Artykuły w czasopismach na temat „Robots Motion”
Kliknij ten link, aby zobaczyć inne rodzaje publikacji na ten temat: Robots Motion.
Utwórz poprawne odniesienie w stylach APA, MLA, Chicago, Harvard i wielu innych
Sprawdź 50 najlepszych artykułów w czasopismach naukowych na temat „Robots Motion”.
Przycisk „Dodaj do bibliografii” jest dostępny obok każdej pracy w bibliografii. Użyj go – a my automatycznie utworzymy odniesienie bibliograficzne do wybranej pracy w stylu cytowania, którego potrzebujesz: APA, MLA, Harvard, Chicago, Vancouver itp.
Możesz również pobrać pełny tekst publikacji naukowej w formacie „.pdf” i przeczytać adnotację do pracy online, jeśli odpowiednie parametry są dostępne w metadanych.
Przeglądaj artykuły w czasopismach z różnych dziedzin i twórz odpowiednie bibliografie.
1
Yan, Feng, Haitao Gao, Lei Zhang i Yali Han. "Design and motion analysis of multi-motion mode pipeline robot". Journal of Physics: Conference Series 2246, nr 1 (1.04.2022): 012029. http://dx.doi.org/10.1088/1742-6596/2246/1/012029.
Pełny tekst źródłaStreszczenie:
Abstract Aiming to improve the adaptability level of single motion form pipeline robots, a wheeled pipeline robot with multiple motion modes is designed. The overall scheme of the pipeline robot is given. The self-adaptive diameter-changing mechanism, wheel displacement mechanism, and turning mechanism are designed. The motion and mechanical models of pipeline robots during travelling are established; on this basis, the robot‘s main body structure is optimised.
2
Choi, Jongmyung, Youngho Lee, Young-Jae Ryoo, Jongsun Choi i Jaeyoung Choi. "Action Petri Net for Specifying Robot Motions". International Journal of Humanoid Robotics 11, nr 04 (grudzień 2014): 1442004. http://dx.doi.org/10.1142/s0219843614420043.
Pełny tekst źródłaStreszczenie:
Smart robots and smart services using robots are promising research fields in academia and industry. However, those smart services are based on basic motions of the robot, such as grabbing objects, and moving them to a designated place. In this paper, we propose a way to produce new motions without programming, from existing motions, through a motion composition method. Our motion composition method utilizes an Action Petri net, which is a variance of a Petri net, with both interpolation and composition operations on a transition. In the Action Petri net, a place is a posture or a moving action of a robot, and it is represented as a diagonal matrix with the robot's joint motor values. Robot motions can be generated from one posture to another posture, and from composing different postures and moving actions. All operations performed to generate new motions are carried out as matrix manipulation operations. Our approach provides a formal method to generate new motions from existing motions, and a practical method to create new motions in low level motion control, without programming.
3
Huang, Yonghua, Qizheng Liao, Lei Guo i Shimin Wei. "Simple realization of balanced motions under different speeds for a mechanical regulator-free bicycle robot". Robotica 33, nr 9 (15.05.2014): 1958–72. http://dx.doi.org/10.1017/s026357471400112x.
Pełny tekst źródłaStreszczenie:
SUMMARYMechanical regulator-free bicycle robots have lighter weight and fewer actuators than the traditional regulator-based bicycle robots. In order to deal with the difficulty of maintaining balance for this kind of bicycle robot, we consider a front-wheel drive and mechanical regulator-free bicycle robot. We present the methodologies for realizing the robot's ultra-low-speed track-stand motion, moderate-speed circular motion and high-speed rectilinear motion. A simplified dynamics of the robot is developed using three independent velocities. From the dynamics, we suggest there may be an underactuated rolling angle in the system. Our balancing strategies are inspired by human riders' experience, and our control rules are based on the bicycle system's underactuated dynamics. In the case of track-stand and circular motion, we linearize the frame's rolling angle and configure the robot to maintain balance by the front-wheel's motion with a fixed front-bar turning angle. In the case of the rectilinear motion, we linearize both front-bar steering angle and front-wheel rotating angle, and configure the system to maintain balance by the front-bar's turning with a constant front-wheel rotating rate. Numerical simulations and physical experiments are given together to validate the effectiveness of our control strategies in realizing the robot's proposed three motions.
4
Yu, Zhong Hai. "Generic Technology of Home Service Robot". Applied Mechanics and Materials 121-126 (październik 2011): 3330–34. http://dx.doi.org/10.4028/www.scientific.net/amm.121-126.3330.
Pełny tekst źródłaStreszczenie:
The paper briefly looks back on current research situation of home service robots. It takes a home nursing robot as example to study and discuss some key generic technologies of home service robots. It generally overviewed robot’s mobile platform technology, modular design, reconfigurable robot technique, motion control, sensor technologies, indoor robot’s navigation and localization technology indoor, intelligentization, and robot’s technology standardization. Some the measures of technology standardization of home service robots have been put forward. It has realistic signification for industrialization of home service robots.
5
Karwowski, Waldemar, T. Plank, M. Parsaei i M. Rahimi. "Human Perception of the Maximum Safe Speed of Robot Motions". Proceedings of the Human Factors Society Annual Meeting 31, nr 2 (wrzesień 1987): 186–90. http://dx.doi.org/10.1177/154193128703100211.
Pełny tekst źródłaStreszczenie:
A laboratory experiment was conducted to determine the maximum speeds of robot arm motion considered by the subjects as safe for human operators working in a close proximity of the robot's working envelope. Twenty-nine college students (16 males and 13 females) participated in the study as monitors of the simulated assembly tasks performed by two industrial robots of different size and work capabilities. The results show that the speed selection process depends on the robot's physical size and its initial speed at the start of the adjustment process. Subjects selected higher speeds as “safe” if they were first exposed to the maximum speed of the robot, and significantly lower values when the initial speed of the robot's actions was only 5% of maximum. It was also shown that the subject's previous exposure to robots and the level of their knowledge of industrial robots highly affected their perception of safe speeds of robot motions. Such effects differ, however, between males and females.
6
LIU, CHAORAN, CARLOS T. ISHI, HIROSHI ISHIGURO i NORIHIRO HAGITA. "GENERATION OF NODDING, HEAD TILTING AND GAZING FOR HUMAN–ROBOT SPEECH INTERACTION". International Journal of Humanoid Robotics 10, nr 01 (marzec 2013): 1350009. http://dx.doi.org/10.1142/s0219843613500096.
Pełny tekst źródłaStreszczenie:
Head motion occurs naturally and in synchrony with speech during human dialogue communication, and may carry paralinguistic information, such as intentions, attitudes and emotions. Therefore, natural-looking head motion by a robot is important for smooth human–robot interaction. Based on rules inferred from analyses of the relationship between head motion and dialogue acts, this paper proposes a model for generating head tilting and nodding, and evaluates the model using three types of humanoid robot (a very human-like android, "Geminoid F", a typical humanoid robot with less facial degrees of freedom, "Robovie R2", and a robot with a 3-axis rotatable neck and movable lips, "Telenoid R2"). Analysis of subjective scores shows that the proposed model including head tilting and nodding can generate head motion with increased naturalness compared to nodding only or directly mapping people's original motions without gaze information. We also find that an upward motion of a robot's face can be used by robots which do not have a mouth in order to provide the appearance that utterance is taking place. Finally, we conduct an experiment in which participants act as visitors to an information desk attended by robots. As a consequence, we verify that our generation model performs equally to directly mapping people's original motions with gaze information in terms of perceived naturalness.
