Pub Date : 2015-07-27DOI: 10.1109/ICAR.2015.7251425
Sangrok Jin, Jihoon Kim, Jongwon Kim, Jangho Bae, J. Bak, Jongwon Kim, Taewon Seo
A hovering control design based on back-stepping method is proposed for a dynamic model of an underwater robot with tilting thrusters. In order to achieve various underwater tasks, a robotic platform must be able to maintain its position and orientation against ocean currents and reaction forces from the manipulator's operation. The underwater robot which has four tilting thrusters can carry out six degrees-of-freedom (DOF) motion. A dynamic model is derived for the underwater robot based on hydrodynamic analysis and nonlinear thrust vector mapping. A hovering controller based on a dynamic model is derived by using a back-stepping control method, and disturbance models, such as ocean currents and reaction from the attached manipulator, are designed. Simulations show reasonable results of the control system under disturbance.
{"title":"Back-stepping control design for an underwater robot with tilting thrusters","authors":"Sangrok Jin, Jihoon Kim, Jongwon Kim, Jangho Bae, J. Bak, Jongwon Kim, Taewon Seo","doi":"10.1109/ICAR.2015.7251425","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251425","url":null,"abstract":"A hovering control design based on back-stepping method is proposed for a dynamic model of an underwater robot with tilting thrusters. In order to achieve various underwater tasks, a robotic platform must be able to maintain its position and orientation against ocean currents and reaction forces from the manipulator's operation. The underwater robot which has four tilting thrusters can carry out six degrees-of-freedom (DOF) motion. A dynamic model is derived for the underwater robot based on hydrodynamic analysis and nonlinear thrust vector mapping. A hovering controller based on a dynamic model is derived by using a back-stepping control method, and disturbance models, such as ocean currents and reaction from the attached manipulator, are designed. Simulations show reasonable results of the control system under disturbance.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123920064","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251474
M. Hamdi, M. Awad, M. Abdelhameed, F. Tolbah
In this paper, The authors considered a human lower limb gait activity recognition algorithm, using an IMU sensory network consisting of 4 IMUs distributed to the lower limb. The proposed algorithm depends on Random Forest for classification and a Hybrid Mutual Information and Genetic Algorithm (HMIGA) as a features selection technique. HMIGA selects the most distinguishing features from Discrete Wavelet Coefficient (DWT) features and other statistical and physical (self designed) features. The proposed algorithm is compared with Support Vector Machine (SVM) to classify 5 activities and the results are presented on 6 subjects with 2% average error rate with 1.9% superiority on SVM. Moreover, HMIGA as a feature selector is compared to the traditional feature selectors and DWT as a feature also compared to statistical and physical features, showing their influence on the activity recognition process. Finally, the most important features selected by HMIGA are presented, proving the important role of the shank's sensor on the recognition process, where almost 50% of the selected features are from the shank sensor.
{"title":"Lower limb gait activity recognition using Inertial Measurement Units for rehabilitation robotics","authors":"M. Hamdi, M. Awad, M. Abdelhameed, F. Tolbah","doi":"10.1109/ICAR.2015.7251474","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251474","url":null,"abstract":"In this paper, The authors considered a human lower limb gait activity recognition algorithm, using an IMU sensory network consisting of 4 IMUs distributed to the lower limb. The proposed algorithm depends on Random Forest for classification and a Hybrid Mutual Information and Genetic Algorithm (HMIGA) as a features selection technique. HMIGA selects the most distinguishing features from Discrete Wavelet Coefficient (DWT) features and other statistical and physical (self designed) features. The proposed algorithm is compared with Support Vector Machine (SVM) to classify 5 activities and the results are presented on 6 subjects with 2% average error rate with 1.9% superiority on SVM. Moreover, HMIGA as a feature selector is compared to the traditional feature selectors and DWT as a feature also compared to statistical and physical features, showing their influence on the activity recognition process. Finally, the most important features selected by HMIGA are presented, proving the important role of the shank's sensor on the recognition process, where almost 50% of the selected features are from the shank sensor.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126518244","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251451
Z. Irki, Abdelatif Oussar, Mohamed Hamdi, Fatah Seddi
Following a leader is a very important task in the autonomous robot navigation. In order to follow a leader, the follower has to detect the leader, to localize it and to estimate its properties. Several techniques have been used to carry out this task; in particular vision based approaches can be used. In this paper, we describe a stereovision based approach for following a leader. The main idea of this paper assumes that the leader is considered as an obstacle. So, the V-disparity obstacles detection approach is combined with the U-disparity based localization and a fuzzy controller in order to execute all the steps of the leader following task. The described approach was successfully implemented on a Pionneer3AT robot.
