Дисертації з теми "Control and learning of soft robots"
Оформте джерело за APA, MLA, Chicago, Harvard та іншими стилями
Ознайомтеся з топ-50 дисертацій для дослідження на тему "Control and learning of soft robots".
Біля кожної праці в переліку літератури доступна кнопка «Додати до бібліографії». Скористайтеся нею – і ми автоматично оформимо бібліографічне посилання на обрану працю в потрібному вам стилі цитування: APA, MLA, «Гарвард», «Чикаго», «Ванкувер» тощо.
Також ви можете завантажити повний текст наукової публікації у форматі «.pdf» та прочитати онлайн анотацію до роботи, якщо відповідні параметри наявні в метаданих.
Переглядайте дисертації для різних дисциплін та оформлюйте правильно вашу бібліографію.
Pajon, Adrien. "Humanoid robots walking with soft soles." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS060/document.
Повний текст джерелаWhen unexpected changes of the ground surface occur while walking, the human central nervous system needs to apply appropriate control actions to assure dynamic stability. Many studies in the motor control field have investigated the mechanisms of such a postural control and have widely described how center of mass (COM) trajectories, step patterns and muscle activity adapt to avoid loss of balance. Measurements we conducted show that when stepping over a soft ground, participants actively modulated the ground reaction forces (GRF) under the supporting foot in order to exploit the elastic and compliant properties of the surface to dampen the impact and to likely dissipate the mechanical energy accumulated during the ‘fall’ onto the new compliant surface.In order to control more efficiently the feet-ground interaction of humanoid robots during walking, we propose adding outer soft (i.e. compliant) soles to the feet. They absorb impacts and cast ground unevenness during locomotion on rough terrains. However, they introduce passive degrees of freedom (deformations under the feet) that complexify the tasks of state estimation and overall robot stabilization. To address this problem, we devised a new walking pattern generator (WPG) based on a minimization of the energy consumption that offers the necessary parameters to be used jointly with a sole deformation estimator based on finite element model (FEM) of the soft sole to take into account the sole deformation during the motion. Such FEM computation is time costly and inhibit online reactivity. Hence, we developed a control loop that stabilizes humanoid robots when walking with soft soles on flat and uneven terrain. Our closed-loop controller minimizes the errors on the center of mass (COM) and the zero-moment point (ZMP) with an admittance control of the feet based on a simple deformation estimator. We demonstrate its effectiveness in real experiments on the HRP-4 humanoid walking on gravels
Kraus, Dustan Paul. "Coordinated, Multi-Arm Manipulation with Soft Robots." BYU ScholarsArchive, 2018. https://scholarsarchive.byu.edu/etd/7066.
Повний текст джерелаKandhari, Akhil. "Control and Analysis of Soft Body Locomotion on a Robotic Platform." Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1579793861351961.
Повний текст джерелаMarchese, Andrew D. (Andrew Dominic). "Design, fabrication, and control of soft robots with fluidic elastomer actuators." Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/97807.
Повний текст джерелаCataloged from PDF version of thesis.
Includes bibliographical references (pages 223-236).
The goal of this thesis is to explore how autonomous robotic systems can be created with soft elastomer bodies powered by fluids. In this thesis we innovate in the design, fabrication, control, and experimental validation of both single and multi-segment soft fluidic elastomer robots. First, this thesis describes an autonomous fluidic elastomer robot that is both self-contained and capable of rapid, continuum body motion. Specifically, the design, modeling, fabrication, and control of a soft fish is detailed, focusing on enabling the robot to perform rapid escape responses. The robot employs a compliant body with embedded actuators emulating the slender anatomical form of a fish. In addition, the robot has a novel fluidic actuation system that drives body motion and has all the subsystems of a traditional robot on-board: power, actuation, processing, and control. At the core of the fish's soft body is an array of Fluidic Elastomer Actuators (FEAs). The fish is designed to emulate escape responses in addition to forward swimming because such maneuvers require rapid body accelerations and continuum body motion. These maneuvers showcase the performance capabilities of this self-contained robot. The kinematics and controllability of the robot during simulated escape response maneuvers are analyzed and compared to studies on biological fish. During escape responses, the soft-bodied robot is shown to have similar input-output relationships to those observed in biological fish. The major implication of this portion of the thesis is that a soft fluidic elastomer robot is shown to be both self-contained and capable of rapid body motion. Next, this thesis provides an approach to planar manipulation using soft fluidic elastomer robots. That is, novel approaches to design, fabrication, kinematic modeling, power, control, and planning as well as extensive experimental evaluations with multiple manipulator prototypes are presented. More specifically, three viable manipulator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their actuator structures, namely: ribbed, cylindrical, and pleated. Additionally, three distinct casting-based fabrication processes are explored: lamination-based casting, retractable-pin-based casting, and lost-wax- based casting. Furthermore, two ways of fabricating a multiple DOF manipulator are explored: casting the complete manipulator as a whole, and casting single DOF segments with subsequent concatenation. An approach to closed-loop configuration control is presented using a piecewise constant curvature kinematic model, real-time localization data, and novel fluidic drive cylinders which power actuation. Multi-segment forward and inverse kinematic algorithms are developed and combined with the configuration controller to provide reliable task-space position control. Building on these developments, a suite of task-space planners are presented to demonstrate new autonomous capabilities from these soft robots such as: (i) tracking a path in free-space, (ii) maneuvering in confined environments, and (iii) grasping and placing objects. Extensive evaluations of these capabilities with physical prototypes demonstrate that manipulation with soft fluidic elastomer robots is viable. Lastly, this thesis presents a robotic manipulation system capable of autonomously positioning a multi-segment soft fluidic elastomer robot in three dimensions while subject to the self-loading effects of gravity. Specifically, an extremely soft robotic manipulator morphology that is composed entirely from low durometer elastomer, powered by pressurized air, and designed to be both modular and durable is presented. To understand the deformation of a single arm segment, a static physics-based model is developed and experimentally validated. Then, to kinematically model the multi-segment manipulator, a piece-wise constant curvature assumption consistent with more traditional continuum manipulators is used. Additionally, a complete fabrication process for this new manipulator is defined and used to make multiple functional prototypes. In order to power the robot's spatial actuation, a high capacity fluidic drive cylinder array is implemented, providing continuously variable, closed-circuit gas delivery. Next, using real-time localization data, a processing and control algorithm is developed that generates realizable kinematic curvature trajectories and controls the manipulator's configuration along these trajectories. A dynamic model for this multi-body fluidic elastomer manipulator is also developed along with a strategy for independently identifying all unknown components of the system: the soft manipulator, its distributed fluidic elastomer actuators, as well as its drive cylinders. Next, using this model and trajectory optimization techniques locally-optimal, open-loop control policies are found. Lastly, new capabilities offered by this soft fluidic elastomer manipulation system are validated with extensive physical experiments. These are: (i) entering and advancing through confined three-dimensional environments, (ii) conforming to goal shape-configurations within a sagittal plane under closed-loop control, and (iii) performing dynamic maneuvers we call grabs.
by Andrew D. Marchese.
Ph. D.
Pan, Min, Zhe Hao, Chenggang Yuan, and Andrew Plummer. "Development and control of smart pneumatic mckibben muscles for soft robots." Technische Universität Dresden, 2020. https://tud.qucosa.de/id/qucosa%3A71262.
