Pub Date : 2013-05-06DOI: 10.1109/ICRA.2013.6631379
G. Ferri, V. Djapic
This paper addresses the problem of developing an autonomous cooperative multi-vehicle system composed of one simple low-cost unmanned underwater vehicle (UUV) guided by a more capable, sensor-equipped, surface or underwater vehicle. Specifically, in this work we consider a system composed of an autonomous surface vehicle (ASV) able to localize a small-sized UUV via a multibeam sonar and, then, to guide it via an acoustic link to reach a target. The UUV is equipped with low-cost navigation sensors (a compass and a depth sensor), and to estimate its own position relies on the data received by the ASV (range and bearing from the ASV and ASV position). This paradigm was applied in the domain of mine countermeasures (MCM) to realize the NATO CMRE Autonomous Mine Neutralization System. In this system the low-cost feature of the UUV is of the most importance since the UUV is supposed to be expendable. In this approach, however, there may be cases in which the underwater vehicle cannot be detected by the sonar for extended time periods causing drifts in the UUV position estimate, potentially compromising the mission. This paper presents a set of behaviors to address this situation. The behaviors coordinate ASV circular search patterns together with sending to the UUV purposely generated navigation updates. The aim is to limit the distance between the two vehicles, increasing the probability of sonar reacquisition, and at the same time ensuring that the UUV progresses toward the target. Results from sea trials held in Elba island (Italy) during ANT12 experiments (in June 2012) are reported, and demonstrate the approach is effective and can push our system toward full autonomy.
{"title":"Adaptive mission planning for cooperative autonomous maritime vehicles","authors":"G. Ferri, V. Djapic","doi":"10.1109/ICRA.2013.6631379","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631379","url":null,"abstract":"This paper addresses the problem of developing an autonomous cooperative multi-vehicle system composed of one simple low-cost unmanned underwater vehicle (UUV) guided by a more capable, sensor-equipped, surface or underwater vehicle. Specifically, in this work we consider a system composed of an autonomous surface vehicle (ASV) able to localize a small-sized UUV via a multibeam sonar and, then, to guide it via an acoustic link to reach a target. The UUV is equipped with low-cost navigation sensors (a compass and a depth sensor), and to estimate its own position relies on the data received by the ASV (range and bearing from the ASV and ASV position). This paradigm was applied in the domain of mine countermeasures (MCM) to realize the NATO CMRE Autonomous Mine Neutralization System. In this system the low-cost feature of the UUV is of the most importance since the UUV is supposed to be expendable. In this approach, however, there may be cases in which the underwater vehicle cannot be detected by the sonar for extended time periods causing drifts in the UUV position estimate, potentially compromising the mission. This paper presents a set of behaviors to address this situation. The behaviors coordinate ASV circular search patterns together with sending to the UUV purposely generated navigation updates. The aim is to limit the distance between the two vehicles, increasing the probability of sonar reacquisition, and at the same time ensuring that the UUV progresses toward the target. Results from sea trials held in Elba island (Italy) during ANT12 experiments (in June 2012) are reported, and demonstrate the approach is effective and can push our system toward full autonomy.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"1 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130263351","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6631222
Moritz Tenorth, F. D. L. Torre, M. Beetz
We propose a method to learn the partially-ordered structure inherent in human everyday activities from observations by exploiting variability in the data. Using statistical relational learning, the system extracts a full-joint probability distribution over the actions that form a task, their (partial) ordering, and their properties. Relevant action properties and relations among actions are learned as those that are consistent among the observations. The models can be used for classifying action sequences, for determining which actions are relevant for a task, which objects are usually manipulated, and which action properties are typical for a person. We evaluate the approach on synthetic data sampled from partial-order trees as well as two real-world data sets of humans activities: the TUM kitchen data set and the CMU MMAC data set. The results show that our approach outperforms sequence-based models like Conditional Random Fields for classifying observations of activities that allow a large amount of variation.
