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This paper discusses the design of capturing system with an extremely high response. The key for achieving a quick response is the Arm/Gripper Coupling Mechanism (AGCM), where the potential energy initially accumulated in the arm is transferred to the kinetic energy of the arm and, continuously, to the kinetic energy for closing the gripper at the capturing point without any time lag. The experimental...
Mimesis theory is one of the primitive skill of imitative learning, which is regarded as an origin of human intelligence because imitation is fundamental function for communication and symbol manipulation. When the mimesis is adopted as learning method for humanoids, convenience for designing full body behavior would decrease because bottom-up learning approaches from robot side and top-down teaching...
This paper describes a dynamical strategy for releasing micro objects picked-up by means of adhesion forces. While sticking effects are used in order to capture an object by adequately choosing a high surface energy constitutive material for the end-effector, these same effects handicap considerably the release. We propose to take advantage of the inertial effects of both the end-effector and the...
In this paper we describe several prototypes of self-replicating robotic systems that have been developed at JHU. In contrast to self-reconfiguration, self-replication is the process of assembling a functional robot from passive components. The robot that is assembled (the replica) is an exact copy of the robot doing the assembling. Our presentation marks the beginning of the JHU effort in this area...
This paper describes an extension of previous work on an eye gaze/ head tracking control of a four wheel drive, rough terrain wheelchair (for the ‘adventurous’ disabled), provided with three levels of control which permit a safe tele-autonomous style navigation. Here a remote tele-autonomous mode is tested with an eye gaze/ head track system and experimental results reported. In essence, the four...
1.17 million people die in road crashes around the world each year. It is estimated that up to 30% of these fatalities are caused by fatigue and inattention. This paper presents preliminary results of an Intelligent Transport System (ITS) project that has fused visual lane tracking and driver monitoring technologies in the first step to closing the loop between vision inside and outside the vehicle...
This paper investigates slip-based traction control of a planetary rover that travels over natural rough terrain. Special attention is made on the tire-soil traction mechanics and the dynamics of the rover. Experiments are carried out with a laboratory test bed to understand the physical behavior of tire-soil interaction and, thereby, a traction model is investigated using the tire slip ratio as a...
High-speed mobile robots have many important applications in rough terrain. At high speeds, it is difficult to guarantee safe robot motion using traditional control and planning techniques. This paper presents an experimental high-speed rover system for studying reactive behavior control to avoid potentially dangerous situations. The method consists of sensor-triggered maneuvers that have been shown...
In this paper we describe the control logic that enabled a small-scale unmanned helicopter to execute an aerobatic maneuver under computer control. The logic consists of steady-state trim trajectory controllers, used prior to, and upon the exit from the maneuver; and a maneuver logic inspired by human pilot strategies for maneuver execution. Extensive flight tests with this control logic demonstrated...
We present the design and implementation of a real-time, vision-based landing algorithm for an autonomous helicopter. The landing algorithm is integrated with algorithms for visual acquisition of the target (a helipad), and navigation to the target, from an arbitrary initial position and orientation. We use vision for precise target detection and recognition and a combination of vision and GPS for...
This paper details the progress to date, toward developing a small autonomous helicopter. We describe system architecture, avionics, visual state estimation, custom IMU design, aircraft modelling, as well as various linear and neuro/fuzzy control algorithms. Experimental results are presented for state estimation using fused stereo vision and IMU data, heading control, and attitude control. FAM attitude...
This paper presents the current status of the development of an autonomous blimp. Details are given on the hardware setup, which is currently almost operational. Some first experimental results on terrain mapping with low altitude stereo imagery are presented and discussed, and some insights regarding flight control developments are given.
This paper presents a methodology for observing human skill by using a virtual task space constructed by the haptic virtual reality technology. First a haptic simulator developed for a 2-dimensional peg-in-hole assembly operation in the virtual environment is presented. To examine the validity of the simulator, a comparison study between the peg-in-hole task using the simulator and that in the real...
One of the most important issues in haptic interface design is to achieve stable interaction between the haptic display and the virtual environment for any operating conditions and for any virtual environment parameters. Recently, Hannaford and Ryu [10,11,16] proposed an energy based method, whose components are termed the “Passivity Observer” (PO) and “Passivity Controller” (PC). Force and velocity...
We describe an interactive interface for exploring and acquiring reality-based models of physical objects. A user interacts with a graphical/haptic display to specify exploration operations on a model of the object (poking, rubbing along a path). These operations are then performed on the real object by a remote robotic sensing system, in order to measure certain requested physical properties (roughness,...
Several haptic shape display methods rely on the surface normal to compute a force response. Instead, it is possible to use the change of height of an interaction point to compute a force response when a subject explores the surface of an object. The notion of surface normal is no longer needed, and the difficulties associated with it are eliminated. An experiment is designed to illustrate some differences...
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