{"title":"A fuzzy UV-disparity based approach for following a leader mobile robot","authors":"Z. Irki, Abdelatif Oussar, Mohamed Hamdi, Fatah Seddi","doi":"10.1109/ICAR.2015.7251451","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251451","url":null,"abstract":"Following a leader is a very important task in the autonomous robot navigation. In order to follow a leader, the follower has to detect the leader, to localize it and to estimate its properties. Several techniques have been used to carry out this task; in particular vision based approaches can be used. In this paper, we describe a stereovision based approach for following a leader. The main idea of this paper assumes that the leader is considered as an obstacle. So, the V-disparity obstacles detection approach is combined with the U-disparity based localization and a fuzzy controller in order to execute all the steps of the leader following task. The described approach was successfully implemented on a Pionneer3AT robot.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125344951","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251477
Francesco Corucci, M. Calisti, H. Hauser, C. Laschi
In recent years a number of robotic platforms have been developed, that are capable of robust locomotion in presence of a simple open loop control. Relying on the self-stabilizing properties of their mechanical structure, morphology assumes a crucial role in the design process, that is, however, usually guided by a set of heuristic principles falling under what is commonly known as embodied intelligence. Despite many impressive demonstrations, the result of such a methodology may be sub-optimal, given the dimension of the design space and the complex intertwining of involved dynamical effects. Encouraged by the growing consensus that embodied solutions can indeed be produced by bio-inspired computational techniques in a more automated manner, this work proposes a computer-aided methodology to explore in simulation the design space of an existing robot, by harnessing computational techniques inspired by natural evolution. Although many works exist on the application of evolutionary algorithms in robotics, few of them embrace this design perspective. The idea is to have an evolutionary process suggesting to the human designer a number of interesting robot configurations and embodied behaviors, from whose analysis design hints can be gained to improve the platform. The focus will be on enhancing the locomotion capabilities of a multi-legged, soft, underwater robot. We investigate for the first time the suitability of a recently introduced open-ended evolutionary algorithm (novelty search) for the intended study, and demonstrate its benefits in the comparison with a more conventional genetic algorithm. Results confirm that evolutionary algorithms are indeed capable of producing new, elaborate dynamic gaits, with evolved designs exhibiting several regularities. Possible future directions are also pointed out, in which the passive exploitation of robot's morphological features could bring additional advantages in achieving diverse, robust behaviors.