{"title":"Learning probability distributions over partially-ordered human everyday activities","authors":"Moritz Tenorth, F. D. L. Torre, M. Beetz","doi":"10.1109/ICRA.2013.6631222","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631222","url":null,"abstract":"We propose a method to learn the partially-ordered structure inherent in human everyday activities from observations by exploiting variability in the data. Using statistical relational learning, the system extracts a full-joint probability distribution over the actions that form a task, their (partial) ordering, and their properties. Relevant action properties and relations among actions are learned as those that are consistent among the observations. The models can be used for classifying action sequences, for determining which actions are relevant for a task, which objects are usually manipulated, and which action properties are typical for a person. We evaluate the approach on synthetic data sampled from partial-order trees as well as two real-world data sets of humans activities: the TUM kitchen data set and the CMU MMAC data set. The results show that our approach outperforms sequence-based models like Conditional Random Fields for classifying observations of activities that allow a large amount of variation.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134084898","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6631184
Ju-Hsuan Hua, Shaopeng Ma, L. Fu
In this paper, we develop a human awareness Decision Network model for robot performance on decision making. To accomplish more natural and intelligent human robot interaction (HRI), a robot should not only be able to infer the user's intention through recognizing the actions, but also to perform appropriate decisions and to learn from the user's feedback. In traditional approaches, user intention inference and feedback learning are dealt with separately. In this paper, we propose an integrated strategy of human-oriented perception, user modeling and user sensitivity in a social environment. The robot can analyze a user's feedback to adjust its decisions as the user expects through the strategy. The experimental results show the effectiveness of the proposed approach that enables autonomous adaptation of robot's decision to the user desires. Also, we demonstrate a satisfactory performance in terms of successful inference of human intentions, as well as adequacy of the decisions made by the robot for meeting user expectation.
{"title":"Human awareness based robot performance learning in a social environment","authors":"Ju-Hsuan Hua, Shaopeng Ma, L. Fu","doi":"10.1109/ICRA.2013.6631184","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631184","url":null,"abstract":"In this paper, we develop a human awareness Decision Network model for robot performance on decision making. To accomplish more natural and intelligent human robot interaction (HRI), a robot should not only be able to infer the user's intention through recognizing the actions, but also to perform appropriate decisions and to learn from the user's feedback. In traditional approaches, user intention inference and feedback learning are dealt with separately. In this paper, we propose an integrated strategy of human-oriented perception, user modeling and user sensitivity in a social environment. The robot can analyze a user's feedback to adjust its decisions as the user expects through the strategy. The experimental results show the effectiveness of the proposed approach that enables autonomous adaptation of robot's decision to the user desires. Also, we demonstrate a satisfactory performance in terms of successful inference of human intentions, as well as adequacy of the decisions made by the robot for meeting user expectation.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"265 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133928218","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6631259
F. Mathis, R. Mukherjee
The spring loaded inverted pendulum (SLIP) model is commonly used to describe the dynamics of hopping robots. Based on this model, the control of hopping robots has been widely investigated. A fundamental limitation of the model is that it fails to account for impact with the ground, and this is due to its single degree-of-freedom in the vertical direction. A more accurate representation of the hopping robot is proposed using a two mass model and inelastic impact with the ground. A control scheme is developed to converge the maximum jumping height of the robot to a desired value. The control scheme utilizes feedback linearization in continuous time and updates a control parameter in discrete time to achieve the control objective. Simulation results are presented to show the efficacy of the control scheme.