7
Yu, Shiqi, Yoshihiro Nakata, Yutaka Nakamura i Hiroshi Ishiguro. "Inter-Module Physical Interactions: A Force-Transmissive Modular Structure for Whole-Body Robot Motion". Journal of Robotics and Mechatronics 33, nr 5 (20.10.2021): 1190–203. http://dx.doi.org/10.20965/jrm.2021.p1190.
Pełny tekst źródłaStreszczenie:
Robots are required to be significantly compliant and versatile to work in unstructured environments. In a number of studies, robots have positively exploited the environments during interactions and completed tasks from a morphological viewpoint. Modular robots can help realize real-world adaptive robots. Researchers have been investigating the actuation, coupling, and communication mechanisms among these robots to realize versatility. However, the diverse force transmission among modules needs to be further studied to achieve the adaptive whole-body dynamics of a robot. In this study, we fabricated a modular robot and proposed the realization of force transmission on this robot, by constructing fluid transferable network systems on the actuation modules. By exploiting the physical property variations of the modular robot, our experimental results prove that the robot’s motion can be changed by switching the connection pattern of the system.
8
Yang, Zhiqian, Junfang Xue i Weiguo Li. "Structural and Passability Analysis of Dual Detection Mode Pipeline Robot". Journal of Physics: Conference Series 2419, nr 1 (1.01.2023): 012101. http://dx.doi.org/10.1088/1742-6596/2419/1/012101.
Pełny tekst źródłaStreszczenie:
Abstract A new pipeline robot with a dual detection mode is built in order to address the issues with the current oil and gas pipeline inspection robots, such as single detection mode, small pipe diameter adaptation range, poor passing ability, and adaptability of the robots in pipelines. The general design of the robot is presented in this paper and the robot’s general construction and operation principles are discussed. The support system, which combines the main and auxiliary springs to achieve common preloading and force analysis, is organized to meet these goals. This paper designs the detection structure with an angle adjustable function. The robot’s motion and dimension restrictions through the bend pipe are examined concurrently. Experimental verification is then completed. The results of the experiments demonstrate that the robot’s structure design and calculations are reasonable, that the robot’s size and motion constraints analysis in the bend pipe is accurate, and that the robot can successfully pass the bend pipe with R ≥ 1.5D. The study’s findings serve as a guide for the development of prototype robots and subsequent robot simulation experiments.
9
Et.al, JIBUM JUNG. "Use of Human Motion Data to Train Wearable Robots". Turkish Journal of Computer and Mathematics Education (TURCOMAT) 12, nr 6 (11.04.2021): 807–11. http://dx.doi.org/10.17762/turcomat.v12i6.2100.
Pełny tekst źródłaStreszczenie:
Development of wearable robots is accelerating. Walking robots mimic human behavior and must operate without accidents. Human motion data are needed to train these robots. We developed a system for extracting human motion data and displaying them graphically.We extracted motion data using a Perception Neuron motion capture system and used the Unity engine for the simulation. Several experiments were performed to demonstrate the accuracy of the extracted motion data.Of the various methods used to collect human motion data, markerless motion capture is highly inaccurate, while optical motion capture is very expensive, requiring several high-resolution cameras and a large number of markers. Motion capture using a magnetic field sensor is subject to environmental interference. Therefore, we used an inertial motion capture system. Each movement sequence involved four and was repeated 10 times. The data were stored and standardized. The motions of three individuals were compared to those of a reference person; the similarity exceeded 90% in all cases.
Our rehabilitation robot accurately simulated human movements: individually tailored wearable robots could be designed based on our data. Safe and stable robot operation can be verified in advance via simulation. Walking stability can be increased using walking robots trained via machine learning algorithms.
10
Jia, Yan, Xiao Luo, Baoling Han, Guanhao Liang, Jiaheng Zhao i Yuting Zhao. "Stability Criterion for Dynamic Gaits of Quadruped Robot". Applied Sciences 8, nr 12 (25.11.2018): 2381. http://dx.doi.org/10.3390/app8122381.
Pełny tekst źródłaStreszczenie:
Dynamic-stability criteria are crucial for robot’s motion planning and balance recovery. Nevertheless, few studies focus on the motion stability of quadruped robots with dynamic gait, none of which have accurately evaluated the robots’ stability. To fill the gaps in this field, this paper presents a new stability criterion for the motion of quadruped robots with dynamic gaits running over irregular terrain. The traditional zero-moment point (ZMP) is improved to analyze the motion on irregular terrain precisely for dynamic gaits. A dynamic-stability criterion and measurement are proposed to determine the stability state of the robot and to evaluate its stability. The simulation results show the limitations of the existing stability criteria for dynamic gaits and indicate that the criterion proposed in this paper can accurately and efficiently evaluate the stability of a quadruped robot using such gaits.
11
Slota, Adam, i Krzysztof Krupa. "Simulation Model of Coordination Robot Trajectories with Load Sharing – 1D Case". Applied Mechanics and Materials 808 (listopad 2015): 327–32. http://dx.doi.org/10.4028/www.scientific.net/amm.808.327.
Pełny tekst źródłaStreszczenie:
Coordination of robots’ motion is required when two robots are to execute a single task. Presented algorithm of coordination robot trajectories is based on composition of two motions: a programmed one and a corrective one. In the former version of the algorithm programmed motion is a simple straight line motion to a fixed final position or may be defined as a set of Bezier curve segments. Corrective motion aims at keeping a constant relative distance between robots’ TCPs. Proposed modification of the algorithm takes into account distribution of load, caused by the weight of the manipulated part, between robots. For the clarity one dimensional case is considered with the gravity force along the direction of robots’ TCPs motion. To calculate force interaction between manipulated part and robots’ TCP a flexible connection with a defined stiffness is assumed. The algorithm is implemented as a simulation model and simulation results are presented.
12
Karnam, Murali, Marek Zelechowski, Philippe C. Cattin, Georg Rauter i Nicolas Gerig. "Augmented Reality for 6-DoF Motion Recording, Preview, and Execution to Enable Intuitive Surgical Robot Control". Current Directions in Biomedical Engineering 8, nr 2 (1.08.2022): 225–28. http://dx.doi.org/10.1515/cdbme-2022-1058.
Pełny tekst źródłaStreszczenie:
Abstract In robot-assisted surgeries, the surgeon focuses on the surgical tool and its pose, and not on the complete robot’s shape. However, the joints of redundant robots (robots that have more degrees of freedom (DoF) than needed for the positioning of surgical tools) might move in unexpected/undesired ways. Joint motions that lead to patient or collisions are safety critical. We assume that the medical personnel in the operating room can best decide if a planned robot motions come too close to the patient or not. Therefore, we propose an augmented reality-based solution to interact with the robot during surgery planning, and intervention. The tool can be used to command a robot by drawing a trajectory in augmented reality (AR), visualizing the robot movement to check if it is safe before execution. The proposed solution allows surgeons to plan safe robot motion paths before-hand and adapt them when necessary in situ. As a proof-of-concept, we implemented and demonstrated the proposed solution on a 7-DoF redundant robot by commanding different trajectories. The control architecture to plan and execute motion for a surgical robot using AR is a key result of this work.
13
Song, Enquan, Jiaqi Li i Yuhe Liao. "Kinematic analysis and motion planning simulation of cooperative robot". Cobot 1 (23.03.2022): 8. http://dx.doi.org/10.12688/cobot.17465.1.
