Pub Date : 2017-07-10DOI: 10.1109/ICAR.2017.8023507
A. Riani, T. Madani, A. E. Hadri, A. Benallegue
This paper presents an adaptive integral terminal sliding mode control strategy applied to an upper limb exoskeleton. The controller is designed to address the problem of non knowledge of the dynamic parameters of the human limb since they differ from a person to another and the compensation for external disturbances. The proposed control scheme which supposes known only the upper bound of the inertia matrix of the system, guarantees high tracking performance when assisting wearers with shoulder, elbow and wrist joint movements. The reaching of the sliding mode as well as the tracking errors and the uncertainty bounds estimation convergence in finite time is proven. Simulations were performed to evaluate the performance and the efficiency of the proposed controller in tracking trajectories that correspond to passive arm movements.
{"title":"Adaptive integral terminal sliding mode control of an upper limb exoskeleton","authors":"A. Riani, T. Madani, A. E. Hadri, A. Benallegue","doi":"10.1109/ICAR.2017.8023507","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023507","url":null,"abstract":"This paper presents an adaptive integral terminal sliding mode control strategy applied to an upper limb exoskeleton. The controller is designed to address the problem of non knowledge of the dynamic parameters of the human limb since they differ from a person to another and the compensation for external disturbances. The proposed control scheme which supposes known only the upper bound of the inertia matrix of the system, guarantees high tracking performance when assisting wearers with shoulder, elbow and wrist joint movements. The reaching of the sliding mode as well as the tracking errors and the uncertainty bounds estimation convergence in finite time is proven. Simulations were performed to evaluate the performance and the efficiency of the proposed controller in tracking trajectories that correspond to passive arm movements.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132268178","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 : 2017-07-10DOI: 10.1109/ICAR.2017.8023491
Takuo Suzuki, Marina Nakagawa, Kunikazu Kobayashi
The authors developed an image processing technique for estimating the progress of eating behavior of an elderly recipient. The image processing is for depth images and does not require any visual markers on plateware such as dishes. The authors' medication management support system can make a reminder at the correct time (e.g., after eating) depending on the estimated progress. In addition, a human support robot will be able to pass a dose of medicines to the recipient in advance by predicting the end of eating behavior.
{"title":"Eating progress estimation based on depth images for medication management support","authors":"Takuo Suzuki, Marina Nakagawa, Kunikazu Kobayashi","doi":"10.1109/ICAR.2017.8023491","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023491","url":null,"abstract":"The authors developed an image processing technique for estimating the progress of eating behavior of an elderly recipient. The image processing is for depth images and does not require any visual markers on plateware such as dishes. The authors' medication management support system can make a reminder at the correct time (e.g., after eating) depending on the estimated progress. In addition, a human support robot will be able to pass a dose of medicines to the recipient in advance by predicting the end of eating behavior.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122203622","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 : 2017-07-10DOI: 10.1109/ICAR.2017.8023513
V. Babu, K. Das, S. Kumar
In this paper, a gradient decent based methodology is employed to tune the Proportional-Integral-Derivative (PID) controller parameters for AR Drone quadrotor. The three PID controller parameters, proportional gain (Kp), integral gain (Ki) and derivative gain (Kd) are tuned online while flying. The proposed technique has been demonstrated through two test cases. One is the way-point navigation and other is the leader-follower formation control. The experimental result as well as simulations result have shown for both the cases.
{"title":"Designing of self tuning PID controller for AR drone quadrotor","authors":"V. Babu, K. Das, S. Kumar","doi":"10.1109/ICAR.2017.8023513","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023513","url":null,"abstract":"In this paper, a gradient decent based methodology is employed to tune the Proportional-Integral-Derivative (PID) controller parameters for AR Drone quadrotor. The three PID controller parameters, proportional gain (Kp), integral gain (Ki) and derivative gain (Kd) are tuned online while flying. The proposed technique has been demonstrated through two test cases. One is the way-point navigation and other is the leader-follower formation control. The experimental result as well as simulations result have shown for both the cases.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132699721","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 : 2017-07-10DOI: 10.1109/ICAR.2017.8023490
Felix Mauch, A. Rönnau, G. Heppner, Timothee Buettner, R. Dillmann
Service robotics has recently been a growing field as well in research as in industrial contexts. It offers adaptive robotic systems that allow direct human-robot interaction and cooperation. However these systems are often only used inside research labs. In this paper we present the BratWurst Bot, a service robotic system that demonstrates the combination of many different robotic skills to create a powerful application. With ROS as a software framework and standard robotic components this system also shows the short ramp-up time modern service robotics can provide. The BratWurst Bot offers an intuitive tablet interface and was extensively tested “in the field” on public events where it proved its reliability and effectiveness.
