura

{"title":"Towards integrated walking and jumping motion planning in complex environments: Jumping trajectory generation","authors":"K. V. Heerden, A. Kawamura","doi":"10.1109/AMC.2012.6197122","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197122","url":null,"abstract":"This paper presents the initial research for a framework by which a biped robot can make a navigation plan in a obstacle filled environment by performing both walking and jumping motions. In particular this paper focuses on automatically creating a jumping trajectory based on the distance that the robot is required to jump. This jumping trajectory considers angular momentum so as to reduce backwards jumping and spinning of the base in the air, this is done with the Eulerian ZMP resolution method(EZR). Additionally this trajectory also considers compliance at the landing foot to avoid manipulator damage while ensuring that the robots support foot is extended just the right distance to let a inverted pendulum model with non constant height reach the top with zero kinetic energy remaining. The path planner is based on the A-Star path planning algorithm. The navigation plan also considers finding a path which is sufficiently straight prior to the moment of jumping so that the robot can build up the required linear momentum to execute the jump. The ultimate goal is to create a framework which can consider path planning with various types of motion.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"82 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91229200","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

PD controller with LPF based jitter buffer for real-time communication PD控制器采用基于LPF的抖动缓冲器进行实时通信

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197110

D. Yashiro, T. Yakoh

引用次数: 2

Interpolated gain-scheduled controllers for an over-head crane 高架起重机的插值增益调度控制器

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197045

Keivan Zavari, G. Pipeleers, J. Swevers

引用次数: 2

Data transmission using motion detection based on sigma-delta modulation for bilateral control 数据传输采用基于sigma-delta调制的运动检测进行双边控制

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197099

Fumiya Mitome, K. Ohnishi

引用次数: 0

Positive feedback of reaction force for environmental embedded haptic system 环境嵌入式触觉系统反作用力的正反馈

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197103

Hiroyuki Nagai, S. Katsura

引用次数: 0

FPGA implementation of the bilateral control algorithm for a high performance haptic teleoperation FPGA实现的双边控制算法实现了一种高性能的触觉遥操作

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197093

M. Franc, A. Hace

引用次数: 5

Gyroscopic assistance for human balance 陀螺仪辅助人体平衡

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197144

Dustin Li, H. Vallery

引用次数: 37

Head positioning control system design based on dynamic characteristic of rolling friction in HDDs 基于hdd滚动摩擦动态特性的头部定位控制系统设计

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197101

M. Kawafuku, M. Mizoguchi, M. Iwasaki

引用次数: 2

Variable physical damping actuators (VPDAs): Facilitating the control and improving the performance of compliant actuation systems 可变物理阻尼致动器(vpda):促进控制和提高柔性致动系统的性能

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197013

M. Laffranchi, N. Tsagarakis, D. Caldwell

{"title":"Variable physical damping actuators (VPDAs): Facilitating the control and improving the performance of compliant actuation systems","authors":"M. Laffranchi, N. Tsagarakis, D. Caldwell","doi":"10.1109/AMC.2012.6197013","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197013","url":null,"abstract":"As recent application domains emerge requiring the employment of robots within unstructured environments, new demands arise requiring more versatile systems which can cope with unpredictable interactions. Recently, compliance has been identified as one of the key features which enables the safe operation of robots interacting with humans and environment. Despite the certain merits gained with the introduction of compliance, this property introduces also some drawbacks as the reduction of the bandwidth achievable in the controlled system and the introduction of oscillatory dynamics which dramatically reduce the stability and accuracy of the system. A solution which can be used to overcome such issues consists in the incorporation of physical damping within the actuator mechatronics. Motivated by the above, this work presents the evolution of such actuators from purely compliant to more complex and performing systems which incorporate variable physical damping as added feature for the development of robust, safe and still well performing robots. The mechatronics of the developed units are analysed. The compact compliant actuator (CompAct™) with variable physical damping is evaluated with experimental trials performed using a prototype unit.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"21 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76553361","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

Identification and compensation of disturbance for real-world haptics 现实世界触觉干扰的识别与补偿

2012 12th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2012-03-25 DOI: 10.1109/AMC.2012.6197142

T. Shimoichi, S. Katsura

引用次数: 1