{"title":"Evolutionary discovery of self-stabilized dynamic gaits for a soft underwater legged robot","authors":"Francesco Corucci, M. Calisti, H. Hauser, C. Laschi","doi":"10.1109/ICAR.2015.7251477","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251477","url":null,"abstract":"In recent years a number of robotic platforms have been developed, that are capable of robust locomotion in presence of a simple open loop control. Relying on the self-stabilizing properties of their mechanical structure, morphology assumes a crucial role in the design process, that is, however, usually guided by a set of heuristic principles falling under what is commonly known as embodied intelligence. Despite many impressive demonstrations, the result of such a methodology may be sub-optimal, given the dimension of the design space and the complex intertwining of involved dynamical effects. Encouraged by the growing consensus that embodied solutions can indeed be produced by bio-inspired computational techniques in a more automated manner, this work proposes a computer-aided methodology to explore in simulation the design space of an existing robot, by harnessing computational techniques inspired by natural evolution. Although many works exist on the application of evolutionary algorithms in robotics, few of them embrace this design perspective. The idea is to have an evolutionary process suggesting to the human designer a number of interesting robot configurations and embodied behaviors, from whose analysis design hints can be gained to improve the platform. The focus will be on enhancing the locomotion capabilities of a multi-legged, soft, underwater robot. We investigate for the first time the suitability of a recently introduced open-ended evolutionary algorithm (novelty search) for the intended study, and demonstrate its benefits in the comparison with a more conventional genetic algorithm. Results confirm that evolutionary algorithms are indeed capable of producing new, elaborate dynamic gaits, with evolved designs exhibiting several regularities. Possible future directions are also pointed out, in which the passive exploitation of robot's morphological features could bring additional advantages in achieving diverse, robust behaviors.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131085100","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251471
M. Hutter, Philipp Leemann, Stefan Stevšić, Andreas Michel, Dominic Jud, M. Höpflinger, R. Siegwart, R. Figi, Christian Caduff, M. Loher, Stefan Tagmann
This paper presents the successful implementation of force control strategies on a 12 ton walking excavator to optimize the ground reaction force distribution for better stability, less terrain damage and to reduce the operation complexity. Using cleverly arrange standard industrial valve components to separately control in- and out-flow of the hydraulic cylinders, we achieve accurate and fast joint torque control purely based on pressure feedback. On the full system level, we realize an automated force distribution to adjust the center of pressure and to level out the cabin of the machine. While the operator has still full control over the excavator, this assistance system guarantees permanent ground contact and ideal force distribution among the all four wheels independent of the level of the terrain. The proposed method significantly improves operability of the walking excavator in rough terrain.
{"title":"Towards optimal force distribution for walking excavators","authors":"M. Hutter, Philipp Leemann, Stefan Stevšić, Andreas Michel, Dominic Jud, M. Höpflinger, R. Siegwart, R. Figi, Christian Caduff, M. Loher, Stefan Tagmann","doi":"10.1109/ICAR.2015.7251471","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251471","url":null,"abstract":"This paper presents the successful implementation of force control strategies on a 12 ton walking excavator to optimize the ground reaction force distribution for better stability, less terrain damage and to reduce the operation complexity. Using cleverly arrange standard industrial valve components to separately control in- and out-flow of the hydraulic cylinders, we achieve accurate and fast joint torque control purely based on pressure feedback. On the full system level, we realize an automated force distribution to adjust the center of pressure and to level out the cabin of the machine. While the operator has still full control over the excavator, this assistance system guarantees permanent ground contact and ideal force distribution among the all four wheels independent of the level of the terrain. The proposed method significantly improves operability of the walking excavator in rough terrain.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131140082","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251426
M. Sorour, T. Murakami
Workspace disturbance observer was developed as further enhancement for the successful joint space observer. In its derivation it was assumed that the null space projector computation could be avoided. However limited performance has been reported for the workspace version. This work shows that the null space projector computation is essential for achieving the expected high performance in workspace. Experimental evaluation revealed the extra advantage of the workspace disturbance observer in terms of higher performance of the null space tasks.
{"title":"Enhanced null space control using hierarchical workspace disturbance observer","authors":"M. Sorour, T. Murakami","doi":"10.1109/ICAR.2015.7251426","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251426","url":null,"abstract":"Workspace disturbance observer was developed as further enhancement for the successful joint space observer. In its derivation it was assumed that the null space projector computation could be avoided. However limited performance has been reported for the workspace version. This work shows that the null space projector computation is essential for achieving the expected high performance in workspace. Experimental evaluation revealed the extra advantage of the workspace disturbance observer in terms of higher performance of the null space tasks.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133414380","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251469
Feyyaz Emre Sancar, B. Fidan, J. Huissoon
In this paper we present a new cooperative adaptive cruise control with rear-end collision check employing deadzone switching techniques. The corresponding control task is to maintain desired spacing between consequent vehicles in a platoon using a decentralized control structure robust to sensor noises, whose magnitudes are assumed to be bounded from above by some known limits. The approach considered here follows a switching control design based on dead-zone using the relative velocity and position of the two closest neighbours.