Повний текст джерелаZhang, Zhongkai. "Vision-based calibration, position control and force sensing for soft robots." Thesis, Lille 1, 2019. http://www.theses.fr/2019LIL1I001/document.
Повний текст джерелаThe modeling of soft robots which have, theoretically, infinite degrees of freedom, are extremely difficult especially when the robots have complex configurations. This difficulty of modeling leads to new challenges for the calibration and the control design of the robots, but also new opportunities with possible new force sensing strategies. This dissertation aims to provide new and general solutions using modeling and vision. The thesis at first presents a discrete-time kinematic model for soft robots based on the real-time Finite Element (FE) method. Then, a vision-based simultaneous calibration of sensor-robot system and actuators is investigated. Two closed-loop position controllers are designed. Besides, to deal with the problem of image feature loss, a switched control strategy is proposed by combining both the open-loop controller and the closed-loop controller. Using soft robot itself as a force sensor is available due to the deformable feature of soft structures. Two methods (marker-based and marker-free) of external force sensing for soft robots are proposed based on the fusion of vision-based measurements and FE model. Using both methods, not only the intensities but also the locations of the external forces can be estimated.As a specific application, a cable-driven continuum catheter robot through contacts is modeled based on FE method. Then, the robot is controlled by a decoupled control strategy which allows to control insertion and bending independently. Both the control inputs and the contact forces along the entire catheter can be computed by solving a quadratic programming (QP) problem with a linear complementarity constraint (QPCC)
Gaskett, Chris. "Q-Learning for robot control." View thesis entry in Australian Digital Theses Program, 2002. http://eprints.jcu.edu.au/623/1/gaskettthesis.pdf.
Повний текст джерелаHyatt, Phillip Edmond. "Robust Real-Time Model Predictive Control for High Degree of Freedom Soft Robots." BYU ScholarsArchive, 2020. https://scholarsarchive.byu.edu/etd/8453.
Повний текст джерелаMirano, Geronimo (Geronimo J. ). "Jacobian-based control of soft robots for manipulation using implicit surface models." Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/113126.
Повний текст джерелаThis electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (page 47).
Soft robot hands offer numerous advantages over rigid ones for manipulation, including robustness and safety. Yet, compared to rigid robots, soft robots are characterized by continuous mechanics, and finite-element approximations with many degrees of freedom present a significant obstacle for modern control approaches. The central question my thesis explores is whether we can capture the benefits of soft robot hands with relatively simple dynamical models. Specifically, we demonstrate a very simple model of a 2D soft manipulator that uses pulleys and cables to model deformable surfaces. This model captures much of the qualitative behavior of soft membranes, while also proving amenable to modern control techniques. We validate this model physically using a hardware set-up. We then demonstrate a simple quasi-static Jacobian controller which solves a second-order cone program to achieve the task of in-hand object repositioning.
by Geronimo Mirano.
M. Eng.
Yang, Hee Doo. "Design, Manufacturing, and Control of Soft and Soft/Rigid Hybrid Pneumatic Robotic Systems." Diss., Virginia Tech, 2019. http://hdl.handle.net/10919/100635.
Повний текст джерелаDoctor of Philosophy
LIAO, XIAOQUN (SHERRY). "CREATIVE LEARNING FOR INTELLIGENT ROBOTS." University of Cincinnati / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1141140265.
Повний текст джерелаMartin, Fred G. (Fred Garth). "Circuits to control--learning engineering by designing LEGO robots." Thesis, Massachusetts Institute of Technology, 1994. http://hdl.handle.net/1721.1/29079.
Повний текст джерелаKatzschmann, Robert Kevin. "Building and controlling fluidically actuated soft robots : from open loop to model-based control." Thesis, Massachusetts Institute of Technology, 2018. http://hdl.handle.net/1721.1/119278.
Повний текст джерелаThis electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 247-272).
This thesis describes the creation and control of soft robots made of deformable elastomer materials and powered by fluidics. We embed soft fluidic actuators into self-contained soft robotic systems, such as fish for underwater exploration or soft arms for dynamic manipulation. We present models describing the physical characteristics of these continuously deformable and fully soft robots, and then leverage these models for motion planning and closed-loop feedback control in order to realize quasi-static manipulation, dynamic arm motions, and dynamic interactions with an environment. The design and fabrication techniques for our soft robots include the development of soft actuator morphologies, soft casting techniques, and closed-circuit pneumatic and hydraulic powering methods. With a modular design approach, we combine these soft actuator morphologies into robotic systems. We create a robotic fish for underwater locomotion, as well as multi-finger hands and multi-segment arms for use in object manipulation and interaction with an environment. The robotic fish uses a soft hydraulic actuator as its deformable tail to perform open-loop controlled swimming motions through cyclic undulation. The swimming movement is achieved by a custom-made displacement pump and a custom-made buoyancy control unit, all embedded within the soft robotic fish. The fish robot receives high-level control commands via acoustic signals to move in marine environments. The control of the multi-segment arms is enabled by models describing the geometry, kinematics, impedance, and dynamics. We use the models for quasi-static closed-loop control and dynamic closed-loop control. The quasi-static controllers work in combination with the kinematic models and geometric motion planners to enable the soft arms to move in confined spaces, and to autonomously perform object grasping. Leveraging the models for impedance and dynamics, we also demonstrate dynamic arm motions and end-effector interactions of the arm with an environment. Our dynamic model allows the application of control techniques developed for rigid robots to the dynamic control of soft robots. The resulting model-based closed-loop controllers enable dynamic curvature tracking as well as surface tracing in Cartesian space.
by Robert Kevin Katzschmann.
Ph. D.
Salaün, Camille. "Learning models to control redundancy in robotics." Paris 6, 2010. http://www.theses.fr/2010PA066238.
Повний текст джерелаWallén, Johanna. "On Kinematic Modelling and Iterative Learning Control of Industrial Robots." Licentiate thesis, Linköping University, Linköping University, Automatic Control, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-11412.
Повний текст джерелаGood models of industrial robots are necessary in a variety of applications, such as mechanical design, performance simulation, control, diagnosis, supervision and offline programming. This motivates the need for good modelling tools. In the first part of this thesis the forward kinematic modelling of serial industrial robots is studied. The first steps towards a toolbox are implemented in the Maple programming language.
A series of possible applications for the toolbox can be mentioned. One example is to estimate the pose of the robot tool using an extended Kalman filter by means of extra sensors mounted on the robot. The kinematic equations and the relations necessary for the extended Kalman filter can be derived in the modelling tool. Iterative learning control, ILC, using an estimate of the tool position can then improve the robot performance.
The second part of the thesis is devoted to ILC, which is a control method that is applicable when the robot performs a repetitive movement starting from the same initial conditions every repetition. The algorithm compensates for repetitive errors by adding a correction signal to the reference. Studies where ILC is applied to a real industrial platform is less common in the literature, which motivates the work in this thesis.
A first-order ILC filter with iteration-independent operators derived using a heuristic design approach is used, which results in a non-causal algorithm. A simulation study is made, where a flexible two-mass model is used as a simplified linear model of a single robot joint and the ILC algorithm applied is based on motor-angle measurements only. It is shown that when a model error is introduced in the relation between the arm and motor reference angle, it is not necessary that the error on the arm side is reduced as much as the error on the motor side, or in fact reduced at all.