{"title":"Apex height control of a two-mass hopping robot","authors":"F. Mathis, R. Mukherjee","doi":"10.1109/ICRA.2013.6631259","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631259","url":null,"abstract":"The spring loaded inverted pendulum (SLIP) model is commonly used to describe the dynamics of hopping robots. Based on this model, the control of hopping robots has been widely investigated. A fundamental limitation of the model is that it fails to account for impact with the ground, and this is due to its single degree-of-freedom in the vertical direction. A more accurate representation of the hopping robot is proposed using a two mass model and inelastic impact with the ground. A control scheme is developed to converge the maximum jumping height of the robot to a desired value. The control scheme utilizes feedback linearization in continuous time and updates a control parameter in discrete time to achieve the control objective. Simulation results are presented to show the efficacy of the control scheme.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131650416","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6631399
Maxime Meilland, Andrew I. Comport
This paper proposes a new visual SLAM technique that not only integrates 6 degrees of freedom (DOF) pose and dense structure but also simultaneously integrates the colour information contained in the images over time. This involves developing an inverse model for creating a super-resolution map from many low resolution images. Contrary to classic super-resolution techniques, this is achieved here by taking into account full 3D translation and rotation within a dense localisation and mapping framework. This not only allows to take into account the full range of image deformations but also allows to propose a novel criteria for combining the low resolution images together based on the difference in resolution between different images in 6D space. Another originality of the proposed approach with respect to the current state of the art lies in the minimisation of both colour (RGB) and depth (D) errors, whilst competing approaches only minimise geometry. Several results are given showing that this technique runs in real-time (30Hz) and is able to map large scale environments in high-resolution whilst simultaneously improving the accuracy and robustness of the tracking.
{"title":"Super-resolution 3D tracking and mapping","authors":"Maxime Meilland, Andrew I. Comport","doi":"10.1109/ICRA.2013.6631399","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631399","url":null,"abstract":"This paper proposes a new visual SLAM technique that not only integrates 6 degrees of freedom (DOF) pose and dense structure but also simultaneously integrates the colour information contained in the images over time. This involves developing an inverse model for creating a super-resolution map from many low resolution images. Contrary to classic super-resolution techniques, this is achieved here by taking into account full 3D translation and rotation within a dense localisation and mapping framework. This not only allows to take into account the full range of image deformations but also allows to propose a novel criteria for combining the low resolution images together based on the difference in resolution between different images in 6D space. Another originality of the proposed approach with respect to the current state of the art lies in the minimisation of both colour (RGB) and depth (D) errors, whilst competing approaches only minimise geometry. Several results are given showing that this technique runs in real-time (30Hz) and is able to map large scale environments in high-resolution whilst simultaneously improving the accuracy and robustness of the tracking.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129376566","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6631132
D. Wilson, T. Soto, Ali Göktogan, S. Sukkarieh
Fixed-wing Unmanned Aerial Vehicle (UAV) rendezvous is necessary for reduced fuel consumption during leader-follower formation flight. We propose a heuristic direct search algorithm that plans a time-optimal path for a follower UAV to rendezvous with a leader whose future path is known and unchanging. The kinematic constraints of the UAV are considered and discontinuities inherent to the minimum-length paths are dealt with. Experiments using quadrotors to emulate fixed-wings, demonstrate the algorithm planning and replanning optimal paths to rendezvous in real-time.
{"title":"Real-time rendezvous point selection for a nonholonomic vehicle","authors":"D. Wilson, T. Soto, Ali Göktogan, S. Sukkarieh","doi":"10.1109/ICRA.2013.6631132","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631132","url":null,"abstract":"Fixed-wing Unmanned Aerial Vehicle (UAV) rendezvous is necessary for reduced fuel consumption during leader-follower formation flight. We propose a heuristic direct search algorithm that plans a time-optimal path for a follower UAV to rendezvous with a leader whose future path is known and unchanging. The kinematic constraints of the UAV are considered and discontinuities inherent to the minimum-length paths are dealt with. Experiments using quadrotors to emulate fixed-wings, demonstrate the algorithm planning and replanning optimal paths to rendezvous in real-time.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128936338","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6631370
I. Khalil, F. Brink, O. Sardan, S. Misra
We use a cluster of paramagnetic microparticles to carry out a wireless two-dimensional microassembly operation. A magnetic-based manipulation system is used to control the motion of the cluster under the influence of the applied magnetic fields. Wireless motion control of the cluster is implemented at an average velocity and maximum position tracking error of 144 μm/s and 50 μm, respectively. This control is used to achieve point-to-point positioning of the cluster, manipulation of microobjects, and assembly of microobjects into a microstructure. The control system achieves stable positioning of the cluster, while simultaneously compensating for the planar drag forces on the cluster and the microobject. The presented magnetic-based microassembly technique allows for the selective pushing and pulling of microobjects with specific geometries towards their destinations inside a microstructure in an execution time of 18 s, within a workspace of 1.8 mm × 2.4 mm.
