Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.10
Takahiko Kawaguchi, Yuki Tanise, M. Kamata, Yasuyuki Yamada, Taro Nakamura
Air conditioning equipment using duct piping is used to ventilate residences. If this residential ducting is used in a dirty environment, it will lead to adverse effects on human health. Therefore, a method to clean the ducts is required. However, with existing duct cleaning tools, it is difficult to clean the duct perfectly. Therefore, a duct cleaning robot is required. In previous research, we focused on a peristaltic crawling motion type robot, and developed a type of drive brush mounting. Cleaning and driving experiments confirmed a cleaning efficiency of 97.2%; however, the speed fell below the target value of 4.6 mm/s. In this paper, we propose a cleaning joint that strives for both cleaning efficiency and driving speed. We aim to realize an optimal duct cleaning robot by comparing the drive brush mounting types with a robot equipped with the proposed method.
{"title":"Development of a peristaltic crawling motion type duct cleaning robot compatible with cleaning efficiency and running speed by cleaning joint","authors":"Takahiko Kawaguchi, Yuki Tanise, M. Kamata, Yasuyuki Yamada, Taro Nakamura","doi":"10.13180/clawar.2018.10-12.09.10","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.10","url":null,"abstract":"Air conditioning equipment using duct piping is used to ventilate residences. If this residential ducting is used in a dirty environment, it will lead to adverse effects on human health. Therefore, a method to clean the ducts is required. However, with existing duct cleaning tools, it is difficult to clean the duct perfectly. Therefore, a duct cleaning robot is required. In previous research, we focused on a peristaltic crawling motion type robot, and developed a type of drive brush mounting. Cleaning and driving experiments confirmed a cleaning efficiency of 97.2%; however, the speed fell below the target value of 4.6 mm/s. In this paper, we propose a cleaning joint that strives for both cleaning efficiency and driving speed. We aim to realize an optimal duct cleaning robot by comparing the drive brush mounting types with a robot equipped with the proposed method.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"158 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114910804","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 : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.34
Timothee Buettner, D. Wilke, A. Roennau, G. Heppner, R. Dillmann
Improving robustness of walking robots has always been problematic. Their complex kinematics and locomotion has always been prone to damage: a broken cable, an unstable foothold or a wrong set of parameters has been an everlasting source of frustration. Nature developed an extraordinary robustness through redundancy and fast adaptation. Theories about decentralized nervous systems has inspired this paper with a novel approach. The presented solution aims at relocating low-level walking behaviours to a network of computers and, more exactly, into the robots individual legs. This paper will not cover the full scope of the software implementation (this is a eld found especially in modular robotics), but presents how such an encapsulated leg with all necessary hardware is built and focuses on the mechanical and kinematic aspect of such legs. It highlights how a robotic leg needs to be designed to tackle structured environments serves as explanatory guide through the design process of legs with integrated PCU and sensors.
{"title":"A scalable, modular leg design for multi-legged stair climbing robots","authors":"Timothee Buettner, D. Wilke, A. Roennau, G. Heppner, R. Dillmann","doi":"10.13180/clawar.2018.10-12.09.34","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.34","url":null,"abstract":"Improving robustness of walking robots has always been problematic. Their complex kinematics and locomotion has always been prone to damage: a broken cable, an unstable foothold or a wrong set of parameters has been an everlasting source of frustration. Nature developed an extraordinary robustness through redundancy and fast adaptation. Theories about decentralized nervous systems has inspired this paper with a novel approach. The presented solution aims at relocating low-level walking behaviours to a network of computers and, more exactly, into the robots individual legs. This paper will not cover the full scope of the software implementation (this is a eld found especially in modular robotics), but presents how such an encapsulated leg with all necessary hardware is built and focuses on the mechanical and kinematic aspect of such legs. It highlights how a robotic leg needs to be designed to tackle structured environments serves as explanatory guide through the design process of legs with integrated PCU and sensors.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116132515","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 : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.20
M. Rocha, L. Guzmán, H. León-Rodriguez
The deterioration of the components of the rotator cuff is one of the most frequent causes of musculoskeletal pain and disability in the world. The conditions of the rotator cuff increase with the passage of time, since they have a direct relationship with a process of deterioration rather than with a traumatic event. In order to decrease pain and recover shoulder movement, patients are usually treated by regular sessions with a physiotherapist. However, more sessions are required than those stipulated to fully obtain recover mobility. This paper present the development of portable prototype to rehabilitate acute rotator cuff injure, designed from biomechanical analysis and ranges the kinematics and dynamics articulated in the present design determine important requirements in obtaining greater functionality of the prototype and with it, allows the identification of sensors and actuators for executing two types of specific movements: flexion / extension and external / internal rotation by means of a soft rehabilitation robot.
