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.
This work tackles the problem of controlling an Unmanned Aerial Vehicle equipped with a robotic Manipulator and it has been developed within the framework of the EU-funded ARCAS (Aerial Robotics Cooperative Assembly System) project. A behavioral control, based on the Null Space-based Behavioral (NSB) paradigm, is proposed to tackle the coordination between the arm and vehicle motions. To this aim,...
The soft robotics approach is widely considered to enable robots in the near future to leave their cages and move freely in our modern homes and manufacturing sites. Musculoskeletal robots are such soft robots which feature passively compliant actuation, while leveraging the advantages of tendon-driven systems. Even though these robots have been intensively researched within the last decade, high-performance...
Our goal is to bring animation characters to life in the real world. We present a bipedal robot that looks like and walks like an animation character. We start from animation data of a character walking. We develop a bipedal robot which corresponds to lower part of the character following its kinematic structure. The links are 3D printed and the joints are actuated by servo motors. Using trajectory...
The scales on the skin of a snake are an integral part of the snake's locomotive capabilities. It stands to reason that the integration of scales into the design of robotic snakes would open new properties to exploit. In this work, we present a robotic snake design that incorporates rigid scales in the casing of each module. To validate the impact of the scales, locomotion is tested under three conditions:...
This paper presents an effective method for planning and optimizing robot motions in joint space using via-points. The via-point formulation allows for a sparse movement representation which is inherently smooth according to a minimum jerk criterion. In this research we focus on two aspects. First, we present an initialization method to find a feasible number of via-points and their distribution in...
Activity prediction is an essential task in practical human-centered robotics applications, such as security, assisted living, etc., which targets at inferring ongoing human activities based on incomplete observations. To address this challenging problem, we introduce a novel bio-inspired predictive orientation decomposition (BIPOD) approach to construct representations of people from 3D skeleton...
This paper proposes a novel approach to generate trajectories that generalize given demonstrations according to optimality criteria. By formulating the problem as a quadratic program we can efficiently incorporate constraints to adapt to new desired motion requirements while achieving the main goal of matching the acceleration profile of the demonstration. This makes our method particularly suited...
Co-robots, i.e. robots that work close to people, will need to account for the preferences and expectations of their human co-workers in executing trajectories or actions. Consistent, legible and predictable trajectories are a key factor in making humans comfortable around robots. In this work, we take a data-driven approach towards designing robot trajectories that are more acceptable to human co-workers...
The MOBOT* project aims to develop assistive devices that support elderly patients with mobility disabilities during gait and sit-to-stand (STS) transfer. The device is supposed to help such patients to maintain an independent life through mobility as well as to regain basic life skills since self-effort is encouraged. Situation-adapted optimal assistance will be provided by the device both proactively...
In this paper an optimal trajectory planning problem for industrial multi-link robots is considered. Using a cubic polynomial joint interpolation scheme, a minimum time trajectory under torque constraints is planned via a global optimization algorithm proposed by the authors. This proposed optimization method takes into account a rigid-link full dynamics model. Numerical results for a two-link arm,...
For the hydraulically driven joint of a large manipulator, a new control scheme is applied using the flatness of the hydraulic actuator with two valves. Position and pressure can be controlled independently by expanding the SISO system with one valve to a MIMO system with two valves. The model is described by piecewise defined nonlinear equations. It is shown that the system is flat. The flatness...
A hierarchical control for flexible manipulators is presented in this paper. The equations of motion are derived using the miltibody system method. Exploiting the structure of the dynamic model, the control concept allows to combine any given joint level control for the gross motion of the manipulator with a decentralized linear control of the elastic deformation of each flexible link. In order to...
In this paper two predictive controllers for non-linear systems are presented. Both methods — ELPC and MELPC — are based on a local linearisation of the process at each sampling instant, thus, a priori, should perform better than the controllers designed in terms of a single linearisation about an operating point. On the other hand, their linear formulation leads to computation times much shorter...
In this paper we present a controller that solves the problem of position coordination of two (or more) robotic systems, under a master-slave scheme, in the case when only position measurements are available. The controller consists of a feedback control law and two nonlinear observers. It is shown that the controller yields semi-global ultimate uniformly boundedness of the closed loop errors and...
This paper presents a general methodology of controller design by the hybrid neuro-inverse control with the knowledge-based nonlinear separation for industrial nonlinear systems. In industrial nonlinear systems, various kinds of uncertainties may cause serious deterioration of system performances. Unfortunately, these uncertainties are usually difficult to identify and compensate from the entire system...
This paper proposes a control method for walking of biped robots in three dimensions, while most papers consider only walking in the sagittal plane and consider the frontal stabilization issues. The proposed method employs an adaptive fuzzy-PD control scheme to show the validity of the proposed model. Simulating results show good performance of the model and the control method as compared with recently...
We introduce in this paper the Random Exchange Diffusion Bernoulli Filter (RndEx-BF), which enables joint target detection and tracking by a network of collaborative sensors. RndEx-BF is a fully distributed algorithm that, unlike consensus-based solutions, does not require iterative internode communication between sensor measurements. Internode communication cost is further reduced by a novel hybrid...
Quantification of spin density, R∗2 decay and off-resonance frequency maps is very important in some applications of magnetic resonance imaging (MRI). To reconstruct these parameter maps, a time-varying model such as mono-exponentials must be used to represent the signal from each voxel. When only a single-shot trajectory is adopted, the underlying reconstruction problem is significantly nonlinear...
We investigate learning of flexible Robot locomotion controller, i.e., the controllers should be applicable for multiple contexts, for example different walking speeds, various slopes of the terrain or other physical properties of the robot. In our experiments, contexts are desired walking linear speed and the direction of the gait. Current approaches for learning control parameters of biped locomotion...
In this paper, an interpolation method based on five order B-spline is proposed to construct continuous curves in joint space for manipulators, this method can ensure the continuity of velocity, acceleration and jerk in joint moving process. At the same time, the velocity, acceleration and jerk at both start and stop moment can be adjusted. Then the MOPSO algorithm is used to optimize these curves...
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.