Pełny tekst źródłaStreszczenie:
Background: With the wide use of robots in electric welding and mechanical manufacturing, we need to reflect their trajectory at work, verify the effectiveness of robotic working principles and prevent unnecessary problems through simulation experiments. In order to meet the requirements of precision and controllable trajectory of robots in the assembly process, we need to model the kinematics of robots, and adopt an interpolation method to improve the kinematic accuracy of robots. Methods: To solve the problems of low accuracy and poor stability of robots in assembly trajectory, a method which combines an optimized Denavit and Hartenberg (D-H) parameter modeling method and interpolation method is presented for the first time in this paper. For this purpose, the configuration and startup files required for robot motion planning are created to configure the corresponding simulation platform of an AUBO-i5 collaborative robot. In order to study the reliability of the proposed method, a three-dimensional environment model of the manipulator is established. Then, the robot’s linear trajectory planning is realized, and thus the position changes of each joint are analyzed. Results: The simulation results show that the improved D-H method effectively improves the stability and accuracy of the motion trajectory of each joint and provides a basis for the robot to realize more flexible motion planning. Conclusions: In the assembly process, we can use the simulation platform for simulation experiments to avoid unnecessary problems. In addition, we can use the improved D-H method and interpolation method to improve the trajectory accuracy of robots. The method presented in the paper can effectively reduce the damage of the robot in the process of use and improve the assembly efficiency of robots.
14
Bian, Feifei, Danmei Ren, Ruifeng Li, Peidong Liang, Ke Wang i Lijun Zhao. "Dynamical system based variable admittance control for physical human-robot interaction". Industrial Robot: the international journal of robotics research and application 47, nr 4 (15.05.2020): 623–35. http://dx.doi.org/10.1108/ir-12-2019-0258.
Pełny tekst źródłaStreszczenie:
Purpose The purpose of this paper is to enable robots to intelligently adapt their damping characteristics and motions in a reactive fashion toward human inputs and task requirements during physical human–robot interaction. Design/methodology/approach This paper exploits a combination of the dynamical system and the admittance model to create robot behaviors. The reference trajectories are generated by dynamical systems while the admittance control enables robots to compliantly follow the reference trajectories. To determine how control is divided between the two models, a collaborative arbitration algorithm is presented to change their contributions to the robot motion based on the contact forces. In addition, the authors investigate to model the robot’s impedance characteristics as a function of the task requirements and build a novel artificial damping field (ADF) to represent the virtual damping at arbitrary robot states. Findings The authors evaluate their methods through experiments on an UR10 robot. The result shows promising performances for the robot to achieve complex tasks in collaboration with human partners. Originality/value The proposed method extends the dynamical system approach with an admittance control law to allow a robot motion being adjusted in real time. Besides, the authors propose a novel ADF method to model the robot’s impedance characteristics as a function of the task requirements.
15
Kim, Lawrence H., i Sean Follmer. "Generating Legible and Glanceable Swarm Robot Motion through Trajectory, Collective Behavior, and Pre-attentive Processing Features". ACM Transactions on Human-Robot Interaction 10, nr 3 (lipiec 2021): 1–25. http://dx.doi.org/10.1145/3442681.
Pełny tekst źródłaStreszczenie:
As swarm robots begin to share the same space with people, it is critical to design legible swarm robot motion that clearly and rapidly communicates the intent of the robots to nearby users. To address this, we apply concepts from intent-expressive robotics, swarm intelligence, and vision science. Specifically, we leverage the trajectory, collective behavior, and density of swarm robots to generate motion that implicitly guides people’s attention toward the goal of the robots. Through online evaluations, we compared different types of intent-expressive motions both in terms of legibility as well as glanceability, a measure we introduce to gauge an observer’s ability to predict robots’ intent pre-attentively. The results show that the collective behavior-based motion has the best legibility performance overall, whereas, for glanceability, trajectory-based legible motion is most effective. These results suggest that the optimal solution may involve a combination of these legibility cues based on the scenario and the desired properties of the motion.
16
Zheng, Yu, Shi Wen Liao i Katsu Yamane. "Humanoid Locomotion Control and Generation Based on Contact Wrench Cones". International Journal of Humanoid Robotics 16, nr 05 (październik 2019): 1950021. http://dx.doi.org/10.1142/s021984361950021x.
Pełny tekst źródłaStreszczenie:
This paper presents a general framework for locomotion control and generation of humanoid robots. Different from most of the existing work which uses the zero-moment point (2mp) to determine the feasibility of robot’s motion, we use the so-called contact wrench cone to derive motion feasibility conditions, whole-body motion controllers, and locomotion generators. The contact wrench cone consists of all feasible wrenches that can be applied to the robot through contacts, which provide allowable external forces and moments for realizing the robot’s motion. Algorithms are proposed to compute quantities defined on linear representations of a general convex cone, which can be various contact wrench cones as needed in developing motion generators and controllers. Based on the contact wrench cone for contact links and the proposed algorithms as well as a decomposition of the whole-body dynamics of a floating-base humanoid robot, we derive two motion tracking controllers. One controller contains a single quadratic program with linear inequality constraints, while the other consists of two quadratic programs which can be quickly solved by one of the proposed algorithms and in a closed form, respectively. Both controllers can be applied in real-time and achieve similar motion tracking performance in simulation. Based on contact wrench cones, furthermore, we derive two motion generation methods for humanoid robots. The first method adapts a reference motion, most often infeasible, to the robot by warping the motion’s time line so that the motion trajectory will remain the same but the velocity and acceleration profiles will be changed. The second method generates bipedal locomotion for given footsteps. All the proposed motion controllers and generators are applicable to general scenarios including uneven terrains and motions with the support of other links besides feet.
17
Rangkuti, Syahban, Dwi Liestyowati i Arif Syaripudin. "Design and implementation the stability and direction of hexapod robot motion". International research journal of engineering, IT & scientific research 8, nr 6 (6.10.2022): 256–69. http://dx.doi.org/10.21744/irjeis.v8n6.2196.
Pełny tekst źródłaStreszczenie:
Robotics technology has developed rapidly and applied to various fields of work that cannot be done by humans. Many forms and types of robots used include the hexapod robot. The purpose of this research is to regulate the direction of the hexapod robot’s motion and be able to avoid obstacles to maintain the stability of its motion using a PID control system. In establishing a good control system, various types of sensors are used, those are ultrasonic and inertial measurement unit sensors. The shape of the hexapod robot is made to be integrated with the robot's legs. Each leg of the robot consists of 3 joints, joined by a servo motor. There are 18 servo motors. Eight ultrasonic sensors are used to detect surrounding objects, run well, and ability to avoid obstacles. The main orientation of the hexapod robot motion is to move forward, but if there are obstacles, it will find a solution to turn using ultrasonic sensors. An inertial measurement unit sensor is used to maintain the robot’s body’s stability.
18
Pecora, Federico, Henrik Andreasson, Masoumeh Mansouri i Vilian Petkov. "A Loosely-Coupled Approach for Multi-Robot Coordination, Motion Planning and Control". Proceedings of the International Conference on Automated Planning and Scheduling 28 (15.06.2018): 485–93. http://dx.doi.org/10.1609/icaps.v28i1.13923.