{"title":"Rehabilitation prototype to improves mobility of acute rotator cuff injury","authors":"M. Rocha, L. Guzmán, H. León-Rodriguez","doi":"10.13180/clawar.2018.10-12.09.20","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.20","url":null,"abstract":"The deterioration of the components of the rotator cuff is one of the most frequent causes of musculoskeletal pain and disability in the world. The conditions of the rotator cuff increase with the passage of time, since they have a direct relationship with a process of deterioration rather than with a traumatic event. In order to decrease pain and recover shoulder movement, patients are usually treated by regular sessions with a physiotherapist. However, more sessions are required than those stipulated to fully obtain recover mobility. This paper present the development of portable prototype to rehabilitate acute rotator cuff injure, designed from biomechanical analysis and ranges the kinematics and dynamics articulated in the present design determine important requirements in obtaining greater functionality of the prototype and with it, allows the identification of sensors and actuators for executing two types of specific movements: flexion / extension and external / internal rotation by means of a soft rehabilitation robot.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125119598","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 : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.31
A. Saraiva, Njc Costa, J. V. M. Sousa, T. P. D. Araujo, N. M. F. Ferreira, António Valente
This paper describes a group of robots for cleaning a simulated environment and proposes an ecient algorithm for navigation based on Path nding A *. No need for vision sensors. As a result it was observed that the robots can work cooperatively to clear the ground and that the navigation algorithm is e ective in cleaning. In order to test its eciency it was compared the combination of the Path nding A* algorithm and the decision algorithm proposed in this paper with Path nding A* and Euclidean distance, resulted in an improvement in time and distance traveled.
{"title":"Scalable task clean-up assignment for multi-agents","authors":"A. Saraiva, Njc Costa, J. V. M. Sousa, T. P. D. Araujo, N. M. F. Ferreira, António Valente","doi":"10.13180/clawar.2018.10-12.09.31","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.31","url":null,"abstract":"This paper describes a group of robots for cleaning a simulated environment and proposes an ecient algorithm for navigation based on Path nding A *. No need for vision sensors. As a result it was observed that the robots can work cooperatively to clear the ground and that the navigation algorithm is e ective in cleaning. In order to test its eciency it was compared the combination of the Path nding A* algorithm and the decision algorithm proposed in this paper with Path nding A* and Euclidean distance, resulted in an improvement in time and distance traveled.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124504677","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 : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.30
{"title":"Navigation of quadruped multi-robots by gesture recognition using restricted Boltzmann machines","authors":"","doi":"10.13180/clawar.2018.10-12.09.30","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.30","url":null,"abstract":"","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"307 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123223838","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 : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.42
S. Mondal, Zoljargal Fallows
This project was undertaken with the aim of designing, building and testing magnetic wheel based an autonomous climbing robot, for use in conjunction with non-destructive testing (NDT) inspection on vertical towers. Through extensive review of previous generations of climbing robot, a hybrid wheel and permanent magnetic adhesion system was designed for use in this project. Using mathematical modelling and finite element analysis (FEA) of differing magnet geometries, an adhesion system was developed to produce the required amount of adhesion force and was empirically tested at several intervals throughout the project. To complement this adhesion system, a lightweight, cost effective body was designed using 3D CAD software and manufactured using rapid prototyping methods. This was done to incorporate the electronic equipment used to sense the working environment, drive the robot and carry equipment capable of performing defect detection tasks. To do this, a range of sensors, motors and auxiliary equipment was used and controlled by a microcontroller. Finally, a functional scale prototype was manufactured, assembled and tested on a cylindrical test rig that closely imitated its intended work environment.
{"title":"Magneto static analysis of adhesion force for the wall climbing robot","authors":"S. Mondal, Zoljargal Fallows","doi":"10.13180/clawar.2018.10-12.09.42","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.42","url":null,"abstract":"This project was undertaken with the aim of designing, building and testing magnetic wheel based an autonomous climbing robot, for use in conjunction with non-destructive testing (NDT) inspection on vertical towers. Through extensive review of previous generations of climbing robot, a hybrid wheel and permanent magnetic adhesion system was designed for use in this project. Using mathematical modelling and finite element analysis (FEA) of differing magnet geometries, an adhesion system was developed to produce the required amount of adhesion force and was empirically tested at several intervals throughout the project. To complement this adhesion system, a lightweight, cost effective body was designed using 3D CAD software and manufactured using rapid prototyping methods. This was done to incorporate the electronic equipment used to sense the working environment, drive the robot and carry equipment capable of performing defect detection tasks. To do this, a range of sensors, motors and auxiliary equipment was used and controlled by a microcontroller. Finally, a functional scale prototype was manufactured, assembled and tested on a cylindrical test rig that closely imitated its intended work environment.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131871925","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 : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.49
Rutty Cedeño Arana, Lisbeth Mena, Héctor Montes Franceschi, Ricardo Cajo
In this paper, a description of a control system for basic grip movements for a low-cost hand prosthesis is presented. The idea is to provide movements to those people who do not have fingers due to congenital malformations, considering that the movements of their wrists are complete. The wrist movements are acquired by means of the Myo bracelet, which has wireless communication. The Myo bracelet has eight myoelectric sensors and an IMU, i.e., non-invasive sensors that are positioned around the forearm. The gestures read by means of the Myo bracelet are processed by the control system to send the commands to the small electric actuators installed in the prototype hand prosthesis.