{"title":"Service robots in the field: The BratWurst Bot","authors":"Felix Mauch, A. Rönnau, G. Heppner, Timothee Buettner, R. Dillmann","doi":"10.1109/ICAR.2017.8023490","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023490","url":null,"abstract":"Service robotics has recently been a growing field as well in research as in industrial contexts. It offers adaptive robotic systems that allow direct human-robot interaction and cooperation. However these systems are often only used inside research labs. In this paper we present the BratWurst Bot, a service robotic system that demonstrates the combination of many different robotic skills to create a powerful application. With ROS as a software framework and standard robotic components this system also shows the short ramp-up time modern service robotics can provide. The BratWurst Bot offers an intuitive tablet interface and was extensively tested “in the field” on public events where it proved its reliability and effectiveness.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124077177","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 : 2017-07-10DOI: 10.1109/ICAR.2017.8023623
M. Allwright, Navneet Bhalla, M. Dorigo
We present a decentralized control strategy for autonomous construction that uses the structure and markings of a partially-built structure as stimuli to coordinate construction. Since this construction modifies the structure and markings of the partially-built structure, a feedback loop emerges where these modifications coordinate further construction. We demonstrate this control strategy in a physical system by designing an autonomous robot and a stigmergic block, whose hardware implementations are detailed in this paper. The work in this paper represents a milestone in our research towards the realization of a swarm robotics construction system, which aims to be capable of building a variety of structures in various settings with multiple robots.
{"title":"Structure and markings as stimuli for autonomous construction","authors":"M. Allwright, Navneet Bhalla, M. Dorigo","doi":"10.1109/ICAR.2017.8023623","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023623","url":null,"abstract":"We present a decentralized control strategy for autonomous construction that uses the structure and markings of a partially-built structure as stimuli to coordinate construction. Since this construction modifies the structure and markings of the partially-built structure, a feedback loop emerges where these modifications coordinate further construction. We demonstrate this control strategy in a physical system by designing an autonomous robot and a stigmergic block, whose hardware implementations are detailed in this paper. The work in this paper represents a milestone in our research towards the realization of a swarm robotics construction system, which aims to be capable of building a variety of structures in various settings with multiple robots.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128585795","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 : 2017-07-10DOI: 10.1109/ICAR.2017.8023629
S. Islam, D. Gan, R. Ashour, P. Dario, J. Dias, L. Seneviratne
In this paper, we develop haptic interface system for bilateral telemanipulation of unmanned miniature aerial vehicle (MAV). The proposed interface allows operator to navigate MAV in order to control and interact with uncertain indoor flying environments without using vision systems. The master interface combines bilateral shared control terms with the reflected remote interaction force fields mapped by two different types of force field algorithms as potential force field and spring-damper force field. The shared control strategy for the master comprises velocity signals of the remote MAV with the scaled position of the master haptic manipulator. The bilateral shared input interface for the slave is designed by combining scaled position of the master manipulator with the velocity of the remote MAV. The data transmission between ground station and remote vehicle are carried out by open internet communication network. In contrast with other haptic interface system, the proposed interface system only uses laser technology equipped with the slave MAV. Compared with potential force field based interface, the interface introduced in this paper provides better situational awareness about remote environment helping operator to navigate and control MAV for safe interaction with uncertain indoor dynamic environment. Experimental results together with comparative studies on laboratory made quadrotor MAV are presented to demonstrate the effectiveness of the proposed methods for real-time applications.
