We investigate issues of control and motion planning for a biomimetic robotic system. Previous work has shown that a successful approach to solving the motion planning problem is to decouple it into the two subproblems of trajectory generation (feedforward controls) and feedback regulation. In this paper, we investigate basic issues of momentum generation for a class of dynamic mobile robots, focusing on eel-like swimming robots. We develop theoretical justification for a forward gait that has been observed in nature, and for a turning gait, used in our control laws, that has not been extensively studied in the biological literature. We also explore theoretical predictions for novel gaits for turning and sideways swimming. Finally, we present results from experiments in motion planning for a biomimetic robotic system. We show good agreement with theory for both open and closed-loop control of our modular, five-link, underwater swimming robot using image-based position sensing in an aquatic environment.
{"title":"Motion planning for anguilliform locomotion","authors":"K. McIsaac, J. Ostrowski","doi":"10.1109/TRA.2003.814495","DOIUrl":"https://doi.org/10.1109/TRA.2003.814495","url":null,"abstract":"We investigate issues of control and motion planning for a biomimetic robotic system. Previous work has shown that a successful approach to solving the motion planning problem is to decouple it into the two subproblems of trajectory generation (feedforward controls) and feedback regulation. In this paper, we investigate basic issues of momentum generation for a class of dynamic mobile robots, focusing on eel-like swimming robots. We develop theoretical justification for a forward gait that has been observed in nature, and for a turning gait, used in our control laws, that has not been extensively studied in the biological literature. We also explore theoretical predictions for novel gaits for turning and sideways swimming. Finally, we present results from experiments in motion planning for a biomimetic robotic system. We show good agreement with theory for both open and closed-loop control of our modular, five-link, underwater swimming robot using image-based position sensing in an aquatic environment.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121923735","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}
This paper presents new algorithms to implement simultaneous localization and mapping in environments with very large numbers of features. The algorithms present an efficient solution to the full update required by the compressed extended Kalman filter algorithm. It makes use of the relative landmark representation to develop very close to optimal decorrelation solutions. With this approach, the memory and computational requirements are reduced from /spl sim/O(N/sup 2/) to /spl sim/O(N/sup */N/sub a/), N and N/sub a/ proportional to the number of features in the map and features close to the vehicle, respectively. Experimental results are presented to verify the operation of the system when working in large outdoor environments.
{"title":"Solving computational and memory requirements of feature-based simultaneous localization and mapping algorithms","authors":"J. Guivant, E. Nebot","doi":"10.1109/TRA.2003.814500","DOIUrl":"https://doi.org/10.1109/TRA.2003.814500","url":null,"abstract":"This paper presents new algorithms to implement simultaneous localization and mapping in environments with very large numbers of features. The algorithms present an efficient solution to the full update required by the compressed extended Kalman filter algorithm. It makes use of the relative landmark representation to develop very close to optimal decorrelation solutions. With this approach, the memory and computational requirements are reduced from /spl sim/O(N/sup 2/) to /spl sim/O(N/sup */N/sub a/), N and N/sub a/ proportional to the number of features in the map and features close to the vehicle, respectively. Experimental results are presented to verify the operation of the system when working in large outdoor environments.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130490053","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}
This paper investigates the kinematics and stiffness of an isotropic three-legged manipulator having six degrees of freedom. Rotary motors at the base rotate the tool by using the extensible legs as drive shafts. The manipulator has the positional stiffness of a parallel manipulator and the rotational stiffness of a serial manipulator. Low inertia results from having only three legs and having three motors fixed at the base. The inverse kinematics are obtained in closed form. Singularities are characterized for the case of concentric u-joints at the tool. These singularities yield the constraint singularities of a related 3-universal-prismatic-universal translational manipulator.