{"title":"Design of a gripping movement control system for a robotic hand prosthesis","authors":"Rutty Cedeño Arana, Lisbeth Mena, Héctor Montes Franceschi, Ricardo Cajo","doi":"10.13180/clawar.2018.10-12.09.49","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.49","url":null,"abstract":"In this paper, a description of a control system for basic grip movements for a low-cost hand prosthesis is presented. The idea is to provide movements to those people who do not have fingers due to congenital malformations, considering that the movements of their wrists are complete. The wrist movements are acquired by means of the Myo bracelet, which has wireless communication. The Myo bracelet has eight myoelectric sensors and an IMU, i.e., non-invasive sensors that are positioned around the forearm. The gestures read by means of the Myo bracelet are processed by the control system to send the commands to the small electric actuators installed in the prototype hand prosthesis.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"126 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131148152","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 : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.51
Andoni Urutegui, Ray Lattarulo, Gerardo Fernández-López
The research and development focused towards autonomous vehicles has grown quickly and progressively, in search of a more efficient, safe and clean future. Thus, is necessary to consider: cooperation between multiple (2 or more) vehicles, security measures, priorities, among others. Under this framework we present a design of predictive controller for the management of cooperative maneuvers, considering safety, efficiency and comfort in driving, as well as a series of physical limitations of the vehicle, all this to obtain a speed profile that guarantees the optimal execution (locally) of the maneuver.
{"title":"Coordinated control for vehicles coopearative maneuvers using distributed model predictive control","authors":"Andoni Urutegui, Ray Lattarulo, Gerardo Fernández-López","doi":"10.13180/clawar.2018.10-12.09.51","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.51","url":null,"abstract":"The research and development focused towards autonomous vehicles has grown quickly and progressively, in search of a more efficient, safe and clean future. Thus, is necessary to consider: cooperation between multiple (2 or more) vehicles, security measures, priorities, among others. Under this framework we present a design of predictive controller for the management of cooperative maneuvers, considering safety, efficiency and comfort in driving, as well as a series of physical limitations of the vehicle, all this to obtain a speed profile that guarantees the optimal execution (locally) of the maneuver.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"188 3-4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132845479","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 : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.36
A. Gmerek, A. Plastropoulos, M. Kimball, A. Sain, K. Shah, A. Wheatley, P. Collins, P. T. Karfakis, J. Liu, J. Carroll, G. Virk
This article describes a novel mobile manipulator robot designed to work at height on construction sites. The robot comprises a mobile platform and a scissor lifter on which an ABB 6 dof manipulator is mounted. The mobile base is characterised by holonomic kinematics, provided by a novel designed omnidirectional wheel system that can travel directly and autonomously to desired poses. The robot was successfully tested in a construction site scenario to perform drilling tasks.
{"title":"A novel holonomic mobile manipulator robot for construction sites","authors":"A. Gmerek, A. Plastropoulos, M. Kimball, A. Sain, K. Shah, A. Wheatley, P. Collins, P. T. Karfakis, J. Liu, J. Carroll, G. Virk","doi":"10.13180/clawar.2018.10-12.09.36","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.36","url":null,"abstract":"This article describes a novel mobile manipulator robot designed to work at height on construction sites. The robot comprises a mobile platform and a scissor lifter on which an ABB 6 dof manipulator is mounted. The mobile base is characterised by holonomic kinematics, provided by a novel designed omnidirectional wheel system that can travel directly and autonomously to desired poses. The robot was successfully tested in a construction site scenario to perform drilling tasks.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114473217","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 : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.p03
P. Bidaud
The control of complex dynamic systems, both in their behaviour and in their mission, goes through the implementation of multi-loop control architectures based on information about the system internal state and from the environment, as well as on the mission plan state. This results in systems that are becoming increasingly autonomous, for which requirements in terms of safety and reliability, as well as expected performance, are increasingly high. Research works developed at ONERA in the field of control for autonomous systems cover all levels of the control architectures, which are basically structured with respect to temporal aspects, as well as the level of abstraction that they entail for the system dynamic.
{"title":"Control architectures for robust multi-robot autonomous systems","authors":"P. Bidaud","doi":"10.13180/clawar.2018.10-12.09.p03","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.p03","url":null,"abstract":"The control of complex dynamic systems, both in their behaviour and in their mission, goes through the implementation of multi-loop control architectures based on information about the system internal state and from the environment, as well as on the mission plan state. This results in systems that are becoming increasingly autonomous, for which requirements in terms of safety and reliability, as well as expected performance, are increasingly high. Research works developed at ONERA in the field of control for autonomous systems cover all levels of the control architectures, which are basically structured with respect to temporal aspects, as well as the level of abstraction that they entail for the system dynamic.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131929328","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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