The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper a search for the trajectory that minimizes the cost function is studied. In robotic studies the cost function can be defined as a function of time, tracking error or applied torque. In this study the cost function is selected as a function of applied torque, so the main aim is minimizing the energy consumption. For this purpose a simple robot manipulator is chosen, and its kinematic...
This paper deals with the trajectory planning of a full-rotate parallel robot for wafer transfer operations. With the path length in work space of the robot as parameter, the dynamic model is parameterized. The system constraints-input torque and velocity constraints and the task constraints-output velocity, acceleration, and jerk limits are set; with the minimized operation time as the optimization...
This paper proposes a new framework to recover balance against external forces by combining disturbance suppression and reactive stepping. In the view point of the feedback control, a reactive step can help to diminish the disturbance caused by an external force that should be compensated to maintain balance. In other words, if the adequate step is performed, the feedback controller does not have...
In this paper we derive the control policy that minimizes the total expected time for a point mass with bounded acceleration, starting from the origin at rest, to find and return to an unknown target that is distributed uniformly on the unit interval. We apply our result to proof-of-concept hardware experiments with a planar robot arm searching for a metal object using an inductive proximity sensor...
In this paper, a motion planning algorithm based on differential flatness for an autonomous vehicle driving in a structured environment with moving obstacles is presented. A descriptions of the structured environment and definitions of safety and availability of the lane are proposed. In order to ensure that the trajectory is feasible and effective, dynamic longitudinal and lateral acceleration constraints...
A filter for trajectories smoothing is presented. The filter provides an output reproducing the input trajectory if this is compliant with given constraints on the velocity, the acceleration and the torque required for tracking it. Otherwise, the filter approximates the input profile guaranteeing that the output trajectory satisfies all the kinematic and dynamic limits. The tracking of the input signal...
Relative coordination has predominant advantage in uncertain environment path planning problem because it denies much of redundant information of the dynamic environment while avoids the rotation transformation which is a big burden in the traditional methods. Based on relative coordination, this paper proposes a trimmed Ant Colony Optimization (ACO) algorithm for three dimensional trajectory generation,...
Hitting and batting tasks, such as tennis forehands, ping-pong strokes, or baseball batting, depend on predictions where the ball can be intercepted and how it can properly be returned to the opponent. These predictions get more accurate over time, hence the behaviors need to be continuously modified. As a result, movement templates with a learned global shape need to be adapted during the execution...
In this paper, Lateral Sway Motion Generation for biped robots using characteristic of LIPM with VSP that a supporting point can be flexibly moved is presented. The supporting point is set outside of biped robot y axis and under the ground, and COM is set inside of biped robot. We can regard LIPM with VSP as LIPM is slanted virtually. Therefore accelerate of LIPM with this way is larger than accelerate...
Dynamic parameters of a robot affect the performance of advanced control schemes significantly. In this study experiments to identify the dynamic parameters of AT2 robot are carried out. The excitation trajectory for identification is parameterized with Fourier series. The trajectory is optimized to minimize effects of uncertainty using condition number as the index. Recursive optimization is proposed...
A method of interpolating and tracking rigid body motions in terms of its exponential coordinates is developed based on the differential of exponentials. The analytic closed-form expressions are provided for differential of exponential on SO(3) as well as its time-derivative. Complete methods for interpolating and tracking in terms of exponential coordinates of SO(3) are developed. In particular,...
In this paper we consider the problem of multi-objective trajectory planning to Parallel Kinematic Machines (PKMs). A two stage system is developed. In a first stage is an offline planning based on robot kinematics and dynamics, including actuators, is performed to generate a large dataset of trajectories, these trajectory cover mostly of the robot workspace and minimize time and energy, while avoiding...
This paper presents a control framework for humanoid robots that uses all joints simultaneously to track motion capture data and maintain balance. The controller comprises two main components: a balance controller and a tracking controller. The balance controller uses a regulator designed for a simplified humanoid model to obtain the desired input to keep balance based on the current state of the...
The artificial potential field (APF) approach is a widely used path-planning algorithm for robot navigation. The method in some of its variants is known to exhibit several difficulties such as entrapment in a local minimum. In this paper, we compare the behavior of several variants of APF methods with emphasis on the quality of path geometry, and velocity and acceleration profiles. We argue that great...
This paper presents a strategy for improving motion planning of an unmanned helicopter flying in a dense and complex city-like environment. Although Sampling Based Motion planning algorithms have shown success in many robotic problems, problems that exhibit ldquonarrow passagerdquo properties involving kinodynamic planning of high dimensional vehicles like aerial vehicles still present computational...
Dynamic system-based motor primitives have enabled robots to learn complex tasks ranging from Tennis-swings to locomotion. However, to date there have been only few extensions which have incorporated perceptual coupling to variables of external focus, and, furthermore, these modifications have relied upon handcrafted solutions. Humans learn how to couple their movement primitives with external variables...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.