In the experiments the ILC algorithm is applied to a large-size commercial industrial robot, performing a circular motion that is relevant for a laser-cutting application. The same ILC design variables are used for all six motors and the learning is stopped after five iterations, which is motivated in practice by experimental results. Performance on the motor side and the corresponding performance on the arm side, using a laser-measurement system, is studied. Even though the result on the motor side is good, it is no guarantee that the errors on the arm side are decreasing. One has to be very careful when dealing with resonant systems when the controlled variable is not directly measured and included in the algorithm. This indicates that the results on the arm side may be improved when an estimate of, for example, the tool position is used in the ILC algorithm.
Bra modeller av industrirobotar behövs i en mängd olika tillämpningar, som till exempel mekanisk design, simulering av prestanda, reglering, diagnos, övervakning och offline-programmering. I första delen av avhandlingen studeras modellering av framåtkinematiken för en seriell robot och implementeringen av ett modelleringsverktyg, en toolbox, för kinematikmodellering i Maple beskrivs ingående.
Ett antal möjliga tillämpningar för toolboxen kan nämnas. Ett exempel är att med hjälp av extra sensorer monterade på roboten och ett så kallat extended Kalmanfilter förbättra skattningen av positionen och orienteringen för robotverktyget. De kinematiska ekvationerna och sambanden som behövs för extended Kalmanfiltret kan beräknas med hjälp av modelleringsverktyget. Reglering genom iterativ inlärning - iterative learning control, ILC - där en skattning av verktygspositionen används, kan sedan förbättra robotens prestanda.
Andra delen av avhandlingen är tillägnad ILC. Det är en reglermetod som är användbar när roboten utför en repetitiv rörelse som startar från samma initialvillkor varje gång. Algoritmen kompenserar för de repetitiva felen genom att addera en korrektionsterm till referenssignalen. Studier där ILC är tillämpad på en verklig industriell plattform är mindre vanligt i litteraturen, vilket motiverar arbetet i avhandlingen.
Ett första ordningens ILC-filter med iterationsoberoende operatorer används. ILC-algoritmen är framtagen enligt ett heuristiskt tillvägagångssätt, vilket resulterar i en ickekausal algoritm. I en simuleringsstudie med en flexibel tvåmassemodell som en förenklad linjär modell av en enskild robotled, används en ILC-algoritm baserad endast på motorvinkelmätningar. Det visar sig att när ett modellfel introduceras i sambandet mellan arm- och motorvinkelreferensen, är det inte säkert att felet på armsidan minskar så mycket som felet på motorsidan, eller minskar överhuvudtaget.
I experiment tillämpas ILC-algoritmen på en stor kommersiell industrirobot som utför en cirkelrörelse som är relevant för en laserskärningstillämpning. Samma designvariabler används för alla sex motorerna och inlärningen stoppas efter fem iterationer, vilket är motiverat i praktiken genom experimentella resultat. Prestanda på motorsidan studeras, och motsvarande prestanda på armsidan mäts med ett lasermätsystem. Trots goda resultat på motorsidan finns det inga garantier för minskande fel på armsidan. Stor försiktighet krävs när experimenten innefattar ett resonant system där den reglerade variabeln inte är mätt explicit och inkluderad i algoritmen. Detta visar på möjligheten att förbättra resultaten på armsidan då en skattning av till exempel verktygspositionen används i ILC-algoritmen.
Report code: LiU-TEK-LIC-2008:1.
Wallén, Johanna. "On kinematic modelling and iterative learning control of industrial robots /." Linköping : Departmemt of Electrical Engineering, Linköping University, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-11412.
Повний текст джерелаGu, Dongbing. "Behaviour-based learning and fuzzy control of autonomous quadruped robots." Thesis, University of Essex, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.400989.
Повний текст джерелаHu, Jianjuen 1964. "Learning control of bipedal dynamic walking robots with neural networks." Thesis, Massachusetts Institute of Technology, 1998. http://hdl.handle.net/1721.1/47711.
Повний текст джерелаIncludes bibliographical references (p. 90-94).
Stability and robustness are two important performance requirements for a dynamic walking robot. Learning and adaptation can improve stability and robustness. This thesis explores such an adaptation capability through the use of neural networks. Three neural network models (BP, CMAC and RBF networks) are studied. The RBF network is chosen as best, despite its weakness at covering high dimensional input spaces. To overcome this problem, a self-organizing scheme of data clustering is explored. This system is applied successfully in a biped walking robot system with a supervised learning mode. Generalized Virtual Model Control (GVMC) is also proposed in this thesis, which is inspired by a bio-mechanical model of locomotion, and is an extension of ordinary Virtual Model Control. Instead of adding virtual impedance components to the biped skeletal system in virtual Cartesian space, GVMC uses adaptation to approximately reconstruct the dynamics of the biped. The effectiveness of these approaches is proved both theoretically and experimentally (in simulation).
by Jianjuen Hu.
Elec.E.
Geisert, Mathieu. "Optimal control and machine learning for humanoid and aerial robots." Thesis, Toulouse, INSA, 2018. http://www.theses.fr/2018ISAT0011/document.
Повний текст джерелаWhat are the common characteristics of humanoid robots and quadrotors? Well, not many… Therefore, this thesis focuses on the development of algorithms allowing to dynamically control a robot while staying generic with respect to the model of the robot and the task that needs to be solved. Numerical optimal control is good candidate to achieve such objective. However, it suffers from several difficulties such as a high number of parameters to tune and a relatively important computation time. This document presents several ameliorations allowing to reduce these problems. On one hand, the tasks can be ordered according to a hierarchy and solved with an appropriate algorithm to lower the number of parameters to tune. On the other hand, machine learning can be used to initialize the optimization solver or to generate a simplified model of the robot, and therefore can be used to decrease the computation time
Morales, Bieze Thor. "Contribution to the kinematic modeling and control of soft manipulators using computational mechanics." Thesis, Lille 1, 2017. http://www.theses.fr/2017LIL10112/document.
Повний текст джерелаThis work provides new methods for the kinematic modeling and control of soft, continuum manipulators based on the Finite Element Method. Contrary to the case of rigid manipulators, soft and continuum manipulators generate their motion by deformation, therefore, the proposed methodology accounts for the deformation mechanics to better describe the kinematics of these type of robots. This methodology does not produce analytic solutions, instead, a numerical approximation is provided by methods derived from Computational Mechanics. The methodology is applied to a continuum manipulator, namely, the Compact Bionic Handling Assistant (CBHA). A closed-loop control scheme based on control allocation is also presented. The models and controller are validated experimentally
Gillespie, Morgan Thomas. "Comparing Efficacy of Different Dynamic Models for Control of Underdamped, Antagonistic, Pneumatically Actuated Soft Robots." BYU ScholarsArchive, 2016. https://scholarsarchive.byu.edu/etd/5996.
Повний текст джерелаThorapalli, Muralidharan Seshagopalan, and Ruihao Zhu. "Continuum Actuator Based Soft Quadruped Robot." Thesis, KTH, Mekatronik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-286348.