Pełny tekst źródłaStreszczenie:
Deploying fleets of autonomous robots in real-world applications requires addressing three problems: motion planning, coordination, and control. Application-specific features of the environment and robots often narrow down the possible motion planning and control methods that can be used. This paper proposes a lightweight coordination method that implements a high-level controller for a fleet of potentially heterogeneous robots. Very few assumptions are made on robot controllers, which are required only to be able to accept set point updates and to report their current state. The approach can be used with any motion planning method for computing kinematically-feasible paths. Coordination uses heuristics to update priorities while robots are in motion, and a simple model of robot dynamics to guarantee dynamic feasibility. The approach avoids a priori discretization of the environment or of robot paths, allowing robots to "follow each other" through critical sections. We validate the method formally and experimentally with different motion planners and robot controllers, in simulation and with real robots.
19
Rogalinski, Paweł. "An approach to automatic robots programming in the flexible manufacturing cell". Robotica 12, nr 3 (maj 1994): 263–79. http://dx.doi.org/10.1017/s0263574700017239.
Pełny tekst źródłaStreszczenie:
SUMMARYThe paper presents an approach to automatic synthesis of program for robots in a flexible manufacturing cell (FMC). The system of program generation consists of two layers: Task-Level Programming Layer and Program Interpretation and Verification Layer. The first layer uses robot-independent planning techniques to create a work plan for robots (set of elementary actions) and program for each elementary action. The second layer uses robot-dependent planning methods to plan robot's trajectories and calculate the robot's motion times. A simulation model of whole FMC, which is created based on a description of FMC and program for robots, makes possible evaluation of efficiency of FMC work.
20
Li, Yunwang, Shirong Ge, Sumei Dai, Lala Zhao, Xucong Yan, Yuwei Zheng i Yong Shi. "Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation". Sensors 20, nr 1 (21.12.2019): 75. http://dx.doi.org/10.3390/s20010075.
Pełny tekst źródłaStreszczenie:
In industry, combination configurations composed of multiple Mecanum-wheeled mobile robots are adopted to transport large-scale objects. In this paper, a kinematic model with velocity compensation of the combined mobile system is created, aimed to provide a theoretical kinematic basis for accurate motion control. Motion simulations of a single four-Mecanum-wheeled virtual robot prototype on RecurDyn and motion tests of a robot physical prototype are carried out, and the motions of a variety of combined mobile configurations are also simulated. Motion simulation and test results prove that the kinematic models of single- and multiple-robot combination systems are correct, and the inverse kinematic correction model with velocity compensation matrix is feasible. Through simulations or experiments, the velocity compensation coefficients of the robots can be measured and the velocity compensation matrix can be created. This modified inverse kinematic model can effectively reduce the errors of robot motion caused by wheel slippage and improve the motion accuracy of the mobile robot system.
21
Matsunaga, Nobutomo, i Shigeyasu Kawaji. "Motion Analysis of Human Lifting Works with Heavy Objects". Journal of Robotics and Mechatronics 17, nr 6 (20.12.2005): 628–35. http://dx.doi.org/10.20965/jrm.2005.p0628.
Pełny tekst źródłaStreszczenie:
Advances in robot development involves autonomous work in the real world, where robots may lift or carry heavy objects. Motion control of autonomous robots is an important issue, in which configurations and motion differ depending on the robot and the object. Isaka et al. analyzed that lifting configuration is important in realizing efficient lifting minimizing the burden on the lower back, but their analysis was limited to weight lifting of a fixed object. Biped robot control requires analyzing different lifting in diverse situations. Thus, motion analysis is important in clarifying control strategy. We analyzed dynamics of human lifting of barbells in different situations, and found that lifting can be divided into four motions.
22
Borangiu, Theodor, Florin Daniel Anton i Silvia Anton. "Robot Motion Synchronization in Cooperative Tasks". Solid State Phenomena 166-167 (wrzesień 2010): 63–68. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.63.
Pełny tekst źródłaStreszczenie:
This paper discusses the problem of synchronizing multiple robots in cooperative tasks. The problem is divided in two parts: first the problem of synchronizing robots which are handling large objects that cannot be manipulated only by one robot (hard connected robots) is discussed; the problem is approached from the point of view of path planning, kinematics, and movement synchronization. An alternative of control using the force control and dynamics which solved by using a decentralized control structure is also presented. The second problem concerns robot synchronization in a shared workspace; here is presented a method of control for collision avoidance and time optimization for the robot tasks (assembly / disassembly). In the conclusion section the results from the experiments conducted on two SCARA type robots (Adept Cobra s600) are presented.
23
Lin, Chi-Fang, i Wen-Hsiang Tsai. "Motion planning for multiple robots with multi-mode operations via disjunctive graphs". Robotica 9, nr 4 (grudzień 1991): 393–408. http://dx.doi.org/10.1017/s0263574700000576.
Pełny tekst źródłaStreszczenie:
SUMMARYA new approach to motion planning for multiple robots with multi-mode operations is proposed in this paper. Although sharing a common workspace, the robots are assumed to perform periodical tasks independently. The goal is to schedule the motion trajectories of the robots so as to avoid collisions among them. Rather than assigning the robots with different priorities and planning safe motion for only one robot at a time, as is done in most previous studies, an efficient method is developed that can simultaneously generate collision-free motions for the robots with or without priority assignment. Being regarded as a type of job-shop scheduling, the problem is reduced to that of finding a minimaximal path in a disjunctive graph and solved by an extension of the Balas algorithm. The superiority of this approach is demonstrated with various robot operation requirements, including “non-priority”, “with-priority”, and “multicycle” operation modes. Some techniques for speeding up the scheduling process are also presented. The planning results can be described by Gantt charts and executed by a simple “stop-and-go” control scheme. Simulation results on different robot operation modes are also presented to show the feasibility of the proposed approach.
24
Qin, Yong, Michael T. Frye, Haibin Wu, Sreerenjini Nair i Kun Sun. "Study of Robot Localization and Control Based on Motion Capture in Indoor Environment". Integrated Ferroelectrics 201, nr 1 (2.09.2019): 1–11. http://dx.doi.org/10.1080/10584587.2019.1592069.
Pełny tekst źródłaStreszczenie:
This paper researches a robotic localization system based on motion capture indoor environment. We apply motion capture technology to realize multi-robot positioning which achieves the multi-robots’ localization in indoor environment. It includes motion capture system, some robots, and main computer for data calibration and communication. Motions capture system based on the theory of photogrammetry which was analyzed. And the virtual experiment environment was established according to the actual experimental environment. The performance is demonstrated by numerical simulation and experiment.
25
Chen, Yuhao, Trevor Smith, Nathan Hewitt, Yu Gu i Boyi Hu. "Effects of Human Personal Space on the Robot Obstacle Avoidance Be havior: A Human-in-the-loop Assessment". Proceedings of the Human Factors and Ergonomics Society Annual Meeting 65, nr 1 (wrzesień 2021): 1195–99. http://dx.doi.org/10.1177/1071181321651098.
Pełny tekst źródłaStreszczenie:
To ensure both the physical and mental safety of humans during human-robot interaction (HRI), a rich body of literature has been accumulated, and the notion of socially acceptable robot behaviors has arisen. To be specific, it requires the motion of robots not only to be physically collision-free but also to consider and respect the social conventions developed and enforced in the human social contexts. Among these social conventions, personal space, or proxemics, is one of the most commonly considered in the robot behavioral design. Nevertheless, most previous research efforts assumed that robots could generate human-like motions by merely mimicking a human. Rarely are the robot’s behavioral algorithms assessed and verified by human participants. Therefore, to fill the research gap, a Turing-like simulation test, which contains the interaction of two agents (each agent could be a human or a robot) in a shared space was conducted. Participants (33 in total) were asked to identify and label the category of those agents followed by questionnaires. Results revealed that people who had different attitudes and prior expectations of appropriate robot behaviors responded to the algorithm differently, and their identification accuracy varied significantly. In general, by considering personal space in the robot obstacle avoidance algorithm, robots could demonstrate more humanlike motion behaviors which are confirmed by human experiments.