{"title":"Haptics and virtual reality based bilateral telemanipulation of miniature aerial vehicle over open communication network","authors":"S. Islam, D. Gan, R. Ashour, P. Dario, J. Dias, L. Seneviratne","doi":"10.1109/ICAR.2017.8023629","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023629","url":null,"abstract":"In this paper, we develop haptic interface system for bilateral telemanipulation of unmanned miniature aerial vehicle (MAV). The proposed interface allows operator to navigate MAV in order to control and interact with uncertain indoor flying environments without using vision systems. The master interface combines bilateral shared control terms with the reflected remote interaction force fields mapped by two different types of force field algorithms as potential force field and spring-damper force field. The shared control strategy for the master comprises velocity signals of the remote MAV with the scaled position of the master haptic manipulator. The bilateral shared input interface for the slave is designed by combining scaled position of the master manipulator with the velocity of the remote MAV. The data transmission between ground station and remote vehicle are carried out by open internet communication network. In contrast with other haptic interface system, the proposed interface system only uses laser technology equipped with the slave MAV. Compared with potential force field based interface, the interface introduced in this paper provides better situational awareness about remote environment helping operator to navigate and control MAV for safe interaction with uncertain indoor dynamic environment. Experimental results together with comparative studies on laboratory made quadrotor MAV are presented to demonstrate the effectiveness of the proposed methods for real-time applications.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115969406","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 : 2017-07-10DOI: 10.1109/ICAR.2017.8023496
Jie Chen, Shen Shen, H. Lau
There are four main steps in the flying object hitting problem. Firstly, the position and velocity of the object need to be accurately predicted ahead of time. Secondly, feasible hitting poses need to be calculated. Thirdly, a fast motion planning algorithm for the robot needs to be implemented. Lastly, the inverse kinematics of the robot needs to be derived. In this paper, a six degrees-of-freedom UR5 robot is implemented to hit a freely flying ball. The dynamics of the ball is derived, and the analytical inverse kinematics model of the robot is given. The Gaussian Mixture Model (GMM) and Gaussian Mixture Regression (GMR) are used to encode human hitting demonstrations based on an autonomous dynamical systems model. Experimental results performed in the simulation environment have validated the effectiveness of the proposed method.
{"title":"Hitting flying objects with learning from demonstration","authors":"Jie Chen, Shen Shen, H. Lau","doi":"10.1109/ICAR.2017.8023496","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023496","url":null,"abstract":"There are four main steps in the flying object hitting problem. Firstly, the position and velocity of the object need to be accurately predicted ahead of time. Secondly, feasible hitting poses need to be calculated. Thirdly, a fast motion planning algorithm for the robot needs to be implemented. Lastly, the inverse kinematics of the robot needs to be derived. In this paper, a six degrees-of-freedom UR5 robot is implemented to hit a freely flying ball. The dynamics of the ball is derived, and the analytical inverse kinematics model of the robot is given. The Gaussian Mixture Model (GMM) and Gaussian Mixture Regression (GMR) are used to encode human hitting demonstrations based on an autonomous dynamical systems model. Experimental results performed in the simulation environment have validated the effectiveness of the proposed method.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126682111","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 : 2017-07-10DOI: 10.1109/ICAR.2017.8023505
Johannes Mangler, Felix Mauch, A. Rönnau, R. Dillmann
Manipulating in a closed kinematic chain results in forces and torques to the grasped object if the manipulator is not synchronized to the mobile platform. This paper presents a novel algorithm for dynamic manipulation on mobile platforms. A predictive algorithm synchronize robotic manipulators with a mobile platform. This is necessary when the manipulator or the mobile platform have huge dead-times. With the synchronization of the components the dynamics can be minimized to avoid any damage in the closed kinematic chain. With this novel approach for mobile manipulation precise tasks can be executed in large environments or while moving the platform. To synchronize the system the dead-times of the manipulator and the mobile platform have to be analyzed. The predictive algorithm is evaluated against an adaptive algorithm without dead-time knowledge. As hardware setup two LBR 4 are mounted on a KUKA Omnirob with Mercanum drives. The results are presented and discussed for the simulation and the real experiments.