Повний текст джерелаFyrfotarobotar kan lättare korsa en mängd olika terränger jämfört med hjulrobotar. Traditionella styva fyrfotarobotar har kraftiga begränsningar då de saknar strukturell följsamhet. De flesta befintliga mjuka fyrbenta robotar är kopplade till en eller flera kablar och drivs av pneumatik, vilket är en lågkvalitativ energikälla och lämpar sig inte för robotar med lång uthållighet. Arbetet i denna avhandling föreslår utvecklingen av en continuum ställdonsdriven fyrfotarobot, som ger följsamhet samtidigt som den ¨ar frånkopplad och elektromekaniskt driven. I detta arbete framställs continuum ställdon med mestadels 3D-printade delar. Dessutom utvecklas dessa ställdons slutna kontrolloop för gång. Linjärkvadratisk regulator (LQR) och metoder baserade på polplacering utvärderades för styrsyntes, och det fastställdes att LQR presterade bättre när man minimerar ställdonets ansträngning samt avvikelse från referensvärde. Continuum ställdon sammansattes för att bilda en fyrbent robot. Gånganalyser utfördes på roboten och dess ben kunde följa gång- och galopprörelser.
Bosman, Julien. "Physically-based 6-DoF nodes deformable models : application to connective tissues simulation and soft-robots control." Thesis, Lille 1, 2015. http://www.theses.fr/2015LIL10122/document.
Повний текст джерелаDespite the promising advances done in medical simulation, the complete virtual patient’s model is yet to come. There are still many avenues for improvements, especially concerning the mechanical modeling of boundary conditions.So far, most of the work has been dedicated to organs simulation, which are generally simulated alone. This raises a real problem as the role of the surrounding organs in boundary conditions is neglected. However, these interactions can be complex, involving contacts but also mechanical links provided by layers of soft tissues known as connective tissues. As a consequence, the mutual influences between the anatomical structures are generally simplified, weakening realism of simulations.This thesis aims at studying the importance of the connective tissues, and especially of a proper modeling of the boundary conditions. To this end, the role of the ligaments during laparoscopic liver surgery has been investigated. In order to enhance the simulations’ realism, a mechanical model dedicated to the connective tissues has been worked out. This has led to the development of a physically-based method relying on material points that can, not only translate, but also rotate themselves. The goal of this model is to enable the simulation of multiple organs linked by complex interactions.In addition, the work on the connective tissues model has been derived to be used in soft robotics. The principle of relying on orientable material points has been used to developed a reduced model that can reproduce the behavior of more complex structures. The objective of this work is to provide the means to control – in real-time – a soft robot made of a deformable arm
Guglielmo, Kennon. "A new learning controller for mechanical manipulators applied in Cartesian space." Thesis, Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/17034.
Повний текст джерелаPowers, Matthew D. "Applying inter-layer conflict resolution to hybrid robot control architectures." Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/33979.
Повний текст джерелаWang, Jiexin. "Policy Hyperparameter Exploration for Behavioral Learning of Smartphone Robots." 京都大学 (Kyoto University), 2017. http://hdl.handle.net/2433/225744.
Повний текст джерелаGao, Minqi. "Learning mobile robot control for obstacle avoidance based on motion energy neurons /." View abstract or full-text, 2009. http://library.ust.hk/cgi/db/thesis.pl?ECED%202009%20GAO.
Повний текст джерелаLakhal, Othman. "Contribution to the modeling and control of hyper-redundant robots : application to additive manufacturing in the construction." Thesis, Lille 1, 2018. http://www.theses.fr/2018LIL1I061/document.
Повний текст джерелаAdditive manufacturing technology has been identified as one of the major digital innovations that has revolutionized not only industry, but also building. From a research point of view, additive manufacturing remains a very relevant topic. It is an automated process for depositing materials layer by layer to print houses or small structures for on-site assembly. In additive manufacturing processes, the deposition of materials is generally followed by a printing quality control step. However, the geometry of structures printed with funicular surfaces is sometimes complex, as robots with rigid structures cannot reach certain areas of the structure to be inspected. In this thesis, a flexible and highly redundant manipulator equipped with a camera is attached to the end-effector of a mobile manipulator robot for the quality inspection process of the printed structures. Indeed, soft manipulators can bend along their surounded 3D objects; and this inherent flexibility makes them suitable for navigation in crowded environments. As the number of controlled actuators is greater than the dimension of the workspace, this thesis can be summarized as a trajectory tracking of hyper-redundant robots. In this thesis, a hybrid approach that combines the advantages of model-based approaches and learning-based approaches is developed to model and solve the kinematics of soft and hyper-redundant manipulators. The principle is to develop mathematical models with reasonable assumptions, and to improve their accuracy through learning processes. The performance of the proposed approach is validated by performing a series of simulations and experiments applied to the compact bionic handling arm (cbha) robot
Silver, David. "Learning Preference Models for Autonomous Mobile Robots in Complex Domains." Research Showcase @ CMU, 2010. http://repository.cmu.edu/dissertations/551.
Повний текст джерелаJennings, Alan Lance. "Autonomous Motion Learning for Near Optimal Control." University of Dayton / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1344016631.
Повний текст джерелаAri, Evrim Onur. "Fuzzy Actor-critic Learning Based Intelligent Controller For High-level Motion Control Of Serpentine Robots." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/12606777/index.pdf.
Повний текст джерелаCastillo, Martinez Guillermo Andres. "Design of Feedback Controllers for Biped Robots Based in Reinforcement Learning and Hybrid Zero Dynamics." The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1555340995172442.
Повний текст джерелаHorchler, Andrew de Salle. "Design of Stochastic Neural-inspired Dynamical Architectures: Coordination and Control of Hyper-redundant Robots." Case Western Reserve University School of Graduate Studies / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=case1459442036.
Повний текст джерелаDadone, Paolo. "Fuzzy Control of Flexible Manufacturing Systems." Thesis, Virginia Tech, 1997. http://hdl.handle.net/10919/36531.
Повний текст джерелаFlexible manufacturing systems (FMS) are production systems consisting of identical multipurpose numerically controlled machines (workstations), automated material handling system, tools, load and unload stations, inspection stations, storage areas and a hierarchical control system. The latter has the task of coordinating and integrating all the components of the whole system for automatic operations. A particular characteristic of FMSs is their complexity along with the difficulties in building analytical models that capture the system in all its important aspects. Thus optimal control strategies, or at least good ones, are hard to find and the full potential of manufacturing systems is not completely exploited.
The complexity of these systems induces a division of the control approaches based on the time frame they are referred to: long, medium and short term. This thesis addresses the short-term control of a FMS. The objective is to define control strategies, based on system state feedback, that fully exploit the flexibility built into those systems. Difficulties arise since the metrics that have to be minimized are often conflicting and some kind of trade-offs must be made using "common sense". The problem constraints are often expressed in a rigid and "crisp" way while their nature is more "fuzzy" and the search for an analytical optimum does not always reflect production needs. Indeed, practical and production oriented approaches are more geared toward a good and robust solution.
This thesis addresses the above mentioned problems proposing a fuzzy scheduler and a reinforcement-learning approach to tune its parameters. The learning procedure is based on evolutionary programming techniques and uses a performance index that contains the degree of satisfaction of multiple and possibly conflicting objectives. This approach addresses the design of the controller by means of language directives coming from the management, thus not requiring any particular interface between management and designers.
