Pub Date : 2006-06-26DOI: 10.1109/ROBOT.2006.1641917
Feili Hou, Wei-Min Shen
In this paper, we present a general mathematical foundation of hormone-inspired control for the self-reconfigurable robotic system. Problem considered here is the lack of a mathematical description to analyze and explain the dynamic behavior of self-reconfigurable robots. In the global level, the idea of virtual disconnection is developed to abstract the low level module control away from the high level synchronization for both cyclic and acyclic robot configuration. In the module layer, the linear space model is developed to describe each module's internal state, input-output hormone transformation, and its action selection. As a combination of hormone and modern control theory, the approach in this paper gives more features, such as predictability and stability analysis etc, to hormone-inspired control, and makes it applicable to self-reconfigurable systems in general. Simulation and experimental results show the capacity of our method
{"title":"Mathematical foundation for hormone-inspired control for self-reconfigurable robotic systems","authors":"Feili Hou, Wei-Min Shen","doi":"10.1109/ROBOT.2006.1641917","DOIUrl":"https://doi.org/10.1109/ROBOT.2006.1641917","url":null,"abstract":"In this paper, we present a general mathematical foundation of hormone-inspired control for the self-reconfigurable robotic system. Problem considered here is the lack of a mathematical description to analyze and explain the dynamic behavior of self-reconfigurable robots. In the global level, the idea of virtual disconnection is developed to abstract the low level module control away from the high level synchronization for both cyclic and acyclic robot configuration. In the module layer, the linear space model is developed to describe each module's internal state, input-output hormone transformation, and its action selection. As a combination of hormone and modern control theory, the approach in this paper gives more features, such as predictability and stability analysis etc, to hormone-inspired control, and makes it applicable to self-reconfigurable systems in general. Simulation and experimental results show the capacity of our method","PeriodicalId":318305,"journal":{"name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126349140","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 : 2006-06-26DOI: 10.1109/ROBOT.2006.1642266
R. Chalodhorn, David B. Grimes, Gabriel Y. Maganis, Rajesh P. N. Rao, M. Asada
Optimization of robot dynamics for a given human motion is an intuitive way to approach the problem of learning complex human behavior by imitation. In this paper, we propose a methodology based on a learning approach that performs optimization of humanoid dynamics in a low-dimensional subspace. We compactly represent the kinematic information of humanoid motion in a low dimensional subspace. Motor commands in the low dimensional subspace are mapped to the expected sensory feedback. We select optimal motor commands based on sensory-motor mapping that also satisfy our kinematic constraints. Finally, we obtain a set of novel postures that result in superior motion dynamics compared to the initial motion. We demonstrate results of the optimized motion on both a dynamics simulator and a real humanoid robot
{"title":"Learning humanoid motion dynamics through sensory-motor mapping in reduced dimensional spaces","authors":"R. Chalodhorn, David B. Grimes, Gabriel Y. Maganis, Rajesh P. N. Rao, M. Asada","doi":"10.1109/ROBOT.2006.1642266","DOIUrl":"https://doi.org/10.1109/ROBOT.2006.1642266","url":null,"abstract":"Optimization of robot dynamics for a given human motion is an intuitive way to approach the problem of learning complex human behavior by imitation. In this paper, we propose a methodology based on a learning approach that performs optimization of humanoid dynamics in a low-dimensional subspace. We compactly represent the kinematic information of humanoid motion in a low dimensional subspace. Motor commands in the low dimensional subspace are mapped to the expected sensory feedback. We select optimal motor commands based on sensory-motor mapping that also satisfy our kinematic constraints. Finally, we obtain a set of novel postures that result in superior motion dynamics compared to the initial motion. We demonstrate results of the optimized motion on both a dynamics simulator and a real humanoid robot","PeriodicalId":318305,"journal":{"name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130181773","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 : 2006-05-15DOI: 10.1109/ROBOT.2006.1641742
J. Cheong, Seungjin Lee, J. Kim
This paper proposes a motion duplication control scheme, which not only synchronizes motions between two distributed separate dynamic systems but also perfectly preserves prescribed dynamics. The proposed scheme sophisticatedly utilizes two-way Smith predictor to meet the simultaneous purposes. Closed loop behavior is mathematically investigated, and stability via natural damping and robustness are analyzed over the system, by examining the characteristic equation with delay components. Ways to compute robust stability margins are presented under the uncertainties in plant dynamics and amount of delay. Numerical simulations are presented to verify the theoretical results proposed in this paper