{"title":"Design and kinematics of a three-legged parallel manipulator","authors":"P. Goldsmith","doi":"10.1109/TRA.2003.814508","DOIUrl":"https://doi.org/10.1109/TRA.2003.814508","url":null,"abstract":"This paper investigates the kinematics and stiffness of an isotropic three-legged manipulator having six degrees of freedom. Rotary motors at the base rotate the tool by using the extensible legs as drive shafts. The manipulator has the positional stiffness of a parallel manipulator and the rotational stiffness of a serial manipulator. Low inertia results from having only three legs and having three motors fixed at the base. The inverse kinematics are obtained in closed form. Singularities are characterized for the case of concentric u-joints at the tool. These singularities yield the constraint singularities of a related 3-universal-prismatic-universal translational manipulator.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116100259","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}
Admittance control approaches show significant promise in providing reliable force-guided assembly. An important issue in the development of these approaches is the specification of an appropriate admittance control law. This paper identifies procedures for selecting the appropriate admittance to achieve reliable force-guided assembly of planar polyhedral parts for single-point contact cases. A set of conditions that are imposed on the admittance matrix is presented. These conditions ensure that the motion that results from contact reduces part misalignment. We show that, for bounded misalignments, if an admittance satisfies the misalignment-reduction conditions at a finite number of contact configurations, then the admittance will also satisfy the conditions at all intermediate configurations.
{"title":"Sufficient conditions used in admittance selection for force-guided assembly of polygonal parts","authors":"Shuguang Huang, J. Schimmels","doi":"10.1109/TRA.2003.814498","DOIUrl":"https://doi.org/10.1109/TRA.2003.814498","url":null,"abstract":"Admittance control approaches show significant promise in providing reliable force-guided assembly. An important issue in the development of these approaches is the specification of an appropriate admittance control law. This paper identifies procedures for selecting the appropriate admittance to achieve reliable force-guided assembly of planar polyhedral parts for single-point contact cases. A set of conditions that are imposed on the admittance matrix is presented. These conditions ensure that the motion that results from contact reduces part misalignment. We show that, for bounded misalignments, if an admittance satisfies the misalignment-reduction conditions at a finite number of contact configurations, then the admittance will also satisfy the conditions at all intermediate configurations.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128249721","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}
The past two decades have seen significant improvements in optimization modeling and software solvers for large-scale optimization problems, especially discrete problems. We feel that a critical feature of many of these systems is being overlooked. That is, the process control engineer adjusts process parameters while only considering the local efficiency or not considering process efficiency at all. Production control engineers, while optimizing the global system performance, consider process parameters as given and fixed, i.e., unchangeable. Combining the optimization of the process parameters with a global system view can significantly improve the overall system performance. In practice, "hot jobs" are treated in this ad hoc manner, making sure that all resources are available and operate at peak efficiency (minimum production time) for these critical products. This phenomenon occurs not only in manufacturing but also in many other industries. This modeling part of the optimization problem can be even more important than "optimal versus heuristic"-based solution decisions made. In this paper, we present an aggregative high-fidelity modeling approach and illustrate the formulation of parameter variability in three different domains: manufacturing, air travel, and food processing.
{"title":"A parameter variation modeling approach for enterprise optimization","authors":"M. Masin, N. I. Shaikh, R. Wysk","doi":"10.1109/TRA.2003.814501","DOIUrl":"https://doi.org/10.1109/TRA.2003.814501","url":null,"abstract":"The past two decades have seen significant improvements in optimization modeling and software solvers for large-scale optimization problems, especially discrete problems. We feel that a critical feature of many of these systems is being overlooked. That is, the process control engineer adjusts process parameters while only considering the local efficiency or not considering process efficiency at all. Production control engineers, while optimizing the global system performance, consider process parameters as given and fixed, i.e., unchangeable. Combining the optimization of the process parameters with a global system view can significantly improve the overall system performance. In practice, \"hot jobs\" are treated in this ad hoc manner, making sure that all resources are available and operate at peak efficiency (minimum production time) for these critical products. This phenomenon occurs not only in manufacturing but also in many other industries. This modeling part of the optimization problem can be even more important than \"optimal versus heuristic\"-based solution decisions made. In this paper, we present an aggregative high-fidelity modeling approach and illustrate the formulation of parameter variability in three different domains: manufacturing, air travel, and food processing.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114880428","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}
Development of optimal design methods for parallel manipulators is important in obtaining an optimal architecture or pose for the best kinetostatic performance. The use of performance indexes such as the condition number of the conventional Jacobian matrix that is composed of nonhomogeneous physical units, however, may lack in physical significance. In order to avoid the unit inconsistency problem in the conventional Jacobian matrix, we present a new formulation of a dimensionally homogeneous Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points that are coplanar with the mobile platform joints. The condition number of the new Jacobian matrix is then used to design an optimal architecture or pose of parallel manipulators for the best dexterity. An illustrative design example with a six-degree-of-freedom Gough-Stewart platform parallel manipulator by using the proposed formulation is shown to generate the same optimal configurations as those from using the other existing dimensionally homogenous Jacobian formulation methods.