The performances of the fuzzy scheduler are then compared to those of commonly used heuristic rules. The results show some improvement offered by fuzzy techniques in scheduling that, along with ease of design, make their applicability promising. Moreover, fuzzy techniques are effective in reducing system congestion as is also shown by slower performance degradation than heuristics for decreasing inter- arrival time of orders. Finally, the proposed paradigm could be extended for on-line adaptation of the scheduler, thus fully responding to the flexibility needs of FMSs.
Master of Science
Glöde, Isabella. "Autonomous control of a mobile robot with incremental deep learning neural networks." Master's thesis, Pontificia Universidad Católica del Perú, 2021. http://hdl.handle.net/20.500.12404/18676.
Повний текст джерелаMirletz, Brian Tietz. "Adaptive Central Pattern Generators for Control of Tensegrity Spines with Many Degrees of Freedom." Case Western Reserve University School of Graduate Studies / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=case1438865567.
Повний текст джерелаCarreras, Pérez Marc. "A proposal of a behavior-based control architecture with reinforcement learning for an autonomous underwater robot." Doctoral thesis, Universitat de Girona, 2003. http://hdl.handle.net/10803/7718.
Повний текст джерелаEn una primera part, la tesis es centra en el disseny d'una arquitectura de control que ha de permetre l'assoliment d'una missió prèviament definida. En particular, la tesis proposa l'ús de les arquitectures de control basades en comportaments per a l'assoliment de cada una de les tasques que composen la totalitat de la missió. Una arquitectura d'aquest tipus està formada per un conjunt independent de comportaments, els quals representen diferents intencions del robot (ex.: "anar a una posició", "evitar obstacles",...). Es presenta una recerca bibliogràfica sobre aquest camp i alhora es mostren els resultats d'aplicar quatre de les arquitectures basades en comportaments més representatives a una tasca concreta. De l'anàlisi dels resultats se'n deriva que un dels factors que més influeixen en el rendiment d'aquestes arquitectures, és la metodologia emprada per coordinar les respostes dels comportaments. Per una banda, la coordinació competitiva és aquella en que només un dels comportaments controla el robot. Per altra banda, en la coordinació cooperativa el control del robot és realitza a partir d'una fusió de totes les respostes dels comportaments actius. La tesis, proposa un esquema híbrid d'arquitectura capaç de beneficiar-se dels principals avantatges d'ambdues metodologies.
En una segona part, la tesis proposa la utilització de l'aprenentatge per reforç per aprendre l'estructura interna dels comportaments. Aquest tipus d'aprenentatge és adequat per entorns desconeguts i el procés d'aprenentatge es realitza al mateix temps que el robot està explorant l'entorn. La tesis presenta també un estat de l'art d'aquest camp, en el que es detallen els principals problemes que apareixen en utilitzar els algoritmes d'aprenentatge per reforç en aplicacions reals, com la robòtica. El problema de la generalització és un dels que més influeix i consisteix en permetre l'ús de variables continues sense augmentar substancialment el temps de convergència. Després de descriure breument les principals metodologies per generalitzar, la tesis proposa l'ús d'una xarxa neural combinada amb l'algoritme d'aprenentatge per reforç Q_learning. Aquesta combinació proporciona una gran capacitat de generalització i una molt bona disposició per aprendre en tasques de robòtica amb exigències de temps real. No obstant, les xarxes neurals són aproximadors de funcions no-locals, el que significa que en treballar amb un conjunt de dades no homogeni es produeix una interferència: aprendre en un subconjunt de l'espai significa desaprendre en la resta de l'espai. El problema de la interferència afecta de manera directa en robòtica, ja que l'exploració de l'espai es realitza sempre localment. L'algoritme proposat en la tesi té en compte aquest problema i manté una base de dades representativa de totes les zones explorades. Així doncs, totes les mostres de la base de dades s'utilitzen per actualitzar la xarxa neural, i per tant, l'aprenentatge és homogeni.
Finalment, la tesi presenta els resultats obtinguts amb la arquitectura de control basada en comportaments i l'algoritme d'aprenentatge per reforç. Els experiments es realitzen amb el robot URIS, desenvolupat a la Universitat de Girona, i el comportament après és el seguiment d'un objecte mitjançant visió per computador. La tesi detalla tots els dispositius desenvolupats pels experiments així com les característiques del propi robot submarí. Els resultats obtinguts demostren la idoneïtat de les propostes en permetre l'aprenentatge del comportament en temps real. En un segon apartat de resultats es demostra la capacitat de generalització de l'algoritme d'aprenentatge mitjançant el "benchmark" del "cotxe i la muntanya". Els resultats obtinguts en aquest problema milloren els resultats d'altres metodologies, demostrant la millor capacitat de generalització de les xarxes neurals.
Nguyen, Hai Dai. "Constructing mobile manipulation behaviors using expert interfaces and autonomous robot learning." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/50206.
Повний текст джерелаBakkum, Douglas James. "Dynamics of embodied dissociated cortical cultures for the control of hybrid biological robots." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2007. http://hdl.handle.net/1853/22596.
Повний текст джерелаCommittee Chair: Steve M. Potter; Committee Member: Eric Schumacher; Committee Member: Robert J. Butera; Committee Member: Stephan P. DeWeerth; Committee Member: Thomas D. DeMarse.
Thieffry, Maxime. "Commande dynamique de robots déformables basée sur un modèle numérique." Thesis, Valenciennes, Université Polytechnique Hauts-de-France, 2019. http://www.theses.fr/2019VALE0040/document.
Повний текст джерелаThis thesis focuses on the design of closed-loop control laws for the specific needs of dynamic control of soft robots, without being too restrictive regarding the robots geometry. It covers the entire development of the controller, from the modeling step to the practical experimental validation. In addition to the theoretical studies, different experimental setups are used to illustrate the results. A cable-driven soft robot and a pressurized soft arm are used to test the control algorithms. Through these different setups, we show that the method can handle different types of actuation, different geometries and mechanical properties. This emphasizes one of the interests of the method, its genericity. From a theoretical point a view, large-scale dynamical systems along with model reduction algorithms are studied. Indeed, modeling soft structures implies solving equations coming from continuum mechanics using the Finite Element Method (FEM). This provides an accurate model of the robots but it requires to discretize the structure into a mesh composed of thousands of elements, yielding to large-scale dynamical systems. This leads to work with models of large dimensions, that are not suitable to design control algorithms. A first part is dedicated to the study of the large-scale dynamic model and its control, without using model reduction. We present a way to control the large-scale system using the knowledge of an open-loop Lyapunov function. Then, this work investigates model reduction algorithms to design low order controllers and observers to drive soft robots. The validated control laws are based on linear models. This is a known limitation of this work as it constrains the guaranteed domain of the controller. This manuscript ends with a discussion that offers a way to extend the results towards nonlinear models. The idea is to linearize the large-scale nonlinear model around several operating points and interpolate between these points to cover a wider workspace
Leitner, Jürgen. "From vision to actions: Towards adaptive and autonomous humanoid robots." Thesis, Università della Svizzera Italiana, 2014. https://eprints.qut.edu.au/90178/2/2014INFO020.pdf.
Повний текст джерелаMounsif, Mehdi. "Exploration of Teacher-Centered and Task-Centered paradigms for efficient transfer of skills between morphologically distinct robots." Thesis, Université Clermont Auvergne (2017-2020), 2020. http://www.theses.fr/2020CLFAC065.
