Pub Date : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177079
T. Kerscher, J. Albiez, K. Berns
Pneumatic muscles as actuators offer several advantages due to their performance weight relation or to the passive compliance of this type of actuators. Passive compliance is an important component for the control of locomotion in rough terrain to absorb the power stroke energy. This paper presents the mechatronics of a six-legged insect-like robot AirBug with pneumatic muscles as actuators. The main focus lies on the control concept of the antagonistic actuators.
{"title":"Joint control of the six-legged robot AirBug driven by fluidic muscles","authors":"T. Kerscher, J. Albiez, K. Berns","doi":"10.1109/ROMOCO.2002.1177079","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177079","url":null,"abstract":"Pneumatic muscles as actuators offer several advantages due to their performance weight relation or to the passive compliance of this type of actuators. Passive compliance is an important component for the control of locomotion in rough terrain to absorb the power stroke energy. This paper presents the mechatronics of a six-legged insect-like robot AirBug with pneumatic muscles as actuators. The main focus lies on the control concept of the antagonistic actuators.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133826234","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177129
P. Kulczycki, A. Mazgaj
Deals with parameter identification using the fuzzy Bayes decision rule, which makes it possible to take into account the differing consequences of positive and negative estimation errors. Nonsymmetrical loss functions, in piecewise linear and piecewise quadratic forms are considered. The calculation procedures have been based on the statistical kernel estimators methodology. An example application for the time-optimal and quadratic optimal controls for a fundamental mechanical system is described. The concept proposed can easily be transferred to sophisticated tasks of contemporary robot control.
{"title":"Bayes parameter identification for optimal control of robots","authors":"P. Kulczycki, A. Mazgaj","doi":"10.1109/ROMOCO.2002.1177129","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177129","url":null,"abstract":"Deals with parameter identification using the fuzzy Bayes decision rule, which makes it possible to take into account the differing consequences of positive and negative estimation errors. Nonsymmetrical loss functions, in piecewise linear and piecewise quadratic forms are considered. The calculation procedures have been based on the statistical kernel estimators methodology. An example application for the time-optimal and quadratic optimal controls for a fundamental mechanical system is described. The concept proposed can easily be transferred to sophisticated tasks of contemporary robot control.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114101029","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177106
E. Roszkowska
Proposes a control architecture for a multiple mobile robot system, and within this framework concentrates on the robot motion coordination problem. A DES-based supervisory control is developed that formally ensures collision and deadlock avoidance between a group of robots concurrently accomplishing their missions in a common 2D space.
{"title":"Supervisory control for multiple mobile robots in 2D space","authors":"E. Roszkowska","doi":"10.1109/ROMOCO.2002.1177106","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177106","url":null,"abstract":"Proposes a control architecture for a multiple mobile robot system, and within this framework concentrates on the robot motion coordination problem. A DES-based supervisory control is developed that formally ensures collision and deadlock avoidance between a group of robots concurrently accomplishing their missions in a common 2D space.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121888379","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177113
B. Gajjar, R. Johnson
This paper uses aspects of dead reckoning for "terrain adapting" a mobile robot moving over a rocky terrain like that of Mars. Besides the use of wheel encoders, an accelerometer and a rate gyro is used to sense the motion of the rover chassis and stabilize it, along the roll axis with the terrain adapting system. The rate sensor data is fused with the wheel velocity data from the wheel encoder and the accelerometer information to control the terrain-adapting arm. A contemporary Kalman filter system is utilized to condition the input to the model based system, and a nonlinear control for the robot's terrain adaptation system has been developed to generate asymptotic stability. Finally, simulation results have been developed considering the design requirements for an actual prototype.
{"title":"Model based roll axis control of a terrain adapting Mars rover","authors":"B. Gajjar, R. Johnson","doi":"10.1109/ROMOCO.2002.1177113","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177113","url":null,"abstract":"This paper uses aspects of dead reckoning for \"terrain adapting\" a mobile robot moving over a rocky terrain like that of Mars. Besides the use of wheel encoders, an accelerometer and a rate gyro is used to sense the motion of the rover chassis and stabilize it, along the roll axis with the terrain adapting system. The rate sensor data is fused with the wheel velocity data from the wheel encoder and the accelerometer information to control the terrain-adapting arm. A contemporary Kalman filter system is utilized to condition the input to the model based system, and a nonlinear control for the robot's terrain adaptation system has been developed to generate asymptotic stability. Finally, simulation results have been developed considering the design requirements for an actual prototype.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129308383","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177076
J. Marescaux, F. Rubino
With laparoscopy, for the first time the surgeon was separated from direct contact with tissues and organs allowing the introduction of robotic and computer technologies into surgical operations, with two distinct potential advantages: 1) enhancement of precision and dexterity and 2) performance of surgical procedures from a distance, a concept known as telesurgery.
{"title":"Robotics in laparoscopic surgery","authors":"J. Marescaux, F. Rubino","doi":"10.1109/ROMOCO.2002.1177076","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177076","url":null,"abstract":"With laparoscopy, for the first time the surgeon was separated from direct contact with tissues and organs allowing the introduction of robotic and computer technologies into surgical operations, with two distinct potential advantages: 1) enhancement of precision and dexterity and 2) performance of surgical procedures from a distance, a concept known as telesurgery.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115959303","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177107
Z. Vetulani
The aim of the paper is to propose a skeleton of a decision rules system for RoboCup teams composed of autonomous virtual soccer players. Decisions concerning action selection are considered.