我们使用一组顺磁微粒来进行无线二维微组装操作。在外加磁场的作用下，采用基于磁的操纵系统控制团簇的运动。集群无线运动控制的平均速度和最大位置跟踪误差分别为144 μm/s和50 μm。这种控制被用来实现集群的点对点定位，微物体的操纵，以及将微物体组装成微观结构。控制系统实现了集群的稳定定位，同时补偿了集群和微目标的平面阻力。所提出的基于磁性的微组装技术允许在1.8 mm × 2.4 mm的工作空间内，在18 s的执行时间内，将具有特定几何形状的微物体选择性地推向其微观结构内的目的地。
{"title":"Microassembly using a cluster of paramagnetic microparticles","authors":"I. Khalil, F. Brink, O. Sardan, S. Misra","doi":"10.1109/ICRA.2013.6631370","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631370","url":null,"abstract":"We use a cluster of paramagnetic microparticles to carry out a wireless two-dimensional microassembly operation. A magnetic-based manipulation system is used to control the motion of the cluster under the influence of the applied magnetic fields. Wireless motion control of the cluster is implemented at an average velocity and maximum position tracking error of 144 μm/s and 50 μm, respectively. This control is used to achieve point-to-point positioning of the cluster, manipulation of microobjects, and assembly of microobjects into a microstructure. The control system achieves stable positioning of the cluster, while simultaneously compensating for the planar drag forces on the cluster and the microobject. The presented magnetic-based microassembly technique allows for the selective pushing and pulling of microobjects with specific geometries towards their destinations inside a microstructure in an execution time of 18 s, within a workspace of 1.8 mm × 2.4 mm.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"288 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132807098","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6631347
N. Nelson, Jessica Delacenserie, J. Abbott
Previous work in the open-loop behavior of magnetically driven screws in soft tissue has focused on the impact of magnetic field rotation speed and pitch angle, measured between the field's rotation axis and the screw's principle axis, on the average magnetic torque, both in-plane and out-of-plane. However, prior work did not rigorously consider the role of screw geometry and tissue material properties on the resulting trajectory. This study seeks to develop a plausible empirical model from experimental measurements in an agar gel tissue phantom for use in further research and feasibility studies of magnetic screws for in vivo applications. Non-dimensional parameters representing rotation speed, pitch angle, screw size, magnetic strength, and tissue stiffness are varied orthogonally. Circular trajectories are fitted to the resulting recorded trajectories. Using physical insight and observation of the trends of the non-dimensional turning radius/curvature, simple models for each parameter group are proposed. A final empirical model is then proposed to unify the individual models.