Повний текст джерелаRecently, it has been possible to observe the acceleration of robot deployment in domains beyondthe usual industrial and manufacturing framework. However, for the majority of autonomoustasks, the definition of an analytical model or the search for an optimal (or acceptable) solutionrequires resources that are seldom available in real-time, thus favoring learning-based techniques.Indeed, learned models present the advantage of being model-free as well as having a constantexecution time, consequently enabling the realization of highly complex trajectories and tasks.Data-driven techniques, however, are hindered by considerable training time, frequently requiringmillions of examples and interactions with their environment to build acceptable control policies.As such, knowledge transfer, also known as transfer learning, between models is crucial for largescaledeployment of learned policies. Although transmission strategies have been the focus ofrecent concerns, they are mainly directed towards the fields of vision or language understandingand are not directly applicable to control environments where skill transfer is likely to happenbetween robots with different kinematic structures. The works presented in this thesis manuscriptfocus precisely on this point and aims at determining to what extent understanding between twomorphologically distinct entities is possible. This question is explored through the introductionof two distinct paradigms: Task-Centered and Teacher-Centered. The Task-Centered family oftechniques is based on the idea of the separation of task-related know-how from robot control policy.Such an independent kernel can therefore be passed on to other robots of different morphology andideally make it possible for the new agent to perform the task. In this context, several blueprintsfor creating this kernel are proposed and evaluated on a wide range of simulated environments.However, despite the attractive prospects of this formulation, the "one-size-fits-all" character ofTask-Centered techniques is not free of limitations which are extensively discussed. It is in thiscontext that Teacher-Centered approaches are introduced. Pursuing the same objective, theseinnovative procedure involve an expert agent from which the knowledge related to the task mustbe distilled into the target agent. To do this, an original metric is used to circumvent the structuraldifferences between the target agent and the expert agent and allow, despite this distinction, theerror to be back-propagated in order to optimize the agent
Solanes, Galbis Juan Ernesto. "MULTI-RATE VISUAL FEEDBACK ROBOT CONTROL." Doctoral thesis, Universitat Politècnica de València, 2015. http://hdl.handle.net/10251/57951.
Повний текст джерела[ES] La presente tesis propone soluciones para dos problemas característicos de los sistemas robóticos cuyo bucle de control se cierra únicamente empleando sensores de visión artificial: 1) la latencia del sensor; 2) la obtención de trayectorias factibles tanto para el robot así como para las medidas obtenidas en la imagen. Todos los métodos propuestos en este trabajo son analizados, validados e implementados utilizando brazo robot industrial de 6 grados de libertad y/o en un robot con ruedas. Atendiendo al problema de la latencia del sensor, esta tesis propone el uso de retenedores bi-frequencia de orden alto dentro de los lazos de control de robots. En este aspecto las principales contribuciones son: -Retenedores bi-frecuencia de orden alto basados en funciones primitivas dentro de lazos de control de robots (Capítulo 3): análisis del comportamiento del sistema con y sin el uso de esta técnica de control no convencional. Además, como consecuencia del empleo de los retenedores, obtención y validación de controladores multi-frequencia, concretamente de PIDs bi-frecuencia. -Retenedores bi-frecuencia asíncronos de orden alto basados en funciones primitivas con compensación de retardos (Capítulo 3): generalización de los retenedores bi-frecuencia asíncronos de orden alto incluyendo una componente de compensación del retardo en la señal de entrada, mejorando así las estimaciones inter-muestreo calculadas por el retenedor. Se proporciona un análisis de las propiedades de los retenedores con compensación del retardo, comparándolas con las obtenidas por sus predecesores sin compensación, así como su implementación y validación en un brazo robot de 6 grados de libertad. -Retenedores multi-frecuencia no lineales de orden alto (Capítulo 4): generalización del concepto de retenedor bi-frecuencia de orden alto con modelos de estimación no lineales, los cuales incluyen información tanto de la planta a controlar, como del controlador(es) y sensor(es) empleado(s), obtenida a partir de técnicas de aprendizaje. Así pues, para obtener dicho retenedor no lineal, se describe una metodología independiente de la herramienta de aprendizaje utilizada, aunque validada con el uso de redes neuronales artificiales. Finalmente se realiza un análisis de las propiedades de estos nuevos retenedores, comparándolos con sus predecesores basados en funciones primitivas, así como su implementación y validación en un brazo robot de 6 grados de libertad y en un robot móvil con ruedas. Por lo que respecta al problema de generación de trayectorias factibles para el robot y para la medida en la imagen, esta tesis propone la nueva estrategia de control basada en el filtrado de la referencia y su generalización desde el punto de vista multi-frecuencial. -Estrategia de control basada en el filtrado de la referencia (Capítulo 5): una nueva estrategia de control se propone para ampliar significativamente el espacio de soluciones de los sistemas robóticos realimentados con sensores de visión artificial. La principal idea es utilizar las trayectorias óptimas obtenidas por una trayectoria predicha por un filtro de Kalman seguido de un suavizado basado en el algoritmo Rauch-Tung-Striebel (RTS) como nuevas referencias para un controlador dado. En este trabajo se proporciona tanto la descripción del algoritmo como su implementación y validación empleando un brazo robótico industrial. -Estrategia de control bi-frecuencia basada en el filtrado de la referencia (Capítulo 5): generalización de la estrategia de control basada en filtrado de la referencia desde un punto de vista multi-frecuencial, con un filtro de Kalman multi-frecuencia y un Kalman-smoother dual basado en la relación existente entre las frecuencias del sensor y del controlador, reduciendo así el coste computacional del algoritmo y, al mismo tiempo, dando solución al problema de la latencia del sensor. La validación se realiza utilizando un barzo robot industria asi
[CAT] La present tesis proposa solucions per a dos problemes característics dels sistemes robòtics el els que el bucle de control es tanca únicament utilitzant sensors de visió artificial: 1) la latència del sensor; 2) l'obtenció de trajectòries factibles tant per al robot com per les mesures en la imatge. Tots els mètodes proposats en aquest treball son analitzats, validats e implementats utilitzant un braç robot industrial de 6 graus de llibertat i/o un robot amb rodes. Atenent al problema de la latència del sensor, esta tesis proposa l'ús de retenidors bi-freqüència d'ordre alt a dins del llaços de control de robots. Al respecte, les principals contribucions son: - Retenidors bi-freqüència d'ordre alt basats en funcions primitives a dintre dels llaços de control de robots (Capítol 3): anàlisis del comportament del sistema amb i sense l'ús d'aquesta tècnica de control no convencional. A més a més, com a conseqüència de l'ús dels retenidors, obtenció i validació de controladors multi-freqüència, concretament de PIDs bi-freqüència. - Retenidors bi-freqüència asíncrons d'ordre alt basats en funcions primitives amb compensació de retards (Capítol 3): generalització dels retenidors bi-freqüència asíncrons d'ordre alt inclouen una component de compensació del retràs en la senyal d'entrada al retenidor, millorant així les estimacions inter-mostreig calculades per el retenidor. Es proporciona un anàlisis de les propietats dels retenidors amb compensació del retràs, comparant-les amb les obtingudes per el seus predecessors sense la compensació, així com la seua implementació i validació en un braç robot industrial de 6 graus de llibertat. - Retenidors multi-freqüència no-lineals d'ordre alt (Capítol 4): generalització del concepte de retenidor bi-freqüència d'ordre alt amb models d'estimació no lineals, incloent informació