{"title":"Motion duplication control for distributed dynamic systems by natural damping","authors":"J. Cheong, Seungjin Lee, J. Kim","doi":"10.1109/ROBOT.2006.1641742","DOIUrl":"https://doi.org/10.1109/ROBOT.2006.1641742","url":null,"abstract":"This paper proposes a motion duplication control scheme, which not only synchronizes motions between two distributed separate dynamic systems but also perfectly preserves prescribed dynamics. The proposed scheme sophisticatedly utilizes two-way Smith predictor to meet the simultaneous purposes. Closed loop behavior is mathematically investigated, and stability via natural damping and robustness are analyzed over the system, by examining the characteristic equation with delay components. Ways to compute robust stability margins are presented under the uncertainties in plant dynamics and amount of delay. Numerical simulations are presented to verify the theoretical results proposed in this paper","PeriodicalId":318305,"journal":{"name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114673086","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 : 2006-05-15DOI: 10.1109/ROBOT.2006.1642066
Dimos V. Dimarogonas, K. Kyriakopoulos, Dimitris Theodorakatos
A distributed feedback control architecture that guarantees collision avoidance and destination convergence for multiple sphere world holonomic agents is presented. The well established tool of decentralized navigation functions is redefined to cope with the communication restrictions of the system. Each agent plans its actions without knowing the destinations of the others and the positions of those agents lying outside its sensing neighborhood. The stability properties of the closed loop system are checked via Lyapunov stability techniques for hybrid systems. The collision avoidance and goal convergence properties are verified through simulations. The key advantage of the proposed algorithm with respect to the previous ones is the significant decrease of computational load and its applicability to large scale groups
{"title":"Totally distributed motion control of sphere world multi-agent systems using decentralized navigation functions","authors":"Dimos V. Dimarogonas, K. Kyriakopoulos, Dimitris Theodorakatos","doi":"10.1109/ROBOT.2006.1642066","DOIUrl":"https://doi.org/10.1109/ROBOT.2006.1642066","url":null,"abstract":"A distributed feedback control architecture that guarantees collision avoidance and destination convergence for multiple sphere world holonomic agents is presented. The well established tool of decentralized navigation functions is redefined to cope with the communication restrictions of the system. Each agent plans its actions without knowing the destinations of the others and the positions of those agents lying outside its sensing neighborhood. The stability properties of the closed loop system are checked via Lyapunov stability techniques for hybrid systems. The collision avoidance and goal convergence properties are verified through simulations. The key advantage of the proposed algorithm with respect to the previous ones is the significant decrease of computational load and its applicability to large scale groups","PeriodicalId":318305,"journal":{"name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","volume":"30 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116906695","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 : 2006-05-15DOI: 10.1109/ROBOT.2006.1642246
Juan Manuel Sáez, A. Hogue, Francisco Escolano, M. Jenkin
The aquatic realm is ideal for testing autonomous robotic technology. The challenges presented in this environment are numerous due to the highly dynamic nature of the medium. Applications for underwater robotics include the autonomous inspection of coral reef, ships, pipelines, and other environmental assessment programs. In this paper we present current results in using 6DOF entropy minimization SLAM (simultaneous localization and mapping) for creating dense 3D visual maps of underwater environments that are suitable for such applications. The proposed SLAM algorithm exploits dense information coming from a stereo system, and performs robust egomotion estimation and global-rectification following an optimization approach
{"title":"Underwater 3D SLAM through entropy minimization","authors":"Juan Manuel Sáez, A. Hogue, Francisco Escolano, M. Jenkin","doi":"10.1109/ROBOT.2006.1642246","DOIUrl":"https://doi.org/10.1109/ROBOT.2006.1642246","url":null,"abstract":"The aquatic realm is ideal for testing autonomous robotic technology. The challenges presented in this environment are numerous due to the highly dynamic nature of the medium. Applications for underwater robotics include the autonomous inspection of coral reef, ships, pipelines, and other environmental assessment programs. In this paper we present current results in using 6DOF entropy minimization SLAM (simultaneous localization and mapping) for creating dense 3D visual maps of underwater environments that are suitable for such applications. The proposed SLAM algorithm exploits dense information coming from a stereo system, and performs robust egomotion estimation and global-rectification following an optimization approach","PeriodicalId":318305,"journal":{"name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","volume":"72 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120808214","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 : 2006-05-15DOI: 10.1109/ROBOT.2006.1642198
Keehoon Kim, W. Chung, I. Suh