{"title":"An empirical study of the role of magnetic, geometric, and tissue properties on the turning radius of magnetically driven screws","authors":"N. Nelson, Jessica Delacenserie, J. Abbott","doi":"10.1109/ICRA.2013.6631347","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631347","url":null,"abstract":"Previous work in the open-loop behavior of magnetically driven screws in soft tissue has focused on the impact of magnetic field rotation speed and pitch angle, measured between the field's rotation axis and the screw's principle axis, on the average magnetic torque, both in-plane and out-of-plane. However, prior work did not rigorously consider the role of screw geometry and tissue material properties on the resulting trajectory. This study seeks to develop a plausible empirical model from experimental measurements in an agar gel tissue phantom for use in further research and feasibility studies of magnetic screws for in vivo applications. Non-dimensional parameters representing rotation speed, pitch angle, screw size, magnetic strength, and tissue stiffness are varied orthogonally. Circular trajectories are fitted to the resulting recorded trajectories. Using physical insight and observation of the trends of the non-dimensional turning radius/curvature, simple models for each parameter group are proposed. A final empirical model is then proposed to unify the individual models.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130759797","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6630573
P. Neto, D. Pereira, J. Norberto Pires, A. Moreira
New and more natural human-robot interfaces are of crucial interest to the evolution of robotics. This paper addresses continuous and real-time hand gesture spotting, i.e., gesture segmentation plus gesture recognition. Gesture patterns are recognized by using artificial neural networks (ANNs) specifically adapted to the process of controlling an industrial robot. Since in continuous gesture recognition the communicative gestures appear intermittently with the non-communicative, we are proposing a new architecture with two ANNs in series to recognize both kinds of gesture. A data glove is used as interface technology. Experimental results demonstrated that the proposed solution presents high recognition rates (over 99% for a library of ten gestures and over 96% for a library of thirty gestures), low training and learning time and a good capacity to generalize from particular situations.
{"title":"Real-time and continuous hand gesture spotting: An approach based on artificial neural networks","authors":"P. Neto, D. Pereira, J. Norberto Pires, A. Moreira","doi":"10.1109/ICRA.2013.6630573","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630573","url":null,"abstract":"New and more natural human-robot interfaces are of crucial interest to the evolution of robotics. This paper addresses continuous and real-time hand gesture spotting, i.e., gesture segmentation plus gesture recognition. Gesture patterns are recognized by using artificial neural networks (ANNs) specifically adapted to the process of controlling an industrial robot. Since in continuous gesture recognition the communicative gestures appear intermittently with the non-communicative, we are proposing a new architecture with two ANNs in series to recognize both kinds of gesture. A data glove is used as interface technology. Experimental results demonstrated that the proposed solution presents high recognition rates (over 99% for a library of ten gestures and over 96% for a library of thirty gestures), low training and learning time and a good capacity to generalize from particular situations.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130885126","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6630914
Riccardo Incaini, L. Sestini, M. Garabini, M. Catalano, G. Grioli, A. Bicchi
A properly designed elastic actuation can increase the jumping height that a legged robot can reach. In this paper we compare the two most popular conceptual soft actuator designs, parallel elastic (PEA) and series elastic (SEA), in the task of maximizing the jumping height. Such task is translated into an optimal control problem. For a simplified version of the problem an analytical solution is provided, while a problem with more realistic constraints (e.g. the linear torque-speed motor characteristic is taken into account) is stated as a convex optimization problem and numerically solved. The results show that: (i) given the power of the motor there exists an optimal constant stiffness that maximizes the performance for both the SEA and the PEA; (ii) the optimal stiffness depends on the task terminal time, the inertial parameters of the system and the reduction ratio of the motor; (iii) in the condition considered the SEA behaves better than the PEA.
{"title":"Optimal control and design guidelines for soft jumping robots: Series elastic actuation and parallel elastic actuation in comparison","authors":"Riccardo Incaini, L. Sestini, M. Garabini, M. Catalano, G. Grioli, A. Bicchi","doi":"10.1109/ICRA.2013.6630914","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630914","url":null,"abstract":"A properly designed elastic actuation can increase the jumping height that a legged robot can reach. In this paper we compare the two most popular conceptual soft actuator designs, parallel elastic (PEA) and series elastic (SEA), in the task of maximizing the jumping height. Such task is translated into an optimal control problem. For a simplified version of the problem an analytical solution is provided, while a problem with more realistic constraints (e.g. the linear torque-speed motor characteristic is taken into account) is stated as a convex optimization problem and numerically solved. The results show that: (i) given the power of the motor there exists an optimal constant stiffness that maximizes the performance for both the SEA and the PEA; (ii) the optimal stiffness depends on the task terminal time, the inertial parameters of the system and the reduction ratio of the motor; (iii) in the condition considered the SEA behaves better than the PEA.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133441009","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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