tant de la planta a controlar, com del controlador(s) i sensor(s) utilitzat(s), obtenint-la a partir de tècniques d'aprenentatge. Així doncs, per obtindre el retenidor no lineal, es descriu una metodologia independent de la ferramenta d'aprenentatge utilitzada, però validada amb l'ús de rets neuronals artificials. Finalment es realitza un anàlisis de les propietats d'aquestos nous retenidors, comparant-los amb els seus predecessors basats amb funcions primitives, així com la seua implementació i validació amb un braç robot de 6 graus de llibertat i amb un robot mòbil de rodes. Per el que respecta al problema de generació de trajectòries factibles per al robot i per la mesura en la imatge, aquesta tesis proposa la nova estratègia de control basada amb el filtrat de la referència i la seua generalització des de el punt de vista multi-freqüència. - Estratègia de control basada amb el filtrat de la referència (Capítol 5): una nova estratègia de control es proposada per ampliar significativament l'espai de solucions dels sistemes robòtics realimentats amb sensors de visió artificial. La principal idea es la d'utilitzar les trajectòries optimes obtingudes per una trajectòria predita per un filtre de Kalman seguit d'un suavitzat basat en l'algoritme Rauch-Tung-Striebel (RTS) com noves referències per a un control donat. En aquest treball es proporciona tant la descripció del algoritme així com la seua implementació i validació utilitzant un braç robòtic industrial de 6 graus de llibertat. - Estratègia de control bi-freqüència basada en el filtrat (Capítol 5): generalització de l'estratègia de control basada am filtrat de la referència des de un punt de vista multi freqüència, amb un filtre de Kalman multi freqüència i un Kalman-Smoother dual basat amb la relació existent entre les freqüències del sensor i del controlador, reduint així el cost computacional de l'algoritme i, al mateix temps, donant solució al problema de la latència del sensor. L'algoritme d'implementació d'aquesta tècnica, així com la seua validaci
Solanes Galbis, JE. (2015). MULTI-RATE VISUAL FEEDBACK ROBOT CONTROL [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/57951
TESIS
Chikhaoui, Mohamed Taha. "Nouveaux concepts de robots à tubes concentriques à micro-actionneurs à base de polymères électro-actifs." Thesis, Besançon, 2016. http://www.theses.fr/2016BESA2035/document.
Повний текст джерелаMajor challenges need to be risen in order to perform navigation in confined spaces with robotic systems in terms of design, modeling, and control, particularly for biomedical applications. Indeed,the complex shape, dexterity, and miniaturization ability of continuum robots can help solving intracorporeal navigation problems. Within this class, we introduce a novel concept in order to augment the concentric tube robots (CTR) with embedded actuation. Our works hinge on two majorcutting-edge thematics. On the one hand, we address modeling and kinematics analysis of standard CTR as well as variable curvature CTR with their two varieties : single and double bending directions.Furthermore, we perform the experimental validation of Cartesian control of a CTR prototype, anda task hierarchy based control law for redundancy resolution of CTR with variable curvatures. Onthe other hand, we develop the synthesis, the characterization, and the integration of soft microactuatorsbased on electro-active polymers (EAP) for the first time in a continuum robot. Thus, thevisual servoing of a telescopic soft robot is performed with precisions down to 0.21 mm following different trajectories
Sola, Yoann. "Contributions to the development of deep reinforcement learning-based controllers for AUV." Thesis, Brest, École nationale supérieure de techniques avancées Bretagne, 2021. http://www.theses.fr/2021ENTA0015.
Повний текст джерелаThe marine environment is a very hostile setting for robotics. It is strongly unstructured, very uncertain and includes a lot of external disturbances which cannot be easily predicted or modelled. In this work, we will try to control an autonomous underwater vehicle (AUV) in order to perform a waypoint tracking task, using a machine learning-based controller. Machine learning allowed to make impressive progress in a lot of different domain in the recent years, and the subfield of deep reinforcement learning managed to design several algorithms very suitable for the continuous control of dynamical systems. We chose to implement the Soft Actor-Critic (SAC) algorithm, an entropy-regularized deep reinforcement learning algorithm allowing to fulfill a learning task and to encourage the exploration of the environment simultaneously. We compared a SAC-based controller with a Proportional-Integral-Derivative (PID) controller on a waypoint tracking task and using specific performance metrics. All the tests were performed in simulation thanks to the use of the UUV Simulator. We decided to apply these two controllers to the RexROV 2, a six degrees of freedom cube-shaped remotely operated underwater vehicle (ROV) converted in an AUV. Thanks to these tests, we managed to propose several interesting contributions such as making the SAC achieve an end-to-end control of the AUV, outperforming the PID controller in terms of energy saving, and reducing the amount of information needed by the SAC algorithm. Moreover we propose a methodology for the training of deep reinforcement learning algorithms on control tasks, as well as a discussion about the absence of guidance algorithms for our end-to-end AUV controller
Melnyk, Artem. "Perfectionnement des algorithmes de contrôle-commande des robots manipulateur électriques en interaction physique avec leur environnement par une approche bio-inspirée." Thesis, Cergy-Pontoise, 2014. http://www.theses.fr/2014CERG0745/document.
Повний текст джерелаAutomated production lines integrate robots which are isolated from workers, so there is no physical interaction between a human and robot. In the near future, a humanoid robot will become a part of the human environment as a companion to help or work with humans. The aspects of coexistence always presuppose physical and social interaction between a robot and a human. In humanoid robotics, further progress depends on knowledge of cognitive mechanisms of interpersonal interaction as robots physically and socially interact with humans. An illustrative example of interpersonal interaction is an act of a handshake that plays a substantial social role. The particularity of this form of interpersonal interaction is that it is based on physical and social couplings which lead to synchronization of motion and efforts. Studying a handshake for robots is interesting as it can expand their behavioral properties for interaction with a human being in more natural way. The first chapter of this thesis presents the state of the art in the fields of social sciences, medicine and humanoid robotics that study the phenomenon of a handshake. The second chapter is dedicated to the physical nature of the phenomenon between humans via quantitative measurements. A new wearable system to measure a handshake was built in Donetsk National Technical University (Ukraine). It consists of a set of several sensors attached to the glove for recording angular velocities and gravitational acceleration of the hand and forces in certain points of hand contact during interaction. The measurement campaigns have shown that there is a phenomenon of mutual synchrony that is preceded by the phase of physical contact which initiates this synchrony. Considering the rhythmic nature of this phenomenon, the controller based on the models of rhythmic neuron of Rowat-Selverston, with learning the frequency during interaction was proposed and studied in the third chapter. Chapter four deals with the experiences of physical human-robot interaction. The experimentations with robot arm Katana show that it is possible for a robot to learn to synchronize its rhythm with rhythms imposed by a human during handshake with the proposed model of a bio-inspired controller. A general conclusion and perspectives summarize and finish this work
Kirsch, Alexandra [Verfasser], Michael [Akademischer Betreuer] Beetz, and Rachid [Akademischer Betreuer] Alami. "Integration of Programming and Learning in a Control Language for Autonomous Robots Performing Everyday Activities / Alexandra Kirsch. Gutachter: Michael Beetz ; Rachid Alami. Betreuer: Michael Beetz." München : Universitätsbibliothek der TU München, 2008. http://d-nb.info/1054311404/34.