{"title":"New dimensionally homogeneous Jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators","authors":"Sung-Gaun Kim, J. Ryu","doi":"10.1109/TRA.2003.814496","DOIUrl":"https://doi.org/10.1109/TRA.2003.814496","url":null,"abstract":"Development of optimal design methods for parallel manipulators is important in obtaining an optimal architecture or pose for the best kinetostatic performance. The use of performance indexes such as the condition number of the conventional Jacobian matrix that is composed of nonhomogeneous physical units, however, may lack in physical significance. In order to avoid the unit inconsistency problem in the conventional Jacobian matrix, we present a new formulation of a dimensionally homogeneous Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points that are coplanar with the mobile platform joints. The condition number of the new Jacobian matrix is then used to design an optimal architecture or pose of parallel manipulators for the best dexterity. An illustrative design example with a six-degree-of-freedom Gough-Stewart platform parallel manipulator by using the proposed formulation is shown to generate the same optimal configurations as those from using the other existing dimensionally homogenous Jacobian formulation methods.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129925848","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}
We introduce a class of path optimization problems, which we call "sweeping path problems," found in a wide range of engineering applications. The question is how to find a family of curve segments on a free-form surface that optimizes a certain objective or a cost while respecting specified constraints. For example, when machining a free-form surface, we must ensure that the surface can be machined or swept as quickly as possible while respecting a given geometric tolerance, and while satisfying the speed and the acceleration limits of the motors. The basic requirement of engineering tasks of this type is to "visit" or "cover" an entire area, whereas conventional optimal control theory is largely about point-to-point control. Standard ordinary differential equation-based Lagrangian description formulations are not suitable for expressing or managing optimization problems of this type. We introduce a framework using an Eulerian description method, which leads to partial differential equations. We show that the basic requirement is expressed naturally in this formulation. After defining the problem, we show the connection between the two perspectives. Using this reasoning, we develop the necessary conditions for the optimality of the problem. Finally, we discuss computational approaches for solving the problem.
{"title":"Optimal sweeping paths on a 2-manifold: a new class of optimization problems defined by path structures","authors":"Taejung Kim, S. Sarma","doi":"10.1109/TRA.2003.814497","DOIUrl":"https://doi.org/10.1109/TRA.2003.814497","url":null,"abstract":"We introduce a class of path optimization problems, which we call \"sweeping path problems,\" found in a wide range of engineering applications. The question is how to find a family of curve segments on a free-form surface that optimizes a certain objective or a cost while respecting specified constraints. For example, when machining a free-form surface, we must ensure that the surface can be machined or swept as quickly as possible while respecting a given geometric tolerance, and while satisfying the speed and the acceleration limits of the motors. The basic requirement of engineering tasks of this type is to \"visit\" or \"cover\" an entire area, whereas conventional optimal control theory is largely about point-to-point control. Standard ordinary differential equation-based Lagrangian description formulations are not suitable for expressing or managing optimization problems of this type. We introduce a framework using an Eulerian description method, which leads to partial differential equations. We show that the basic requirement is expressed naturally in this formulation. After defining the problem, we show the connection between the two perspectives. Using this reasoning, we develop the necessary conditions for the optimality of the problem. Finally, we discuss computational approaches for solving the problem.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114724684","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}
A. Ramírez-Treviño, Israel Rivera-Rangel, E. López-Mellado
This paper is concerned with the analysis of the observability of the discrete event systems (DES) modeled by interpreted Petri nets (IPN). This paper presents three major contributions on the field of the observability of DES. First, an observability definition for IPN is proposed. This definition is more precise than previous ones because it deals with the possibility of determining the system's initial state, using the knowledge of the system's inputs, outputs, and structure. Later, a novel characterization of the IPN exhibiting the observability property that is based on the IPN structure is presented. Finally, a method for designing asymptotic observers is discussed. The main advantage over other methods is that the observer presented herein is given as an IPN, allowing further analysis of the system-observer pair.