{"title":"Decision making for a RoboCup multi-agent system","authors":"Z. Vetulani","doi":"10.1109/ROMOCO.2002.1177107","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177107","url":null,"abstract":"The aim of the paper is to propose a skeleton of a decision rules system for RoboCup teams composed of autonomous virtual soccer players. Decisions concerning action selection are considered.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126752312","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177090
I. Harmati, B. Kiss, B. Lantos
This paper concerns motion planning on a kinematic model of a six-legged robot from two distinct aspects. The system is subjected to intermittent nonholonomic constraints making the robot model stratified, which requires additional considerations in motion planning. An improved version of stratified control is compared with an approach exploiting differential flatness of a restricted subsystem. The main motivation in both cases is to lead the robot along a reference trajectory that assists in resolving the obstacle avoidance problem.
{"title":"Two motion planning approaches for six-legged robot","authors":"I. Harmati, B. Kiss, B. Lantos","doi":"10.1109/ROMOCO.2002.1177090","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177090","url":null,"abstract":"This paper concerns motion planning on a kinematic model of a six-legged robot from two distinct aspects. The system is subjected to intermittent nonholonomic constraints making the robot model stratified, which requires additional considerations in motion planning. An improved version of stratified control is compared with an approach exploiting differential flatness of a restricted subsystem. The main motivation in both cases is to lead the robot along a reference trajectory that assists in resolving the obstacle avoidance problem.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114320921","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177099
M. Galicki
This paper considers the problem of position control of robotic manipulators in task space. Based on Lyapunov stability theory, it is shown that the control strategy proposed is asymptotically convergent to the task error whose ultimate bound can be made arbitrarily small. As opposed to most other existing approaches, our algorithm also takes into account actuator constraints when positioning the end-effector to its desired final location. Moreover, it produces continuous controls with respect to time which are very desirable in all control algorithms. Computer simulations are presented for a two degree-of-freedom direct drive robot arm which are in accordance with the theoretical analysis. They also confirm that the proposed control strategy provides a simple and effective means of obtaining high accuracy end-effector positioning.
{"title":"Robot motions in task space with control constraints","authors":"M. Galicki","doi":"10.1109/ROMOCO.2002.1177099","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177099","url":null,"abstract":"This paper considers the problem of position control of robotic manipulators in task space. Based on Lyapunov stability theory, it is shown that the control strategy proposed is asymptotically convergent to the task error whose ultimate bound can be made arbitrarily small. As opposed to most other existing approaches, our algorithm also takes into account actuator constraints when positioning the end-effector to its desired final location. Moreover, it produces continuous controls with respect to time which are very desirable in all control algorithms. Computer simulations are presented for a two degree-of-freedom direct drive robot arm which are in accordance with the theoretical analysis. They also confirm that the proposed control strategy provides a simple and effective means of obtaining high accuracy end-effector positioning.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123980615","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177135
B. Kwolek
Describes a vision based interface that enables the mobile robot to detect and follow a person through office environments. The proposed algorithm works by estimating the separate distributions of colors on a person's face and shirt. Using heuristics on vertical alignment of face and shirt color as well as bordering on each other, we are able to extract the person reliably and to guide the robot to desirable places. A fast and adaptive scheme of color processing has been tested in changing lighting conditions and using very long image sequences. The elaborated algorithm utilizes a linear Kalman filter to perform smooth tracking. The algorithms we have developed have been implemented and tested on a mobile robot equipped with an active camera. The developed system is able to track a person at approximately 10 frames per second.
{"title":"Color vision based person following with a mobile robot","authors":"B. Kwolek","doi":"10.1109/ROMOCO.2002.1177135","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177135","url":null,"abstract":"Describes a vision based interface that enables the mobile robot to detect and follow a person through office environments. The proposed algorithm works by estimating the separate distributions of colors on a person's face and shirt. Using heuristics on vertical alignment of face and shirt color as well as bordering on each other, we are able to extract the person reliably and to guide the robot to desirable places. A fast and adaptive scheme of color processing has been tested in changing lighting conditions and using very long image sequences. The elaborated algorithm utilizes a linear Kalman filter to perform smooth tracking. The algorithms we have developed have been implemented and tested on a mobile robot equipped with an active camera. The developed system is able to track a person at approximately 10 frames per second.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116842749","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 : 2002-11-09DOI: 10.1109/ROMOCO.2002.1177085
P. Dutkiewicz, M. Michałek
In the paper a new concept of impedance control for a simple 1D dynamical system has been presented. The new approach lies in treating a task of reaching a contact plane and generating desired force on environment as one control problem that can be realized by one coherent control equation. In this approach switching between pure position and pure force control is not required like in classical hybrid law and at the movement stage the new approach gives better performance. Proposed algorithm makes up the generalization of a pure force control. Efficiency of introduced control law has been illustrated by simulation results. Some practical remarks concerning controller synthesis, utilizing the new algorithm and predictable future research have been included.
{"title":"Impedance control with virtual compliance","authors":"P. Dutkiewicz, M. Michałek","doi":"10.1109/ROMOCO.2002.1177085","DOIUrl":"https://doi.org/10.1109/ROMOCO.2002.1177085","url":null,"abstract":"In the paper a new concept of impedance control for a simple 1D dynamical system has been presented. The new approach lies in treating a task of reaching a contact plane and generating desired force on environment as one control problem that can be realized by one coherent control equation. In this approach switching between pure position and pure force control is not required like in classical hybrid law and at the movement stage the new approach gives better performance. Proposed algorithm makes up the generalization of a pure force control. Efficiency of introduced control law has been illustrated by simulation results. Some practical remarks concerning controller synthesis, utilizing the new algorithm and predictable future research have been included.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"152 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116908612","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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