Повний текст джерелаAxelsson, Patrik. "Sensor Fusion and Control Applied to Industrial Manipulators." Doctoral thesis, Linköpings universitet, Reglerteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-105343.
Повний текст джерелаEn av de viktigaste uppgifterna för en industrirobot är att förflytta verktyget i en fördefinierad bana med en specificerad hastighet och acceleration. Exempel på användningsområden för en industrirobot är bland annat bågsvetsning eller limning. För dessa typer av applikationer är det viktigt att banföljningsfelet är extremt litet, men även hastighetsprofilen måste följas så att det till exempel inte appliceras för mycket eller för lite lim. Andra användningsområden kan vara punktsvetsning av bilkarosser och paketering av olika varor. För dess applikationer är banföljningen inte det viktiga, istället kan till exempel en tidsoptimal banföljning krävas eller att svängningarna vid en inbromsning minimeras. Oberoende av applikationen är regulatorn en avgörande del av robotsystemet. Den vanligaste regulatorkonfigurationen använder bara mätningar av motorernas vinkelpositioner och -hastigheter, istället för positionen och hastigheten för verktyget, som är det man egentligen vill styra. En del av utvecklingsarbetet för nya generationers robotar är att reducera kostnaden men samtidigt förbättra prestandan. Ett sätt att minska kostnaden kan till exempel vara att minska dimensionerna på länkarna eller köpa in billigare växellådor. Den här utvecklingen av kostnadsoptimerade robotar har infört oönskade flexibiliteter i leder och länkar. Det är därför inte längre möjligt att få den önskade prestandan och robustheten genom att bara mäta motorernas vinkelpositioner och -hastigheter. Istället krävs det omfattande matematiska modeller som beskriver dessa oönskade flexibiliteter. Dessa modeller kräver mycket arbete att dels ta fram men även för att identifiera parametrarna. Det finns automatiska metoder för att beräkna modellparametrarna men oftast krävs det en manuell justering för att få bra prestanda. Den här avhandlingen undersöker möjligheterna att beräkna verktygspositionen med hjälp av bayesianska metoder för tillståndsskattning. De bayesianska skattningsmetoderna beräknar tillstånden för ett system iterativt. Med hjälp av en matematisk modell över systemet predikteras vad tillståndet ska vara vid nästa tidpunkt. Efter att mätningar av systemet vid den nya tidpunkten har genomförts justeras skattningen med hjälp av dessa mätningar. De metoder som har använts i avhandlingen är det så kallade extended Kalman filtret samt partikelfiltret. Informationen på armsidan av växellådan ges av en accelerometer som är monterad på verktyget. Med hjälp av accelerationen för verktyget och motorernas vinkelpositioner kan en skattning av verktygspositionen beräknas. I en simuleringsstudie för en realistisk vek robot har det visats att skattningsprestandan ligger nära den teoretiska undre gränsen, känd som Raooch mätstörningar som påverkar roboten. För att underlätta trimningen så har en metod för att skatta processbrusets kovariansmatris föreslagits. En annan viktig del som påverkar prestandan är modellerna som används i filtren. Modellerna för en industrirobot är vanligtvis framtagna i kontinuerlig tid medan filtren använder modeller i diskret tid. För att minska felen som uppkommer då de tidskontinuerliga modellerna överförs till diskret tid har olika samplingsmetoder studerats. Vanligtvis används enkla metoder för att diskretisera vilket innebär problem med prestanda och stabilitet. För att hantera dessa problem införs översampling vilket innebär att tidsuppdateringen sker med en mycket kortare sampeltid än vad mätuppdateringen gör. För att undvika översampling kan det motsvarande tidskontinuerliga filtret användas för att prediktera tillstånden vid nästa diskreta tidpunkt. En analytisk lösning med låg beräkningskomplexitet till detta problem har föreslagits. Vidare innehåller avhandlingen två typer av reglerproblem relaterade till industrirobotar. För det första har den så kallade norm-optimala iterative learning control styrlagen utökats till att hantera fallet då en skattning av den önskade reglerstorheten används istället för en mätning. Med hjälp av skattningen av systemets tillståndsvektor kan metoden nu även användas till olinjära system vilket inte är fallet med standardformuleringen. Den föreslagna metoden utökar målfunktionen i optimeringsproblemet till att innehålla inte bara väntevärdet av den skattade reglerstorheten utan även skattningsfelets kovariansmatris. Det innebär att om skattningsfelet är stort vid en viss tidpunkt ska den skattade reglerstorheten vid den tidpunkten inte påverka resultatet mycket eftersom det finns en stor osäkerhet i var den sanna reglerstorheten befinner sig. För det andra har design och analys av H∞-regulatorer för en linjär modell av en vek robotled, som beskrivs med fyra massor, genomförts. Det visar sig att reglerprestandan kan förbättras, utan att lägga till fler mätningar än motorns vinkelposition, jämfört med tidigare utvärderade regulatorer. Genom att mäta verktygets acceleration kan prestandan förbättras ännu mer. Modellen över leden är i själva verket olinjär. För att hantera detta har en H∞-syntesmetod föreslagits som kan hantera olinjäriteten i modellen.
Vinnova Excellence Center LINK-SIC
Wang, Ting. "Contribution à l’étude, la conception et la mise en oeuvre de stratégie de contrôle intelligent distribué en robotique collective." Thesis, Paris Est, 2012. http://www.theses.fr/2012PEST1109/document.
Повний текст джерелаIn this thesis, it concentrated the multi robot team navigating in an unknown environment. In our multi robot team, there is a humanoid robot as a leader and a team of two-wheel nonholonomic robots which form a vertical formation. Besides, a top camera and a computer which is a supervisor are the auxiliary robots in the multi robot team. The main purpose of the thesis is to propose an online and an offline navigation strategy for the closed and open area respectively. The core of navigation strategies is the same and it included path planning part and control part. Both the two parts constructed on the virtual structure of the formation robot team. In the former part, it improved the path planning part by the reinforcement Q learning and the image processing to acknowledge the unknown environment. And it applied the Adaptive Neural Fuzzy Inference System (ANFIS) algorithm to control of both the single nonholonomic robot and formation robot team. Furthermore, the strategies are applied to the formation robot team and the multi robot team in both closed and open environment. Simulations and real experiments are provided in the detail in the thesis. The strong points of the contribution are :- Proposition, conception, realization and experimental validation of machine learning based adaptive control for a nonholonomic single robot (in a group of robots). Four international publications have valorized this part of the doctoral Works. - Proposition, conception, realization and experimental validation of an adaptive intelligent control strategy hybridizing Artificial vision and Machine Learning for a group of nonholonomic homogeneous robots. Two international publications have valorized this part of the doctoral Works.- Proposition, conception, realization and experimental validation of an adaptive intelligent control strategy hybridizing Artificial vision and Machine Learning for a group of heterogeneous robots. Two international publications have valorized this part of the doctoral Works. It is pertinent to emphasize the investigations relative to the above-mentioned works have been awarded by: ″Innovation Award 2011″ of Industrial Robot
Zhao, Yuchen. "Human skill capturing and modelling using wearable devices." Thesis, Loughborough University, 2017. https://dspace.lboro.ac.uk/2134/27613.
Повний текст джерела