26
Takahashi, Kuniyuki, Tetsuya Ogata, Hadi Tjandra, Yuki Yamaguchi i Shigeki Sugano. "Tool-Body Assimilation Model Based on Body Babbling and Neurodynamical System". Mathematical Problems in Engineering 2015 (2015): 1–15. http://dx.doi.org/10.1155/2015/837540.
Pełny tekst źródłaStreszczenie:
We propose the new method of tool use with a tool-body assimilation model based on body babbling and a neurodynamical system for robots to use tools. Almost all existing studies for robots to use tools require predetermined motions and tool features; the motion patterns are limited and the robots cannot use novel tools. Other studies fully search for all available parameters for novel tools, but this leads to massive amounts of calculations. To solve these problems, we took the following approach: we used a humanoid robot model to generate random motions based on human body babbling. These rich motion experiences were used to train recurrent and deep neural networks for modeling a body image. Tool features were self-organized in parametric bias, modulating the body image according to the tool in use. Finally, we designed a neural network for the robot to generate motion only from the target image. Experiments were conducted with multiple tools for manipulating a cylindrical target object. The results show that the tool-body assimilation model is capable of motion generation.
27
Miyake, Tamon, Yo Kobayashi, Masakatsu G. Fujie i Shigeki Sugano. "One-DOF Wire-Driven Robot Assisting Both Hip and Knee Flexion Motion". Journal of Robotics and Mechatronics 31, nr 1 (20.02.2019): 135–42. http://dx.doi.org/10.20965/jrm.2019.p0135.
Pełny tekst źródłaStreszczenie:
Gait assistance robots are used to improve gait performance ability or perform gait motion with an assistance for several articular motions. The sparing use of a gait assistance robot to decrease the duration of the robot’s assistance is important for keeping the ability to perform a movement when the robot assists walking. In previous research, methods of ensuring a compliance mechanism and control method have been studied, and assistance for articular motions has been conducted independently using actuators corresponding to each articular motion. In this paper, we propose a wire-driven gait assistance robot to aid both hip and knee articular flexion motions by applying just one force to assist motion in the swing phase. We focused on a force that assists hip and knee flexion motion, and designed a robot with a compensation mechanism for the wire length. We used an assistance timing detection method for the robot, conducting tensile force control based on information from the hip, knee, and ankle angles. We carried out an experiment to investigate the controlled performance of the proposed robot and the effect on hip and knee angular velocity. We confirmed that the proposed robotic system can aid both hip and knee articular motion with just one force application.
28
Ha, Sehoon, Stelian Coros, Alexander Alspach, Joohyung Kim i Katsu Yamane. "Computational co-optimization of design parameters and motion trajectories for robotic systems". International Journal of Robotics Research 37, nr 13-14 (5.06.2018): 1521–36. http://dx.doi.org/10.1177/0278364918771172.
Pełny tekst źródłaStreszczenie:
We present a novel computational approach to optimizing the morphological design of robots. Our framework takes as input a parameterized robot design as well as a motion plan consisting of trajectories for end-effectors and, optionally, for its body. The algorithm optimizes the design parameters including link lengths and actuator placements whereas concurrently adjusting motion parameters such as joint trajectories, actuator inputs, and contact forces. Our key insight is that the complex relationship between design and motion parameters can be established via sensitivity analysis if the robot’s movements are modeled as spatiotemporal solutions to an optimal control problem. This relationship between form and function allows us to automatically optimize the robot design based on specifications expressed as a function of actuator forces or trajectories. We evaluate our model by computationally optimizing four simulated robots that employ linear actuators, four-bar linkages, or rotary servos. We further validate our framework by optimizing the design of two small quadruped robots and testing their performances using hardware implementations.
29
Miao, Zhihuai, Jixue Mo, Gang Li, Yinghao Ning i Bing Li. "Wheeled hopping robot with combustion-powered actuator". International Journal of Advanced Robotic Systems 15, nr 1 (1.01.2018): 172988141774560. http://dx.doi.org/10.1177/1729881417745608.
Pełny tekst źródłaStreszczenie:
While exploring complex environments, conventional mobile robots can overcome obstacles of limited height and jumping robots can overcome obstacles several times their own size. When jumping motion and wheeled or tracked motion are combined to form a composite motion, robots have even better ability to traverse rugged terrain. Therefore, we designed a wheeled hopping robot with a novel combustion-powered actuator and carried out structural design and experimental studies. The combustion-powered actuator has a unique inlet scheme and good sealing performance and is easy to install. The jump height equation was obtained by analyzing the combustion process. With the help of orthogonal array design methods, the factors that affect the wheeled hopping robot’s jumping height were analyzed to improve its key design parameters and optimize its jumping performance. Finally, experiments were performed with the actuator and the wheeled hopping robot. When the stoichiometric ratio of the mixed fuels nears complete combustion, the combustion-powered actuator can jump 7.5 m high with a payload of 3.75 kg and its own weight of 1.25 kg, and the wheeled hopping robot can jump 4.5 m high with a payload of 6 kg. Evaluating the robot’s performance in terms of energy efficiency reveals that it has a significant jumping advantage.
30
Mavrogiannis, Christoforos, Patrícia Alves-Oliveira, Wil Thomason i Ross A. Knepper. "Social Momentum: Design and Evaluation of a Framework for Socially Competent Robot Navigation". ACM Transactions on Human-Robot Interaction 11, nr 2 (30.06.2022): 1–37. http://dx.doi.org/10.1145/3495244.
Pełny tekst źródłaStreszczenie:
Mobile robots struggle to integrate seamlessly in crowded environments such as pedestrian scenes, often disrupting human activity. One obstacle preventing their smooth integration is our limited understanding of how humans may perceive and react to robot motion. Motivated by recent studies highlighting the benefits of intent-expressive motion for robots operating close to humans, we describe Social Momentum (SM), a planning framework for legible robot motion generation in multiagent domains. We investigate the properties of motion generated by SM via two large-scale user studies: an online, video-based study ( N = 180) focusing on the legibility of motion produced by SM and a lab study ( N = 105) focusing on the perceptions of users navigating next to a robot running SM in a crowded space. Through statistical and thematic analyses of collected data, we present evidence suggesting that (a) motion generated by SM enables quick inference of the robot’s navigation strategy; (b) humans navigating close to a robot running SM follow comfortable, low-acceleration paths; and (c) robot motion generated by SM is positively perceived and indistinguishable from a teleoperated baseline. Through the discussion of experimental insights and lessons learned, this article aspires to inform future algorithmic and experimental design for social robot navigation.
31
Takahashi, Yasutake, Hiroki Hatano, Yosuke Maida, Kazuyuki Usui i Yoichiro Maeda. "Motion Segmentation and Recognition for Imitation Learning and Influence of Bias for Learning Walking Motion of Humanoid Robot Based on Human Demonstrated Motion". Journal of Advanced Computational Intelligence and Intelligent Informatics 19, nr 4 (20.07.2015): 532–43. http://dx.doi.org/10.20965/jaciii.2015.p0532.
Pełny tekst źródłaStreszczenie:
Two main issues arise in practical imitation learning by humanoid robots observing human behavior – the first is segmenting and recognizing motion demonstrated naturally by a human beings and the second is utilizing the demonstrated motion for imitation learning. Specifically, the first involves motion segmentation and recognition based on the humanoid robot motion repertoire for imitation learning and the second introduces learning bias based on demonstrated motion in the humanoid robot’s imitation learning to walk. We show the validity of our motion segmentation and recognition in a practical way and report the results of our investigation in the influence of learning bias in humanoid robot simulations.
