Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201428
N. Andreff, P. Martinet
In this paper, it is shown that computer vision, used as a redundant metrology mean, allows the control of a Gough-Stewart parallel robot without using any joint sensor. This result is highly relevant for the control of parallel mechanisms hard to instrument (for instance, hydraulically actuated ones) or with large displacements (for instance, large telescopes positioning systems). It is also very interesting since it turns computer vision, usually considered as an exteroceptive sensor, into a proprioceptive one, yet preserving its exteroceptive nature and non-contact measurement.
{"title":"Visual servoing of a Gough-Stewart parallel robot without proprioceptive sensors","authors":"N. Andreff, P. Martinet","doi":"10.1109/ROMOCO.2005.201428","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201428","url":null,"abstract":"In this paper, it is shown that computer vision, used as a redundant metrology mean, allows the control of a Gough-Stewart parallel robot without using any joint sensor. This result is highly relevant for the control of parallel mechanisms hard to instrument (for instance, hydraulically actuated ones) or with large displacements (for instance, large telescopes positioning systems). It is also very interesting since it turns computer vision, usually considered as an exteroceptive sensor, into a proprioceptive one, yet preserving its exteroceptive nature and non-contact measurement.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133872150","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201398
R. Massoud, C. Long, M. Tokhi, S. Gharooni
This paper presents the development of a strategy for cyclical motion control by controlling the torques of the lower limb joints. A humanoid with a rehabilitation bicycle model is developed with Visual Nastran software and used with Matlab/Simulink to test and verify the developed strategy. Six closed loop PID controllers are developed and used to achieve the desired leg joint trajectories, with different positions for the crank. Analyses are carried out at different locations of the pedals, and simulation results verifying the control strategy are presented and discussed.
{"title":"A control strategy for ergometry cycling in rehabilitation robots","authors":"R. Massoud, C. Long, M. Tokhi, S. Gharooni","doi":"10.1109/ROMOCO.2005.201398","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201398","url":null,"abstract":"This paper presents the development of a strategy for cyclical motion control by controlling the torques of the lower limb joints. A humanoid with a rehabilitation bicycle model is developed with Visual Nastran software and used with Matlab/Simulink to test and verify the developed strategy. Six closed loop PID controllers are developed and used to achieve the desired leg joint trajectories, with different positions for the crank. Analyses are carried out at different locations of the pedals, and simulation results verifying the control strategy are presented and discussed.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134249675","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201403
A. Cysewska-Sobusiak, G. Wiczyński
The major goal of the paper is to present attributes of transillumination that is the method of examination by the passage of light through tissues or a body cavity. Selected examples of current modern application in medical diagnostics are presented. Advantages and limitations of this method are discussed.
{"title":"Medical applications of human tissue transillumination","authors":"A. Cysewska-Sobusiak, G. Wiczyński","doi":"10.1109/ROMOCO.2005.201403","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201403","url":null,"abstract":"The major goal of the paper is to present attributes of transillumination that is the method of examination by the passage of light through tissues or a body cavity. Selected examples of current modern application in medical diagnostics are presented. Advantages and limitations of this method are discussed.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"254 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132710754","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201436
Alan Ettlin, P. Büchler, H. Bleuler
We introduce Ibex, a real-time capable physics simulation framework. Ibex is ideally suited to simulate mechatronic systems as well as environments in which robot motion planning algorithms can be developed and tested. The entire control loop encountered in robotics can be simulated. This includes the simulation of robot sensors and actuators. The current implementation includes a rigid-body simulation which encompasses not only kinematic but also dynamics effects. It performs collision detection and resolution in real-time or faster for typical setups. The completely modular design of Ibex means the framework is easily configurable and extensible. Additional physics simulation modules covering phenomena such as electromagnetic forces can be integrated transparently. These modules can interact with existing entities to build an overall system. Ibex can communicate with external hardware through I/O interfaces, thus allowing hardware-in-the-loop simulations. We present example Ibex applications from both industrial and mobile robotics. We also describe why Ibex is a real asset for robot motion planning and how we intend to apply it in this field.
{"title":"A simulation environment for robot motion planning","authors":"Alan Ettlin, P. Büchler, H. Bleuler","doi":"10.1109/ROMOCO.2005.201436","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201436","url":null,"abstract":"We introduce Ibex, a real-time capable physics simulation framework. Ibex is ideally suited to simulate mechatronic systems as well as environments in which robot motion planning algorithms can be developed and tested. The entire control loop encountered in robotics can be simulated. This includes the simulation of robot sensors and actuators. The current implementation includes a rigid-body simulation which encompasses not only kinematic but also dynamics effects. It performs collision detection and resolution in real-time or faster for typical setups. The completely modular design of Ibex means the framework is easily configurable and extensible. Additional physics simulation modules covering phenomena such as electromagnetic forces can be integrated transparently. These modules can interact with existing entities to build an overall system. Ibex can communicate with external hardware through I/O interfaces, thus allowing hardware-in-the-loop simulations. We present example Ibex applications from both industrial and mobile robotics. We also describe why Ibex is a real asset for robot motion planning and how we intend to apply it in this field.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122631655","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201409
G. Granosik, J. Borenstein
This paper describes the design of a pneumatic joint actuation system for the OmniTread serpentine robot, developed at the University of Michigan. Serpentine robots are mobile robots with one unique characteristic: they have a very large ratio of length to diameter. To implement this unique shape, they usually have multiple segments connected by joints. Some serpentine robots provide legged, wheeled, or tracked propulsion, and, in addition, actuation for the joints. In this paper we present a detailed analysis of pneumatic integrated joint actuators (IJA) invented and built especially for serpentine robots. The IJA combines advantages of pneumatic bellows-like actuators with our proportional position and stiffness (PPS) control algorithm. Controllable stiffness is of crucial importance in serpentine robots, which require stiff joints to cross gaps and compliant joints to conform to rough terrain for effective propulsion. The paper also includes results of tests performed at the Southwest Research Institute.
