{"title":"Humanoid Robot Motion Control for Ramps and Stairs","authors":"Tommy Truong, A. Weitzenfeld","doi":"10.5038/qdna1747","DOIUrl":"https://doi.org/10.5038/qdna1747","url":null,"abstract":"","PeriodicalId":165319,"journal":{"name":"Proceedings of the 35th Florida Conference on Recent Advances in Robotics","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131728305","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}
Sean Bridges, Garhett Smith, Rene Preston, H. Sevil, Michael Reynolds
Brushless Direct Current (BLDC) actuators are recognized for their combined torque capabilities, precision control, and operational versatility, especially in regards to their smaller size. Actuators of this caliber are commonly implemented in high-performance industrial robotic arms, development in exoskeletal technologies, and quadrupedal robotic platforms. Professionally-developed brushless actuators available in the commercial sector deliver in their performance, however at a significant monetary expense. Our aim is to produce cost-efficient robotic actuators which are capable of replicating the design specifications and performance of commercial models. Our research focuses on the understanding and validation of fundamental principles of how brushless motors operate, and how the manipulation of respected variables can be combined to produce an optimized, robotic actuator design. The design and manufacturing process for each actuator prototype for this research revolves around a modular approach, where specific components can be repaired or replaced without compromising the structural integrity or robustness of the system. Each prototype utilizes a unique rotor and embedded planetary gearbox design as a mechanical means for increasing the potential torque output. Design constraints were set in place to properly analyze multi-variable combinations, which would ultimately maximize the electric torque density generated from induced electromagnetic forces. We believe that the results from our project can make cost-effective actuators available to the robotics community for advancing legged-locomotion robotic research.
{"title":"BLDC Actuators Revisited: A New Cost-Effective Design and Manufacturing for Robotic Applications","authors":"Sean Bridges, Garhett Smith, Rene Preston, H. Sevil, Michael Reynolds","doi":"10.5038/olhy7331","DOIUrl":"https://doi.org/10.5038/olhy7331","url":null,"abstract":"Brushless Direct Current (BLDC) actuators are recognized for their combined torque capabilities, precision control, and operational versatility, especially in regards to their smaller size. Actuators of this caliber are commonly implemented in high-performance industrial robotic arms, development in exoskeletal technologies, and quadrupedal robotic platforms. Professionally-developed brushless actuators available in the commercial sector deliver in their performance, however at a significant monetary expense. Our aim is to produce cost-efficient robotic actuators which are capable of replicating the design specifications and performance of commercial models. Our research focuses on the understanding and validation of fundamental principles of how brushless motors operate, and how the manipulation of respected variables can be combined to produce an optimized, robotic actuator design. The design and manufacturing process for each actuator prototype for this research revolves around a modular approach, where specific components can be repaired or replaced without compromising the structural integrity or robustness of the system. Each prototype utilizes a unique rotor and embedded planetary gearbox design as a mechanical means for increasing the potential torque output. Design constraints were set in place to properly analyze multi-variable combinations, which would ultimately maximize the electric torque density generated from induced electromagnetic forces. We believe that the results from our project can make cost-effective actuators available to the robotics community for advancing legged-locomotion robotic research.","PeriodicalId":165319,"journal":{"name":"Proceedings of the 35th Florida Conference on Recent Advances in Robotics","volume":"B1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126836330","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}
Sebastian Story, Reinel Mota, Osmany Gonzalez, Kyle Reynolds, David Perez, Berry Lamy, I. Tansel
{"title":"Granular Material Extruder for Autonomous Asphalt Layer","authors":"Sebastian Story, Reinel Mota, Osmany Gonzalez, Kyle Reynolds, David Perez, Berry Lamy, I. Tansel","doi":"10.5038/vput8743","DOIUrl":"https://doi.org/10.5038/vput8743","url":null,"abstract":"","PeriodicalId":165319,"journal":{"name":"Proceedings of the 35th Florida Conference on Recent Advances in Robotics","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124988455","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}
David Perez, Berry Lamy, Alireza Modir, Arnaud Casterman, I. Tansel
{"title":"Detection of Internal Voids of Additively Manufactured Parts with Structual Health Monitoring Methods","authors":"David Perez, Berry Lamy, Alireza Modir, Arnaud Casterman, I. Tansel","doi":"10.5038/msuo7502","DOIUrl":"https://doi.org/10.5038/msuo7502","url":null,"abstract":"","PeriodicalId":165319,"journal":{"name":"Proceedings of the 35th Florida Conference on Recent Advances in Robotics","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114916527","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}
Hunter Smatla, Robert Shaw, Samuel Esse, Landen Rhodes
{"title":"Implementing Nonelinear Control of a Six Degree of Freedom Robotic Arm on a Raspberry Pi 3","authors":"Hunter Smatla, Robert Shaw, Samuel Esse, Landen Rhodes","doi":"10.5038/uaje6514","DOIUrl":"https://doi.org/10.5038/uaje6514","url":null,"abstract":"","PeriodicalId":165319,"journal":{"name":"Proceedings of the 35th Florida Conference on Recent Advances in Robotics","volume":"280 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116851064","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}
Christian Janke, Stefan Kleinke, Kimberly T. Luthi, Yuetong Lin
{"title":"Using Small UAS for STEM Education: Introducing Robotics and Mechatronics with Drones","authors":"Christian Janke, Stefan Kleinke, Kimberly T. Luthi, Yuetong Lin","doi":"10.5038/qqgn3785","DOIUrl":"https://doi.org/10.5038/qqgn3785","url":null,"abstract":"","PeriodicalId":165319,"journal":{"name":"Proceedings of the 35th Florida Conference on Recent Advances in Robotics","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125612704","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}
Localization, mapping, and planning are critical in autonomous robots operating in uncertain environments and in continuous and discrete domains. High-quality probabilistic models for a complex robot depend heavily on details from its environment, involving multiple parameters. However, there is a lack of accurate probabilistic models for existing robots that can handle reasonably the challenges posed by real applications. For most robots, actions are highly non-deterministic. Furthermore, there is a lack of general software packages applicable to new scenarios. Specifically, we propose a POMDP library for optimal planning and localization given new available models, and dedicated to optimize over exploration and exploitation tradeoffs.
{"title":"POMDP Library Optimizing Over Exploration and Exploitation in Robotic Localization, Mapping, and Planning","authors":"J. Annan, Akram Alghanmi, M. Silaghi","doi":"10.5038/fdqp3242","DOIUrl":"https://doi.org/10.5038/fdqp3242","url":null,"abstract":"Localization, mapping, and planning are critical in autonomous robots operating in uncertain environments and in continuous and discrete domains. High-quality probabilistic models for a complex robot depend heavily on details from its environment, involving multiple parameters. However, there is a lack of accurate probabilistic models for existing robots that can handle reasonably the challenges posed by real applications. For most robots, actions are highly non-deterministic. Furthermore, there is a lack of general software packages applicable to new scenarios. Specifically, we propose a POMDP library for optimal planning and localization given new available models, and dedicated to optimize over exploration and exploitation tradeoffs.","PeriodicalId":165319,"journal":{"name":"Proceedings of the 35th Florida Conference on Recent Advances in Robotics","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128196480","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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