32
Bodden, Christopher, Daniel Rakita, Bilge Mutlu i Michael Gleicher. "A flexible optimization-based method for synthesizing intent-expressive robot arm motion". International Journal of Robotics Research 37, nr 11 (wrzesień 2018): 1376–94. http://dx.doi.org/10.1177/0278364918792295.
Pełny tekst źródłaStreszczenie:
We present an approach to synthesize robot arm trajectories that effectively communicate the robot’s intent to a human collaborator while achieving task goals. Our approach uses nonlinear constrained optimization to encode task requirements and desired motion properties. Our implementation allows for a wide range of constraints and objectives. We introduce a novel objective function to optimize robot arm motions for intent-expressiveness that works in a range of scenarios and robot arm types. Our formulation supports experimentation with different theories of how viewers interpret robot motion. Through a series of human-subject experiments on real and simulated robots, we demonstrate that our method leads to improved collaborative performance against other methods, including the current state of the art. These experiments also show how our perception heuristic can affect collaborative outcomes.
33
Zhang, Xiaobo, Jinguo Liu, Zhaojie Ju i Chenguang Yang. "Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method". Applied Sciences 8, nr 11 (23.10.2018): 2011. http://dx.doi.org/10.3390/app8112011.
Pełny tekst źródłaStreszczenie:
A snake robot has to raise its head to acquire a wide visual space for planning complex tasks such as inspecting unknown environments, tracking a flying object and acting as a manipulator with its raising part. However, only a few researchers currently focus on analyzing the head-raising motion of snake robots. Thus, a predefined spiral curve method is proposed for the head-raising motion of such robots. First, the expression of the predefined spiral curve is designed. Second, with the curve and a line segments model of a snake robot, a shape-fitting algorithm is developed for constraining the robot’s macro shape. Third, the coordinate system of the line segments model of the robot is established. Then, phase-shifting and angle-solving algorithms are developed to obtain the angle sequences of roll, pitch, and yaw during the head-raising motion. Finally, the head-raising motion is simulated using the angle sequences to validate the feasibility of this method.
34
Yin, Zikang, Chao Ye, Hao An, Weiyang Lin i Zhifeng Wang. "Robot Manipulation Skills Transfer for Sim-to-Real in Unstructured Environments". Electronics 12, nr 2 (13.01.2023): 411. http://dx.doi.org/10.3390/electronics12020411.
Pełny tekst źródłaStreszczenie:
Robot force control that needs to be customized for the robot structure in unstructured environments with difficult-to-tune parameters guarantees robots’ compliance and safe human–robot interaction in an increasingly expanding work environment. Although reinforcement learning provides a new idea for the adaptive adjustment of these parameters, the policy often needs to be trained from scratch when used in new robotics, even in the same task. This paper proposes the episodic Natural Actor-Critic algorithm with action limits to improve robot admittance control and transfer motor skills between robots. The motion skills learned by simple simulated robots can be applied to complex real robots, reducing the difficulty of training and time consumption. The admittance control ensures the realizability and mobility of the robot’s compliance in all directions. At the same time, the reinforcement learning algorithm builds up the environment model and realizes the adaptive adjustment of the impedance parameters during the robot’s movement. In typical robot contact tasks, motor skills are trained in a robot with a simple structure in simulation and used for a robot with a complex structure in reality to perform the same task. The real robot’s performance in each task is similar to the simulated robot’s in the same environment, which verifies the method’s effectiveness.
35
Luneckas, Mindaugas, Tomas Luneckas i Dainius Udris. "Leg placement algorithm for foot impact force minimization". International Journal of Advanced Robotic Systems 15, nr 1 (1.01.2018): 172988141775151. http://dx.doi.org/10.1177/1729881417751512.
Pełny tekst źródłaStreszczenie:
Walking is considered to be a rather complicated task for autonomous robots. Sustaining dynamic stability, adopting different gaits, and calculating correct foot placement are a necessity to overcome irregular terrain, various environments and completing a range of assignments. Besides that, certain assignments require that robots have to walk on fragile surfaces without damaging it. Furthermore, under some other circumstances, if walking is careless, robots could suffer damage caused by the impact of the terrain. Foot placement, leg motion speed must be controlled to avoid braking surface or even sensors on robot’s feet. In this article, a simple leg placement algorithm is proposed that controls hexapod robot’s leg speed. Thus, force dependence on leg motion speed and step height has been measured by using a piezoelectric sensor. Then, by using leg placement algorithm, we show that the reduction of the impact force between robot’s foot and surface is possible. Using this algorithm, robot feet’s impact force with the surface can be minimized to almost 0 N.
36
Niu, Zijie, Aiwen Zhan i Yongjie Cui. "Deviation from the direction of motion across gaits in a hexapodal robot". Industrial Robot: the international journal of robotics research and application 47, nr 3 (20.03.2020): 325–33. http://dx.doi.org/10.1108/ir-03-2019-0054.
Pełny tekst źródłaStreszczenie:
Purpose The purpose of this study is to test a chassis robot on rugged road cargo handling. Design/methodology/approach Attitude solution of D-H series robot gyroscope speed and acceleration sensor. Findings In identical experimental environments, hexapodal robots experience smaller deviations when using a four-footed propulsive gait from a typical three-footed gait for forward motion; for the same distance but at different speeds, the deviation basically keeps itself within the same range when the robot advances forward with four-foot propulsive gait; because the foot slide in the three-footed gait sometimes experiences frictions, the robot exhibits a large gap in directional deviations in different courses during motion; for motion using a four-footed propulsive gait, there are minor directional deviations of hexapodal robots resulting from experimental errors, which can be reduced through optimizing mechanical structures. Originality/value Planning different gaits can solve problems existing in some typical gaits. This article has put forward a gait planning method for hexapodal robots moving forward with diverse gaits as a redundant multifreedom structure. Subsequent research can combine a multiparallel-legged structure to analyze kinematics, optimize the robot’s mechanical structure and carry out in-depth research of hexapod robot gaits.
37
TSUJITA, TEPPEI, ATSUSHI KONNO, SHUNSUKE KOMIZUNAI, YUKI NOMURA, TOMOYA MYOJIN, YASAR AYAZ i MASARU UCHIYAMA. "HUMANOID ROBOT MOTION GENERATION SCHEME FOR TASKS UTILIZING IMPULSIVE FORCE". International Journal of Humanoid Robotics 09, nr 02 (czerwiec 2012): 1250008. http://dx.doi.org/10.1142/s0219843612500089.
Pełny tekst źródłaStreszczenie:
In order to exert a large force on an environment, it is effective to apply impulsive force. We describe the motions in which tasks are performed by applying impulsive force as "impact motions." This paper proposes a way to generate impact motions for humanoid robots to exert a large force and the feedback control method for driving a nail robustly. The impact motion is optimized based on a three dimensional model using sequential quadratic programming (SQP). In this research, a nailing task is taken as an example of impact motion. A dominant parameter for driving a nail strongly is revealed and motions which maximize the parameter are generated considering the robot's postural stability. In order to evaluate the proposed scheme, a life-sized humanoid robot drives nails into a plate made of chemical wood. The optimized motion is compared with a motion designed heuristically by a human. Average driving depth is clearly increased by the proposed method.
