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ORB-SLAM2 is one of the better-known open source SLAM implementations available. However, the dependence of visual features causes it to fail in featureless environments. With the present work, we propose a new technique to improve visual odometry results given by ORB-SLAM2 using a tightly Sensor Fusion approach to integrate camera and odometer data. In this work, we use odometer readings to improve...
This work presents a new concept of environment mapping aiming to identify dynamic objects in the scene, and then estimate their direction and future position. The motion analysis is performed directly in the traditional 2D costmap through three different map frames. Costmap is a traditional mapping technique that uses an occupation grid is used, where each cell has a degree of uncertainty about whether...
This work aims to propose and compare trajectory tracking controllers for mobile robots. At first the mathematical requirements to propose a feasible strategy for a unicyclelike robot are presented, as well as the necessary condition to guarantee the stability in the sense of Lyapunov. In the sequence, the controllers are tuned in simulation and then validated in real experiments. The performance...
This paper presents a high level architecture for a robot, designed for item picking task for E-commerce fulfillment center. The architecture was designed to be modular and has features that allow the robot to operate in an E-commerce warehouse environment, where bin content changes over time. Our system was built upon the Robot Operating System (ROS), with the benefits of abstracting low level machine...
In this paper, a new control method for walking in-pipe robots is discussed. The method is based on a combination of a linear quadratic regulator for systems with explicit mechanical constraints and a proportional-derivative controller formulated in terms of end effector coordinates (Cartesian coordinates of the robot's foot that takes the step). The performance of the proposed method is measured...
Generating a walking pattern for a legged robot is not an easy task. In the literature there are different proposed approaches: mathematical, model-based and bioinspired methods in order to generate such walking patterns for legged robots. In this article we present the K3P algorithm, conceived to command a robotic legged platform to travel along an arbitrary trajectory, using the velocity of the...
The paper presents a software system created to allow to use a user-friendly interface in order to describe complex surfaces which a robot system will follow, with applications in robot milling or engraving. The experimental system used for testing is composed by a 6 degree of freedom IRB 140 ABB robot with tools for engraving of milling, having the PC Interface option for communication and a PC which...
We introduce ProbLP, a probabilistic local planner, for safe navigation of an autonomous robot in dynamic, unknown, continuous, and cluttered environments. We combine the proposed reactive planner with an existing global planner and evaluate the hybrid in challenging simulated environments. The experiments show that our method achieves a 77% reduction in collisions over the straight-line local planner...
Our article deals with the development of a robotic arm with “open control system” (for this particular application — with two degrees of freedom and possibility to add). The open control system allows, together with the known parameters of our robotic arm, to use advanced control methods. The robotic arm is controlled by a PLC and automatically generated code via tools — BR Target for Simulink. This...
Collaboration between heterogeneous robots can greatly improve the overall robot system by obtaining capabilities that each single robot is unable to achieve. In this paper, we present a collaborative robot system designed for search and rescue missions in an unknown environment with obstacles. The system consists of an aerial robot and a ground robot. An extended Kalman filter (EKF) is used for...
This paper proposes a basic near-environmental recognition framework based on groping for risk-tolerance disaster response robot (DRR). In extreme disaster sites, including high radiation and heavy smog, external sensors such as cameras and laser range finders do not work properly, and such sensors may be broken in accidents in the tasks. It is hoped that DRRs can continue to perform tasks, even if...
An experimental evaluation of a two loop coordinated control strategy of a robot guided shape memory alloy (SMA) actuated flexible needle system is presented in this paper. The control of the flexible needle is deployed as the inner loop and the robot driving the needle in correspondence with the needle's movement is deployed as the outer loop. These two control loops are coordinated in such a way...
This paper presents a formation tracking strategy for a set of single or double integrator agents with an arbitrary undirected communication topology. The approach uses the leader-followers scheme and a distance-based potential function. The approach is extended to the case of nonholonomic omnidirectional aerial and terrestrial robots. To show the performance of the control strategy, a real-time experiment...
In order to solve the problem that the existing parallel manipulator is expensive, complicated design and complicated control, this paper designs a three-degree-of-freedom parallel manipulator with cam-driven single power input. The manipulator is cheap and widely used. And then its kinematics research. The freedom degree analysis of the manipulator is completed, and the kinematics is obtained. And...
This paper presents the validation of the closed loop control system of a parallel robot designed to perform transperineal biopsy of the prostate. The robotic structure is presented along with its kinematic parameters implemented into the control module and validated using a virtual modelling environment. The experimental model is tested using a previously defined motion pattern for the medical procedure...
Elderly people have some problems about their decrease in lower limb function. So, there is a possibility of falling and causing serious injury when standing or sitting. The purpose of this research is to construct a system that enables elderly people to receive safe and high quality rehabilitation. At the first, analysis of trajectory of standing and sitting motion is performed. Thanks to the analysis,...
We investigate the effect of dominant and submissive movement strategies and a movement cue in a human-robot cooperation scenario on perceived predictability and trust. Four different movement strategies in proximal cooperation between a robot manipulator and a human participant were tested in an experiment in which participants had to arrange small objects in a shared workspace working on the same...
This paper presents a method of kinematics modeling and trajectory planning for NAO robot object grasping. In order to judge and grasp objects autonomously, this method combines the image analysis and kinematics knowledge. Firstly, the collected images by the NAO robot are processed through threshold segmentation and median filtering. According to the shape information of the object, the NAO robot...
This paper first establishes the kinematic model and dynamic model of Selective Compliance Assembly Robot Arm(SCARA) robot based on Denavit-Hartenberg method and Lagrange equation. Then the model is simplified to reduce the computation, the kinetic equation is transformed into a linear form to get the observation matrix and the parameters to be identified. An incentive trajectory is designed to finish...
The paper considers a group of systems (agents), each of which described by a model consisting from a linear part and a static nonlinearity, satisfying special quadratic constraints, connected by a feedback. All systems operate in the repetitive mode with a constant pass length, and with resetting to the initial state after each pass is complete. Data connections among the systems are defined by a...
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