{"title":"Deadzone switching based cooperative adaptive cruise control with rear-end collision check","authors":"Feyyaz Emre Sancar, B. Fidan, J. Huissoon","doi":"10.1109/ICAR.2015.7251469","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251469","url":null,"abstract":"In this paper we present a new cooperative adaptive cruise control with rear-end collision check employing deadzone switching techniques. The corresponding control task is to maintain desired spacing between consequent vehicles in a platoon using a decentralized control structure robust to sensor noises, whose magnitudes are assumed to be bounded from above by some known limits. The approach considered here follows a switching control design based on dead-zone using the relative velocity and position of the two closest neighbours.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131004089","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251456
Mohamed Lamine Tazir, O. Azouaoui, Mohamed Hazerchi, M. Brahimi
The last few years, research in the area of path planning for mobile robots has been focusing on dynamic environments. Most of methods proposed in this topic need to re-plan the remaining path of the robot, every time when new information come in which significantly increase the computation time and make real-time implementation of these methods difficult and sometimes impossible. The proposed approach consists of two different modules (static and dynamic) that combine two navigation methods to exploit prior information of global static map and local information coming from sensors. The robot uses global information about his environment, and plans the optimal path using genetic algorithms (GA) combined with Dijkstra algorithm through static obstacles. The dynamic phase is done while the robot is moving. The algorithm is able to avoid a moving obstacle by wait/Accelerate concept (W/A C), or by producing a new optimal local path using Dijkstra algorithm. A particularly new aspect of the work is to use the prior information about the environment for searching a global path efficiently and the incorporation of Dijkstra algorithm in both off-line and online phases, which leads to a significantly computation time reducing, and increases the accuracy of the global trajectory. The introduction of the accelerate action is also a new aspect. The simulation results confirm the efficiency and effectiveness of this approach in complex environments.
近年来，移动机器人路径规划的研究主要集中在动态环境中。在本课题中提出的大多数方法都需要重新规划机器人的剩余路径，每次都有新的信息进入，这大大增加了计算时间，使得这些方法很难实时实现，有时甚至不可能实现。该方法由静态和动态两个不同的模块组成，结合两种导航方法来利用全局静态地图的先验信息和来自传感器的局部信息。机器人利用周围环境的全局信息，利用遗传算法结合Dijkstra算法，通过静态障碍物规划出最优路径。动态阶段是在机器人运动时完成的。该算法通过等待/加速概念(W/ a C)或使用Dijkstra算法生成新的最优局部路径来避开移动障碍物。该工作的一个特别新颖的方面是利用关于环境的先验信息高效地搜索全局路径，并在离线和在线阶段结合Dijkstra算法，从而大大减少了计算时间，并提高了全局轨迹的准确性。加速动作的引入也是一个新的方面。仿真结果验证了该方法在复杂环境下的有效性和有效性。
{"title":"Mobile robot path planning for complex dynamic environments","authors":"Mohamed Lamine Tazir, O. Azouaoui, Mohamed Hazerchi, M. Brahimi","doi":"10.1109/ICAR.2015.7251456","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251456","url":null,"abstract":"The last few years, research in the area of path planning for mobile robots has been focusing on dynamic environments. Most of methods proposed in this topic need to re-plan the remaining path of the robot, every time when new information come in which significantly increase the computation time and make real-time implementation of these methods difficult and sometimes impossible. The proposed approach consists of two different modules (static and dynamic) that combine two navigation methods to exploit prior information of global static map and local information coming from sensors. The robot uses global information about his environment, and plans the optimal path using genetic algorithms (GA) combined with Dijkstra algorithm through static obstacles. The dynamic phase is done while the robot is moving. The algorithm is able to avoid a moving obstacle by wait/Accelerate concept (W/A C), or by producing a new optimal local path using Dijkstra algorithm. A particularly new aspect of the work is to use the prior information about the environment for searching a global path efficiently and the incorporation of Dijkstra algorithm in both off-line and online phases, which leads to a significantly computation time reducing, and increases the accuracy of the global trajectory. The introduction of the accelerate action is also a new aspect. The simulation results confirm the efficiency and effectiveness of this approach in complex environments.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132022918","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251452