38
Grunberg, David K., Alyssa M. Batula, Erik M. Schmidt i Youngmoo E. Kim. "Synthetic Emotions for Humanoids". International Journal of Synthetic Emotions 3, nr 2 (lipiec 2012): 68–83. http://dx.doi.org/10.4018/jse.2012070104.
Pełny tekst źródłaStreszczenie:
The recognition and display of synthetic emotions in humanoid robots is a critical attribute for facilitating natural human-robot interaction. The authors utilize an efficient algorithm to estimate the mood in acoustic music, and then use the results of that algorithm to drive movement generation systems to provide motions for the robot that are suitable for the music. This system is evaluated on multiple sets of humanoid robots to determine if the choice of robot platform or number of robots influences the perceived emotional content of the motions. Their tests verify that the authors’ system can accurately identify the emotional content of acoustic music and produce motions that convey a similar emotion to that in the audio. They also determine the perceptual effects of using different sized or different numbers of robots in the motion performances.
39
Gong, Shiqiu, Jing Zhao, Ziqiang Zhang i Biyun Xie. "Task motion planning for anthropomorphic arms based on human arm movement primitives". Industrial Robot: the international journal of robotics research and application 47, nr 5 (19.06.2020): 669–81. http://dx.doi.org/10.1108/ir-12-2019-0261.
Pełny tekst źródłaStreszczenie:
Purpose This paper aims to introduce the human arm movement primitive (HAMP) to express and plan the motions of anthropomorphic arms. The task planning method is established for the minimum task cost and a novel human-like motion planning method based on the HAMPs is proposed to help humans better understand and plan the motions of anthropomorphic arms. Design/methodology/approach The HAMPs are extracted based on the structure and motion expression of the human arm. A method to slice the complex tasks into simple subtasks and sort subtasks is proposed. Then, a novel human-like motion planning method is built through the selection, sequencing and quantification of HAMPs. Finally, the HAMPs are mapped to the traditional joint angles of a robot by an analytical inverse kinematics method to control the anthropomorphic arms. Findings For the exploration of the motion laws of the human arm, the human arm motion capture experiments on 12 subjects are performed. The results show that the motion laws of human arm are reflected in the selection, sequencing and quantification of HAMPs. These motion laws can facilitate the human-like motion planning of anthropomorphic arms. Originality/value This study presents the HAMPs and a method for selecting, sequencing and quantifying them in human-like style, which leads to a new motion planning method for the anthropomorphic arms. A similar methodology is suitable for robots with anthropomorphic arms such as service robots, upper extremity exoskeleton robots and humanoid robots.
40
Nomura, Tatsuya, i Kazuma Saeki. "Effects of Polite Behaviors Expressed by Robots". International Journal of Synthetic Emotions 1, nr 2 (lipiec 2010): 38–52. http://dx.doi.org/10.4018/jse.2010070103.
Pełny tekst źródłaStreszczenie:
A psychological experiment was conducted to straightforwardly investigate the effects of polite behaviors expressed by robots in Japan, using a small-sized humanoid robot that performed four types of behaviors with voice task instructions. Results of the experiment suggested that the subjects who experienced “deep bowing” motion of the robot felt it more extrovert than those who experienced “just standing” motion. Subjects who experienced “lying” motion of the robot felt the robot less polite than those who experienced the other motions. Female subjects more strongly feeling the robot extrovert replied for the task instruction from the robot faster, although no such trend was found in the male subjects. However, the male subjects who did not perform the task felt the robot less polite than the male subjects who performed the task and the female subjects who did not perform the task.
41
Gong, Liang, Binhao Chen, Wenbin Xu, Chengliang Liu, Xudong Li, Zelin Zhao i Lujie Zhao. "Motion Similarity Evaluation between Human and a Tri-Co Robot during Real-Time Imitation with a Trajectory Dynamic Time Warping Model". Sensors 22, nr 5 (2.03.2022): 1968. http://dx.doi.org/10.3390/s22051968.
Pełny tekst źródłaStreszczenie:
Precisely imitating human motions in real-time poses a challenge for the robots due to difference in their physical structures. This paper proposes a human–computer interaction method for remotely manipulating life-size humanoid robots with a new metrics for evaluating motion similarity. First, we establish a motion capture system to acquire the operator’s motion data and retarget it to the standard bone model. Secondly, we develop a fast mapping algorithm, by mapping the BVH (BioVision Hierarchy) data collected by the motion capture system to each joint motion angle of the robot to realize the imitated motion control of the humanoid robot. Thirdly, a DTW (Dynamic Time Warping)-based trajectory evaluation method is proposed to quantitatively evaluate the difference between robot trajectory and human motion, and meanwhile, visualization terminals render it more convenient to make comparisons between two different but simultaneous motion systems. We design a complex gesture simulation experiment to verify the feasibility and real-time performance of the control method. The proposed human-in-the-loop imitation control method addresses a prominent non-isostructural retargeting problem between human and robot, enhances robot interaction capability in a more natural way, and improves robot adaptability to uncertain and dynamic environments.
42
Yamaguchi, Tomohiro, Keigo Watanabe, Kiyotaka Izumi i Kazuo Kiguchi. "Obstacle Avoidance for Quadruped Robots Using a Neural Network". Journal of Advanced Computational Intelligence and Intelligent Informatics 7, nr 2 (20.06.2003): 115–23. http://dx.doi.org/10.20965/jaciii.2003.p0115.
Pełny tekst źródłaStreszczenie:
Legged mobile robots, which differ from wheeled and crawler, need not avoid all obstacles by altering the path in the obstacle avoidance task. Because, legged mobile robots can get over or stride some obstacles, depending on the obstacle configuration and the current state of the robot. Legged mobile robots muse have suitable motion for each leg. We propose body motion control of a quadruped robot using a neural network (NN) for an obstacle avoidance task. Each leg motion is calculated by robot kinematics using body motion from the NN. NN design parameters are tuned off-line by a genetic algorithm (GA). Effectiveness of the present method is proved through an experiment.
43
Khoi, Phan Bui, i Nguyen Van Toan. "APPLICATION OF FUZZY LOGIC FOR CONTROLLING MECHANISM OF RELATIVE MANIPULATION ROBOT (MRM ROBOT)". Vietnam Journal of Science and Technology 54, nr 3 (16.06.2016): 386. http://dx.doi.org/10.15625/0866-708x/54/3/7333.
Pełny tekst źródłaStreszczenie:
In robot control, mathematical equations describing dynamic behaviors of robots are usually complicated. Additionally, the components such as inertial and friction parameters appearing in these equations are very difficult to determine exactly. With robots having complex structure such as parallel robots, MRM robots etc., the derivation of dynamic equations becomes more difficult and sometimes cannot obtain analytically. In those cases, controlling robot based on its equations of motion is quite hard. Applying fuzzy logic for robot control can overcome the mentioned drawbacks. This is because fuzzy control algorithm gives favorable condition to deal with the lack of adequation as well as inaccuracy of components in robot’s dynamic equations. Furthermore, the fuzzy rules are created by clauses which based on human logic, so it is easily to understand and implement. This paper discusses the application of fuzzy logic for controlling MRM robots. To compare the results obtained from fuzzy control, this paper are also adressed the use of the computed torque algorithm to control MRM robots
44
Yeom, Kiwon. "Collision Avoidance for a Car-like Mobile Robots using Deep Reinforcement Learning". International Journal of Emerging Technology and Advanced Engineering 11, nr 11 (13.11.2021): 22–30. http://dx.doi.org/10.46338/ijetae1121_03.