This paper proposes restriction space projection (RSP) method to generate accurate direction of force reflection when a bilateral teleoperation system (BTS) is kinematically dissimilar. Through examples, it is shown that the previous force reflection methods are not applicable to the kinematically dissimilar BTSs. Two kinds of RSP methods using a novel concept, instantaneous restriction space (IRS), are implemented for impedance and admittance type of BTSs. Especially, new developed obstacle avoidance algorithm using the redundancy of the slave manipulator makes the RSP method applicable to all kinds of kinematically dissimilar BTSs. Experiments verify that the RSP method is powerful to describe the restriction space at the slave side without force sensors
{"title":"Accurate force reflection for kinematically dissimilar bilateral teleoperation systems using instantaneous restriction space","authors":"Keehoon Kim, W. Chung, I. Suh","doi":"10.1109/ROBOT.2006.1642198","DOIUrl":"https://doi.org/10.1109/ROBOT.2006.1642198","url":null,"abstract":"This paper proposes restriction space projection (RSP) method to generate accurate direction of force reflection when a bilateral teleoperation system (BTS) is kinematically dissimilar. Through examples, it is shown that the previous force reflection methods are not applicable to the kinematically dissimilar BTSs. Two kinds of RSP methods using a novel concept, instantaneous restriction space (IRS), are implemented for impedance and admittance type of BTSs. Especially, new developed obstacle avoidance algorithm using the redundancy of the slave manipulator makes the RSP method applicable to all kinds of kinematically dissimilar BTSs. Experiments verify that the RSP method is powerful to describe the restriction space at the slave side without force sensors","PeriodicalId":318305,"journal":{"name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127117900","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 : 2006-05-15DOI: 10.1109/ROBOT.2006.1642271
J. Toibero, R. Carelli, B. Kuchen
In this paper a switching controller for mobile robots is presented that allows the contour-following of objects the size of which is at least comparable to that of the robot. The controller uses the information from distance sensors and is based on a wall-following controller described in the paper. The stability of the overall switching system is proved by using a common Lyapunov function. Experimental results in a Pioneer III unicycle-like mobile robot are provided to show the feasibility of the proposed control strategy
{"title":"Stable switching contour-following controller for wheeled mobile robots","authors":"J. Toibero, R. Carelli, B. Kuchen","doi":"10.1109/ROBOT.2006.1642271","DOIUrl":"https://doi.org/10.1109/ROBOT.2006.1642271","url":null,"abstract":"In this paper a switching controller for mobile robots is presented that allows the contour-following of objects the size of which is at least comparable to that of the robot. The controller uses the information from distance sensors and is based on a wall-following controller described in the paper. The stability of the overall switching system is proved by using a common Lyapunov function. Experimental results in a Pioneer III unicycle-like mobile robot are provided to show the feasibility of the proposed control strategy","PeriodicalId":318305,"journal":{"name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127153196","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 : 2006-05-15DOI: 10.1109/ROBOT.2006.1642205
Dongjun Lee, Oscar Martinez-Palafox, M. Spong
We consider bilateral teleoperation of a wheeled mobile robot over communication channels with constant delays. Our main objective is to enable humans to control the mobile robot much as they drive a car: i.e. by operating a master haptic joystick, they can control the linear velocity and heading angle of the mobile robot, much like they do so with the gas pedal and steering wheel. Passivity of the closed-loop system is also enforced so that, even with communication delays, humans can stably and safely teleoperate the wheeled mobile robot with force-reflection. A semi-experiment (i.e. real master/simulated slave) is performed to validate the proposed framework
{"title":"Bilateral teleoperation of a wheeled mobile robot over delayed communication network","authors":"Dongjun Lee, Oscar Martinez-Palafox, M. Spong","doi":"10.1109/ROBOT.2006.1642205","DOIUrl":"https://doi.org/10.1109/ROBOT.2006.1642205","url":null,"abstract":"We consider bilateral teleoperation of a wheeled mobile robot over communication channels with constant delays. Our main objective is to enable humans to control the mobile robot much as they drive a car: i.e. by operating a master haptic joystick, they can control the linear velocity and heading angle of the mobile robot, much like they do so with the gas pedal and steering wheel. Passivity of the closed-loop system is also enforced so that, even with communication delays, humans can stably and safely teleoperate the wheeled mobile robot with force-reflection. A semi-experiment (i.e. real master/simulated slave) is performed to validate the proposed framework","PeriodicalId":318305,"journal":{"name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125140406","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 : 2006-05-15DOI: 10.1109/ROBOT.2006.1641733
Christof Eberst, Helmut Nöhmayer, Gerald Umgeher, M. Takagi