{"title":"Predictive motion synchronization for two arm dynamic mobile manipulation","authors":"Johannes Mangler, Felix Mauch, A. Rönnau, R. Dillmann","doi":"10.1109/ICAR.2017.8023505","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023505","url":null,"abstract":"Manipulating in a closed kinematic chain results in forces and torques to the grasped object if the manipulator is not synchronized to the mobile platform. This paper presents a novel algorithm for dynamic manipulation on mobile platforms. A predictive algorithm synchronize robotic manipulators with a mobile platform. This is necessary when the manipulator or the mobile platform have huge dead-times. With the synchronization of the components the dynamics can be minimized to avoid any damage in the closed kinematic chain. With this novel approach for mobile manipulation precise tasks can be executed in large environments or while moving the platform. To synchronize the system the dead-times of the manipulator and the mobile platform have to be analyzed. The predictive algorithm is evaluated against an adaptive algorithm without dead-time knowledge. As hardware setup two LBR 4 are mounted on a KUKA Omnirob with Mercanum drives. The results are presented and discussed for the simulation and the real experiments.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131800877","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 : 2017-07-10DOI: 10.1109/ICAR.2017.8023509
Suyong Kim, Cheongjun Kim, Suhwan Park, D. Lee
Estimation of the force applied to the tip of a surgical instrument is necessary to render high-fidelity haptic feedback. Accuracy of the force estimation suffers from friction caused by the rubber packing inside the trocar. This paper proposes a 3-DOF force sensor installed to the trocar support. It is possible to estimate the 2-DOF radial force applied to the instrument tip and the 1-DOF axial friction occurring in the trocar by using the 3-DOF force sensor. Accuracy of the estimation, however, deteriorates due to the reaction moment that occurs at the trocar support. An I-shaped force sensor is designed to reduce coupling effect which is caused by the reaction moment. Design parameters of the sensor are optimized to minimize the coupling effect by using ANSYS software. The sensor is manufactured and calibrated using the least-square calibration method. L2 relative error of the estimation of the radial force applied to the instrument tip is less than 6.30 %. The axial reaction force corresponding to the friction is also estimated with relative error less than 8.63 %.
{"title":"A 3-DOF sensor to estimate the force applied to the tip of a surgical instrument","authors":"Suyong Kim, Cheongjun Kim, Suhwan Park, D. Lee","doi":"10.1109/ICAR.2017.8023509","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023509","url":null,"abstract":"Estimation of the force applied to the tip of a surgical instrument is necessary to render high-fidelity haptic feedback. Accuracy of the force estimation suffers from friction caused by the rubber packing inside the trocar. This paper proposes a 3-DOF force sensor installed to the trocar support. It is possible to estimate the 2-DOF radial force applied to the instrument tip and the 1-DOF axial friction occurring in the trocar by using the 3-DOF force sensor. Accuracy of the estimation, however, deteriorates due to the reaction moment that occurs at the trocar support. An I-shaped force sensor is designed to reduce coupling effect which is caused by the reaction moment. Design parameters of the sensor are optimized to minimize the coupling effect by using ANSYS software. The sensor is manufactured and calibrated using the least-square calibration method. L2 relative error of the estimation of the radial force applied to the instrument tip is less than 6.30 %. The axial reaction force corresponding to the friction is also estimated with relative error less than 8.63 %.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130419816","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 : 2017-07-10DOI: 10.1109/ICAR.2017.8023519
O. N. A. Sanchez, M. Rosero
This paper presents an implementation of a technique to solve the Multi-Travel Salesman Problem (MTSP) when applied to mobile robots in dynamic scenarios. Given that the MTSP is an NP-Complete problem, we used genetic algorithms to solve it efficiently. Once we obtained a theoretical solution for the MTSP, we applied it in simulated and experimental scenarios. In addition, we implemented path planning algorithms to generate the path for each of the robots, and evasion algorithms to manage dynamic scenarios. With those main challenges clear, we tested these implementations in simulation and laboratory environments in order to measure the quality of the proposed solution.
{"title":"Path planning and following using genetic algorithms to solve the multi-travel salesman problem in dynamic scenarios","authors":"O. N. A. Sanchez, M. Rosero","doi":"10.1109/ICAR.2017.8023519","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023519","url":null,"abstract":"This paper presents an implementation of a technique to solve the Multi-Travel Salesman Problem (MTSP) when applied to mobile robots in dynamic scenarios. Given that the MTSP is an NP-Complete problem, we used genetic algorithms to solve it efficiently. Once we obtained a theoretical solution for the MTSP, we applied it in simulated and experimental scenarios. In addition, we implemented path planning algorithms to generate the path for each of the robots, and evasion algorithms to manage dynamic scenarios. With those main challenges clear, we tested these implementations in simulation and laboratory environments in order to measure the quality of the proposed solution.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123933883","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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