{"title":"Observability of discrete event systems modeled by interpreted Petri nets","authors":"A. Ramírez-Treviño, Israel Rivera-Rangel, E. López-Mellado","doi":"10.1109/TRA.2003.814503","DOIUrl":"https://doi.org/10.1109/TRA.2003.814503","url":null,"abstract":"This paper is concerned with the analysis of the observability of the discrete event systems (DES) modeled by interpreted Petri nets (IPN). This paper presents three major contributions on the field of the observability of DES. First, an observability definition for IPN is proposed. This definition is more precise than previous ones because it deals with the possibility of determining the system's initial state, using the knowledge of the system's inputs, outputs, and structure. Later, a novel characterization of the IPN exhibiting the observability property that is based on the IPN structure is presented. Finally, a method for designing asymptotic observers is discussed. The main advantage over other methods is that the observer presented herein is given as an IPN, allowing further analysis of the system-observer pair.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126587417","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}
The primary goal of this paper is to demonstrate a means to prove asymptotically stable walking in an underactuated, planar, five-link biped robot model. The analysis assumes a rigid contact model when the swing leg impacts the ground and an instantaneous double support phase. The specific robot model analyzed corresponds to a prototype under development by the Centre National de la Recherche Scientifique (CNRS), Paris, France. A secondary goal of the paper is to establish the viability of the theoretically motivated control law. This is explored in a number of ways. First, it is shown how known time trajectories, such as those determined on the basis of walking with minimal energy consumption, can be incorporated into the proposed controller structure. Secondly, various perturbations to the walking motion are introduced to verify disturbance rejection capability. Finally, the controller is demonstrated on a detailed simulator for the prototype which includes torque limits and a compliant model of the walking surface, and thus a noninstantaneous double support phase.
{"title":"Stable walking of a 7-DOF biped robot","authors":"F. Plestan, J. Grizzle, E. Westervelt, G. Abba","doi":"10.1109/TRA.2003.814514","DOIUrl":"https://doi.org/10.1109/TRA.2003.814514","url":null,"abstract":"The primary goal of this paper is to demonstrate a means to prove asymptotically stable walking in an underactuated, planar, five-link biped robot model. The analysis assumes a rigid contact model when the swing leg impacts the ground and an instantaneous double support phase. The specific robot model analyzed corresponds to a prototype under development by the Centre National de la Recherche Scientifique (CNRS), Paris, France. A secondary goal of the paper is to establish the viability of the theoretically motivated control law. This is explored in a number of ways. First, it is shown how known time trajectories, such as those determined on the basis of walking with minimal energy consumption, can be incorporated into the proposed controller structure. Secondly, various perturbations to the walking motion are introduced to verify disturbance rejection capability. Finally, the controller is demonstrated on a detailed simulator for the prototype which includes torque limits and a compliant model of the walking surface, and thus a noninstantaneous double support phase.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131818404","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}
This paper presents a navigation methodology for decentralized autonomous automated guided vehicles used for material handling. The navigation methodology is based on behavior-based control augmented with multirobot coordination behaviors and a priori waypoint determination. Results indicate that the developed methodology fuses well between the desires for optimal vehicle routes on the one hand and decentralized reactive operation on the other.
{"title":"Navigation of decentralized autonomous automatic guided vehicles in material handling","authors":"S. Berman, Y. Edan, M. Jamshidi","doi":"10.1109/TRA.2003.814513","DOIUrl":"https://doi.org/10.1109/TRA.2003.814513","url":null,"abstract":"This paper presents a navigation methodology for decentralized autonomous automated guided vehicles used for material handling. The navigation methodology is based on behavior-based control augmented with multirobot coordination behaviors and a priori waypoint determination. Results indicate that the developed methodology fuses well between the desires for optimal vehicle routes on the one hand and decentralized reactive operation on the other.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2003-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123133695","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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