Rapid programming of applications with down-times near zero is a key to automation of small lotsize production. This paper proposes an approach to program by gestures. It combines the visual observation and interpretation of human activities and gestures, mapping to technical tasks and autonomous execution. Automated planning/generation of the robot motion combined with automated correction of pose deviations (induced from the visual observation) allows an execution which is independent of the observation accuracy. The industrial application: bores and internal threads play a critical role as integral parts of connections, bearings, engines, hydraulic and pneumatic systems. The increased industrial requirement for high quality components demands 100% surface inspection of bores (here with diameters from 4 to 50 mm) at small lotsizes. Since state-of-the-art automation is limited to high volumes, the main target is to develop a semi-autonomous system for rapid and flexible inspection featuring new programming. The main focus is on rapid and intuitive programming of robotic systems. The paper describes the implementation and techniques in case of a bore inspection system
{"title":"Towards programming robots by gestures, test-case: programming bore inspection for small lotsizes","authors":"Christof Eberst, Helmut Nöhmayer, Gerald Umgeher, M. Takagi","doi":"10.1109/ROBOT.2006.1641733","DOIUrl":"https://doi.org/10.1109/ROBOT.2006.1641733","url":null,"abstract":"Rapid programming of applications with down-times near zero is a key to automation of small lotsize production. This paper proposes an approach to program by gestures. It combines the visual observation and interpretation of human activities and gestures, mapping to technical tasks and autonomous execution. Automated planning/generation of the robot motion combined with automated correction of pose deviations (induced from the visual observation) allows an execution which is independent of the observation accuracy. The industrial application: bores and internal threads play a critical role as integral parts of connections, bearings, engines, hydraulic and pneumatic systems. The increased industrial requirement for high quality components demands 100% surface inspection of bores (here with diameters from 4 to 50 mm) at small lotsizes. Since state-of-the-art automation is limited to high volumes, the main target is to develop a semi-autonomous system for rapid and flexible inspection featuring new programming. The main focus is on rapid and intuitive programming of robotic systems. The paper describes the implementation and techniques in case of a bore inspection system","PeriodicalId":318305,"journal":{"name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125191094","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 : 2006-05-15DOI: 10.1109/ROBOT.2006.1642004
Sukhan Lee, Jongmoo Choi, Seungsub Oh, Jaehyuk Ryu, Jungrae Park
We present a real-time 3D camera based on IR (infrared) structured light suitable for robots working in home environment. First, we implemented a HOC (hierarchical orthogonal coding) based FPGA board. The HOC gives robust depth images because the signal separation coding provides not only the separation of overlapped codes, but also a robust decision on pixel correspondence with error correction. The FPGA module can handle high computational cost of HOC based signal separation coding. Second, we implemented a compact optic system of the camera to project and receive IR structured light. The invisible IR pattern light provides users inconvenient in the home environment. Various objects and workspaces which has continuous and/or non-continuous surface are tested and, sensitivity to illumination change and processing time are analyzed. The experiment results show the robust performance for surface smoothness, color, and materials of objects used in home environment. The proposed approach opens a greater feasibility of applying structured light based depth imaging to a 3D modeling of cluttered workspace for home service robots
{"title":"A real-time 3D IR camera based on hierarchical orthogonal coding","authors":"Sukhan Lee, Jongmoo Choi, Seungsub Oh, Jaehyuk Ryu, Jungrae Park","doi":"10.1109/ROBOT.2006.1642004","DOIUrl":"https://doi.org/10.1109/ROBOT.2006.1642004","url":null,"abstract":"We present a real-time 3D camera based on IR (infrared) structured light suitable for robots working in home environment. First, we implemented a HOC (hierarchical orthogonal coding) based FPGA board. The HOC gives robust depth images because the signal separation coding provides not only the separation of overlapped codes, but also a robust decision on pixel correspondence with error correction. The FPGA module can handle high computational cost of HOC based signal separation coding. Second, we implemented a compact optic system of the camera to project and receive IR structured light. The invisible IR pattern light provides users inconvenient in the home environment. Various objects and workspaces which has continuous and/or non-continuous surface are tested and, sensitivity to illumination change and processing time are analyzed. The experiment results show the robust performance for surface smoothness, color, and materials of objects used in home environment. The proposed approach opens a greater feasibility of applying structured light based depth imaging to a 3D modeling of cluttered workspace for home service robots","PeriodicalId":318305,"journal":{"name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126114328","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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