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This paper describes a real-time multi-vehicle motion planning (MVMP) algorithm for the emergency vehicle clearance task. To address the inherent limitations of human drivers in perception, communication, and cooperation, we require that the emergency vehicle and the surrounding normal vehicles are connected and automated vehicles (CAVs). The concerned MVMP task is to find cooperative trajectories...
To allow collaborative robots to work efficiently and effectively with their human partners, one of the critical functions they need is to precisely and robustly recognize human intentions, i.e., what action they will perform next. In this paper, we present a Recurrent Convolutional Neural Networks (RCNN)-based system that is capable of recognizing a human intention much earlier than the intended...
Robotic graspable object recognition is a crucial ingredient in many exciting autonomous manipulation applications. However, identifying complex image features from limited data remains largely unsolved. In this paper, we leverage the advantages of two kinds of feature representation approaches, kernel descriptors and deep neural networks, to present a novel hierarchical feature learning framework...
Recently, the optimal motion planning problem has attracted a considerable amount of attention, giving rise to new algorithms like RRG, RRT* and PRM*. However, these algorithms have some difficulty in handling the high-dimensional situation like manipulation, which needs a large amount of samples to explore a huge configuration space. In this context, we present a novel incremental sampling-based...
This paper presents the development of the electrical simulator for the space station manipulator to support the design of the space manipulator's controller and the data communication verification between the space station and the manipulator. The assembly of the space manipulator model consists of the joint controller model, the joint dynamics model and the serial manipulator model. Besides, the...
In this paper, a novel robust adaptive controller is proposed to simultaneously cope with the unknown nonlinear backlash, friction and dynamic uncertainties in the 3-DOF robotic head system. Inverse backlash compensation with on-line backlash parameter estimation and model-based friction compensation with off-line Stribeck friction identification are incorporated into this robust adaptive scheme....
Sound source localization (SSL) is an essential technique in many applications, such as robot audition, human-robot interaction and speech capturing. However, SSL from a binaural input is still a challenging problem, particularly when multiple sources are active simultaneously. In this work, we propose a multi-sources localization framework based on the time-delay compensation (TDC) estimator and...
The tradeoff between the dexterity, compliance and payload capacity is a key challenge in the design of Hyper-Dexterous Manipulator (HDM). In this paper, we focus on the properties of typical biological structures related to HDM in order to guide the design of a high performance HDM, as biological inspiration provides a key design guideline for robotic design. The typical biological structures are...
This paper proposes the MHIC (Modified Hybrid Impedance Control) strategy of the redundant robot for ORU replacements based on the ground testbed. First, the operation process is analyzed and the corresponding strategies of ORU replacements are proposed. Then, based on the traditional hybrid impedance control method, MHIC of redundant robots is proposed achieving compliance or force tracking in different...
For on-orbit maintenance and service of space robot, this paper presents a 6D-ICP approach for 3D reconstruction and state estimate of unknown non-cooperative target based on stereo vision. Optical flow is applied to target image features tracking in each monocular camera extracted by Harris detector across successive frames. The features tracked successively in each camera will be matched between...
This paper presents the mechatronic system of a fleet of three autonomous underwater vehicles (AUVs) called Eco-Dolphin. Besides common features of robots, the unique challenges for underwater robots such as water proof technology and underwater communication are addressed. The Eco-Dolphin fleet is built to serve both societal and the academic needs specified below. Coastal areas have the densest...
In order to achieve large tolerance capture and high stiffness connection for space payload operations, a Chinese large-scale space end-effector (EER) was developed. Friction is a kind of strong nonlinear factor that severely degrades performance of EER. To predict the friction amplitude and compensate the dynamic error, the friction model based Generalized Maxwell-Slip model (GMS) is built. In order...
This paper proposes the design and development of an integrated serial elastic actuator (SEA) which is used as the elbow joint in the soft humanoid arm. First, requirements of SEA are illustrated. And six different types of elastic elements (e.g. the discoid element, the cylindrical) are analyzed using the design of experiment (DOE) method. And then, a discoid elastic element with larger flexibility...
Expansion Rod Capturing Nozzle Device based on Laser Range Finders Guidance is developed to capture the non-cooperative satellite by capturing the main engine nozzle. The capturing device is integrated with capturing mechanism of expansion rod, Field-Programmable Gate Array (FPGA) controller, multi-sensors with laser range finders and Force/Torque Sensor, which utilizes the design concept of the optics,...
A multi-finger dynamics model has been presented in this study, which contains a single finger dynamics model equation and a restraint equation between fingers based on Lagrangian multiplier controller. To validate the model, an EtherCAT master and slave platform has been developed based on FPGA. Meanwhile, the multi-finger dynamics algorithm has been designed in the TwinCAT. Finally, the experiments...
Surface Sample Acquisition and Caching Device (SSACD) is an underway equipment which is designed for the upcoming Chinese Lunar Exploration Stage III: lunar sample return. Considering the characteristics of lunar environment and soil, the scoop of SSACD is a bionic design which would have lower digging resistance and higher efficiency. The unlocking mechanism is driven by motor and wire rope directly...
A highly integrated joint controller using in a humanoid robot arm has been developed in the paper. The joint controller is highly integrated with position sensors — the hall sensors, the magnetic sensor and the photoelectrical sensor, the torque sensors, the temperature sensor and so on. Besides, it can control and drive the motor in PWM and SVPWM modes. What is more, the joint controller has been...
It's a natural and convenient way for a robot to interact with outside by robot's ears (i.e. microphones) based on correctly detection and recognition of a sound event. This paper considers sound event detection and recognition in indoor environment where there are varying noises around a robot. To handle the problem of varying background noises, a novel sound event detection and recognition system...
Expansion Rod Capturing Nozzle Device is developed to achieve the function of capturing the non-cooperative satellite by locking the main engine nozzle. Nozzle structure is captured by the device through its throat, so the size and mass are small. The overall structure design of the device and the operating principle of the Expansion Rod mechanism are described. A method of Meshing Profile Modeling...
In this paper a stereo-vision based framework is presented to track the motion of a table-tennis ball in motion-blurred images. In the proposed approach, first the motion direction is identified by minimizing L2 norm of directional derivatives of the blurred image and the motion width is estimated using the bounding rectangle of the foreground object. Then more accurate motion parameters of the ball...
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