{"title":"The OmniTread serpentine robot with pneumatic joint actuation","authors":"G. Granosik, J. Borenstein","doi":"10.1109/ROMOCO.2005.201409","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201409","url":null,"abstract":"This paper describes the design of a pneumatic joint actuation system for the OmniTread serpentine robot, developed at the University of Michigan. Serpentine robots are mobile robots with one unique characteristic: they have a very large ratio of length to diameter. To implement this unique shape, they usually have multiple segments connected by joints. Some serpentine robots provide legged, wheeled, or tracked propulsion, and, in addition, actuation for the joints. In this paper we present a detailed analysis of pneumatic integrated joint actuators (IJA) invented and built especially for serpentine robots. The IJA combines advantages of pneumatic bellows-like actuators with our proportional position and stiffness (PPS) control algorithm. Controllable stiffness is of crucial importance in serpentine robots, which require stiff joints to cross gaps and compliant joints to conform to rough terrain for effective propulsion. The paper also includes results of tests performed at the Southwest Research Institute.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128748957","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201415
W. Dixon, W. E. Galluzo, G. Hu, C. Crane
The position control problem of wheeled mobile robots (WMR's) has been a heavily researched area due to both the challenging theoretical nature of the problem (i.e., an underactuated nonlinear system under nonholonomic constraints) and its practical importance. Rather than construct a control problem where the mobile robot is required to track an a priori known desired trajectory, this paper formulates a velocity field tracking control problem. Specifically, a velocity field is developed for the constrained WMR trajectory, and a differentiable controller is formulated to prove global asymptotic velocity field tracking. Motivated by the desire to improve the robustness of the system, the developed differentiable kinematic controller is embedded inside of an adaptive controller that fosters global asymptotic tracking despite parametric uncertainty associated with the dynamic model.
{"title":"Adaptive velocity field control of a wheeled mobile robot","authors":"W. Dixon, W. E. Galluzo, G. Hu, C. Crane","doi":"10.1109/ROMOCO.2005.201415","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201415","url":null,"abstract":"The position control problem of wheeled mobile robots (WMR's) has been a heavily researched area due to both the challenging theoretical nature of the problem (i.e., an underactuated nonlinear system under nonholonomic constraints) and its practical importance. Rather than construct a control problem where the mobile robot is required to track an a priori known desired trajectory, this paper formulates a velocity field tracking control problem. Specifically, a velocity field is developed for the constrained WMR trajectory, and a differentiable controller is formulated to prove global asymptotic velocity field tracking. Motivated by the desire to improve the robustness of the system, the developed differentiable kinematic controller is embedded inside of an adaptive controller that fosters global asymptotic tracking despite parametric uncertainty associated with the dynamic model.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"139 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113972742","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201396
H. P. Siregar
Simulation of power consumption for biped walking robot is one of the way to preliminary estimate the energy that will be consumed by walking robot before constructing the real biped walking robot. In the considered work, the object of the research is the five-link planar electromechanical biped walking robot. Purpose of the given work consists in development and improvement of methods of estimation of power consumption for walking robots and creation of the appropriate software with visualization of researched process of walking (gait). Criterion of optimization is the minimum of electromechanical work. The considered work is the continuation of Martynenko and Siregar (2002). For research of power consumption in walking of considered biped walking robot, methods of the theoretical mechanics, the theory of optimization, the theory of the ordinary differential equations, numerical method and simulation of computer visualization are used.
{"title":"Simulation of power consumption for walking robot","authors":"H. P. Siregar","doi":"10.1109/ROMOCO.2005.201396","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201396","url":null,"abstract":"Simulation of power consumption for biped walking robot is one of the way to preliminary estimate the energy that will be consumed by walking robot before constructing the real biped walking robot. In the considered work, the object of the research is the five-link planar electromechanical biped walking robot. Purpose of the given work consists in development and improvement of methods of estimation of power consumption for walking robots and creation of the appropriate software with visualization of researched process of walking (gait). Criterion of optimization is the minimum of electromechanical work. The considered work is the continuation of Martynenko and Siregar (2002). For research of power consumption in walking of considered biped walking robot, methods of the theoretical mechanics, the theory of optimization, the theory of the ordinary differential equations, numerical method and simulation of computer visualization are used.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"29 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113977303","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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