Pełny tekst źródłaStreszczenie:
—The applications of mobile robots are more and more diverse and extensive. The motion planning of the mobile robots should be considered in aspect of effectiveness of the navigation, and collision-free motion is essential for mobile robots. In addition, dynamic path planning of unknown environment has always been a challenge for mobile robots. Aiming at navigation problems, this paper proposes a Deep Reinforcement Learning (DRL) based path planning algorithm which can navigate nonholonomic car-like mobile robots in an unknown dynamic environment. The output of the learned network are the robot’s translational and angular velocities for the next time step. The method combines path planning on a 2D grid with reinforcement learning and does not need any supervision. The experiments illustrate that our trained policy can be applied to solve complex navigation tasks. Furthermore, we compare the performance of our learned controller to the popular approaches. Keywords— Deep reinforcement learning, path planning, , artificial neural network, mobile robot, autonomous vehicle
45
Vassileva, Daniela, George Boiadjiev, Haruhisa Kawasaki i Tetsuya Mouri. "Force Compensating Trajectories for Redundant Robots: Experimental Results". Journal of Robotics and Mechatronics 21, nr 1 (20.02.2009): 104–12. http://dx.doi.org/10.20965/jrm.2009.p0104.
Pełny tekst źródłaStreszczenie:
We proposed a new approach for redundant robots trajectories planning, based on the Null space (or Kernel) features. The Null space (Kernel) exists only in the case of redundant robots and it describes these joints motion which do not affect the robot end-effector motion in the sense of both position and orientation. Based on this “hidden motion” realized in the configuration space, which does not affect the motion in the working zone, we can control independently the robot end-effector position and orientation motions, or just maintain its state while some external force is applied to it. The proposed control strategy is simple, no additional penalty functions are used to restraint the end-effector motion as in the case of the conventional methods. No pseudo inverse kinematics calculations are required; the desired trajectories are generated directly in the configuration space. No complicated control schemes are introduced, the proposed method is based on solving algebraic systems of equations and finding eigenvectors and eigenvalues. In the paper the results from simulations and experiments based on the proposed method are presented and discussed.
46
Alipour, Afshin, Mohammad Mahjoob i Ara Nazarian. "A New 4-DOF Robot for Rehabilitation of Knee and Ankle-Foot Complex: Simulation and Experiment". Journal of Robotics and Control (JRC) 3, nr 4 (1.07.2022): 483–95. http://dx.doi.org/10.18196/jrc.v3i4.14759.
Pełny tekst źródłaStreszczenie:
Stationary robotic trainers are lower limb rehab robots which often incorporate an exoskeleton attached to a stationary base. The aim is to recover range of motion, increase muscles strength and reduce joint stiffness. The issue observed in the stationery trainers which involve knee and ankle-foot complex joints simultaneously is that they restrict the natural motion of ankle-foot in rehab trainings due to the insufficient Degrees of Freedom (DOFs) of these trainers. This restriction makes the joints deviate from their natural motion patterns, exerting potentially harmful forces and strain the joints. In this work, we propose a new stationary knee-ankle-foot rehab robot with all necessary DOFs including knee flexion/extension in addition to ankle plantarflexion/dorsiflexion, ankle-foot abduction-adduction and foot supination/pronation. Axes of motions are determined based on the kinematics of the joints. A typical rehab training exercise has been considered to evaluate the system performance. The chosen training (i.e., passive assistance) was first implemented in simulation to synthesize the control loop and to extract the parameters required for selecting the robot’s components. The robot was then fabricated and tested on a healthy subject. Results showed that all natural motions of the ankle-foot complex were generated during the training. Therefore, the proposed system fulfils the desired aim properly, so that it can be utilized in the design of rehab robots.
47
Morley, E. C., i J. R. Wilson. "The Matrix of Confusion—a Classification of Robot Movement". Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 210, nr 3 (czerwiec 1996): 251–60. http://dx.doi.org/10.1243/pime_proc_1996_210_114_02.
Pełny tekst źródłaStreszczenie:
The human-machine interface for robots has received only limited attention as robots have developed. Most research has focused on the design of teach pendants, hand-held devices for programming and manual motion control. Results from these studies have been generally inconclusive as to the best control design for teach pendants. In a fresh approach to the area, the human-robot interface has been analysed. This has resulted in the development of a method of classifying robot movements called the ‘matrix of confusion’. The classification shows the robot motions an operator would see when using a given control for a unique combination of operator position, robot position, programming mode and robot configuration. The use of the matrix has helped to highlight the most important factors in the task of manual motion control of the robot. This has helped in the development of a new motion system for a PUMA robot which is currently being tested in comparative trials.
48
Wang, Ching-Cheng. "Accurate Robot Motion-Time Model of Start/Stop Point-to-Point Operations". Journal of Manufacturing Science and Engineering 118, nr 4 (1.11.1996): 531–38. http://dx.doi.org/10.1115/1.2831064.
Pełny tekst źródłaStreszczenie:
An accurate robot motion-time (ARM-Time) model is explored to be used in predicting, with an unprecedented accuracy, the motion time of start/stop point-to-point operations. Unlike the existing motion-time models observing only the velocity feedback controller’s target profile, the ARM-Time model adequately characterizes the motion time function of position and velocity feedback robots. The ARM-Time model has been applied to predict motion times of the IBM 7547, IBM 7545 and PUMA 560 industrial robots. The comparison of predicted and measured motion times reveals a less than 1 percent prediction error for the IBM 7547 and IBM 7545 robots, and about 0.3 percent for the PUMA 560 robot.
49
Takanobu, Hideaki, Masumi Iida, Kenji Suzuki, Hirofumi Miura, Masanao Futakami, Tomohiro Endo i Yoshinobu Inada. "Swarm Intelligence Robot : 3D swarm motion by airship and mobile robots". Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2010.5 (2010): 61–66. http://dx.doi.org/10.1299/jsmeicam.2010.5.61.
Pełny tekst źródła
50
Korendiy, Vitaliy, Oleh Kotsiumbas, Volodymyr Borovets, Volodymyr Gurey i Rostyslav Predko. "Mathematical modeling and computer simulation of the wheeled vibration-driven in-pipe robot motion". Vibroengineering PROCEDIA 44 (25.08.2022): 1–7. http://dx.doi.org/10.21595/vp.2022.22832.
Pełny tekst źródłaStreszczenie:
The in-pipe robots are currently of significant interest, considering numerous recent publications on this subject. Such machines can use various locomotion principles: wheeled, tracked (caterpillar), walking (legged), screw-type, worm-type, snake-type, etc. In most cases, such robots are equipped with an active drive system transmitting the torque from a motor shaft to the corresponding locomotion mechanism (wheels, tracks, etc.). The present paper is devoted to the wheeled in-pipe robot that doesn’t need a complex transmission. In such a case, the idea of implementing the vibratory locomotion system driven by an internal unbalanced mass is proposed. The corresponding kinematic diagram of the wheeled vibration-driven in-pipe robot is developed, and the differential equations describing the robot motion are deduced. In order to carry out the virtual experimental investigations, the robot’s simulation model is designed in the SolidWorks software. The major scientific novelty of the present research consists in developing the theoretical foundation for designing and practical implementation of the in-pipe robots driven by the inertial vibration exciters and equipped with the unidirectionally rotating wheels and overrunning clutches. The results of numerical modeling and computer simulation of the robot motion substantiate the possibilities and expediency of implementing the proposed vibration-driven locomotion principles while creating novel designs of the in-pipe robots.