Zineb Laouici, Mami Mohammed Amine, Khelfi Mohamed Fayçal
This paper addresses the problem of covering an open area by using multiple robots. Our paper proposes a heuristic algorithm to maximize area coverage of mobile robots team and maintain connectivity. This algorithm adopts the principle of spreading a wave in order to guide the movements of robots. This wave starts from a point and spreading in regular way. So in each step, the central robot builds a wave around it using the adequate robots from its direct neighbors. The mobile robots coordinate to determine the next destinations to reach, so the coverage time and traveled distance is minimized. Also the robots network has less overhead messages because each robot communicates only with it directs neighbors. We present also an approach for self-redeployment in case of failure. The simulation results are presented to validate the performance of our approach.
{"title":"Cooperative approach for an optimal area coverage and connectivity in multi-robot systems","authors":"Zineb Laouici, Mami Mohammed Amine, Khelfi Mohamed Fayçal","doi":"10.1109/ICAR.2015.7251452","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251452","url":null,"abstract":"This paper addresses the problem of covering an open area by using multiple robots. Our paper proposes a heuristic algorithm to maximize area coverage of mobile robots team and maintain connectivity. This algorithm adopts the principle of spreading a wave in order to guide the movements of robots. This wave starts from a point and spreading in regular way. So in each step, the central robot builds a wave around it using the adequate robots from its direct neighbors. The mobile robots coordinate to determine the next destinations to reach, so the coverage time and traveled distance is minimized. Also the robots network has less overhead messages because each robot communicates only with it directs neighbors. We present also an approach for self-redeployment in case of failure. The simulation results are presented to validate the performance of our approach.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129181698","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 : 2015-07-27DOI: 10.1109/ICAR.2015.7251467
S. Shah, V. Anurag, A. Hafez, K. Krishna
This paper presents a novel approach for algorithmic singularity avoidance for reactionless visual servoing of a satellite mounted space robot. Task priority approach is used to perform visual servoing while reactionless manipulation of the space robot. Algorithmic singularity is prominent in such cases of prioritizing two tasks. The algorithmic singularity is different from the kinematic and dynamic singularities as the former is an artefact of the tasks at hand, and difficult to predict. In this paper, we present a geometric interpretation of its occurrence, and propose a method to avoid it. The method involves path planning in image space, and generates a sequence of images that guides the robot towards goal avoiding algorithmic singularity. The method is illustrated through numerical studies on a 6-DOF planar dual-arm robot mounted on a service satellite.
{"title":"Switching method to avoid algorithmic singularity in vision-based control of a space robot","authors":"S. Shah, V. Anurag, A. Hafez, K. Krishna","doi":"10.1109/ICAR.2015.7251467","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251467","url":null,"abstract":"This paper presents a novel approach for algorithmic singularity avoidance for reactionless visual servoing of a satellite mounted space robot. Task priority approach is used to perform visual servoing while reactionless manipulation of the space robot. Algorithmic singularity is prominent in such cases of prioritizing two tasks. The algorithmic singularity is different from the kinematic and dynamic singularities as the former is an artefact of the tasks at hand, and difficult to predict. In this paper, we present a geometric interpretation of its occurrence, and propose a method to avoid it. The method involves path planning in image space, and generates a sequence of images that guides the robot towards goal avoiding algorithmic singularity. The method is illustrated through numerical studies on a 6-DOF planar dual-arm robot mounted on a service satellite.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122851168","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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