Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197122
K. V. Heerden, A. Kawamura
This paper presents the initial research for a framework by which a biped robot can make a navigation plan in a obstacle filled environment by performing both walking and jumping motions. In particular this paper focuses on automatically creating a jumping trajectory based on the distance that the robot is required to jump. This jumping trajectory considers angular momentum so as to reduce backwards jumping and spinning of the base in the air, this is done with the Eulerian ZMP resolution method(EZR). Additionally this trajectory also considers compliance at the landing foot to avoid manipulator damage while ensuring that the robots support foot is extended just the right distance to let a inverted pendulum model with non constant height reach the top with zero kinetic energy remaining. The path planner is based on the A-Star path planning algorithm. The navigation plan also considers finding a path which is sufficiently straight prior to the moment of jumping so that the robot can build up the required linear momentum to execute the jump. The ultimate goal is to create a framework which can consider path planning with various types of motion.
{"title":"Towards integrated walking and jumping motion planning in complex environments: Jumping trajectory generation","authors":"K. V. Heerden, A. Kawamura","doi":"10.1109/AMC.2012.6197122","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197122","url":null,"abstract":"This paper presents the initial research for a framework by which a biped robot can make a navigation plan in a obstacle filled environment by performing both walking and jumping motions. In particular this paper focuses on automatically creating a jumping trajectory based on the distance that the robot is required to jump. This jumping trajectory considers angular momentum so as to reduce backwards jumping and spinning of the base in the air, this is done with the Eulerian ZMP resolution method(EZR). Additionally this trajectory also considers compliance at the landing foot to avoid manipulator damage while ensuring that the robots support foot is extended just the right distance to let a inverted pendulum model with non constant height reach the top with zero kinetic energy remaining. The path planner is based on the A-Star path planning algorithm. The navigation plan also considers finding a path which is sufficiently straight prior to the moment of jumping so that the robot can build up the required linear momentum to execute the jump. The ultimate goal is to create a framework which can consider path planning with various types of motion.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"82 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91229200","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197110
D. Yashiro, T. Yakoh
This paper proposes a jitter buffer for IP-based network which regulates packet-receiving interval. The proposed method utilizes a PD controller to adjust queue length of the jitter buffer to avoid overrun and underrun. In addition, the derivative value of packet-receiving interval is converged to zero by a low-pass filter. Proposed jitter buffer improves control performance of feedback control systems including time-varying delay elements. Validity of the proposed method is confirmed by experiments of position control through a network emulator.
{"title":"PD controller with LPF based jitter buffer for real-time communication","authors":"D. Yashiro, T. Yakoh","doi":"10.1109/AMC.2012.6197110","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197110","url":null,"abstract":"This paper proposes a jitter buffer for IP-based network which regulates packet-receiving interval. The proposed method utilizes a PD controller to adjust queue length of the jitter buffer to avoid overrun and underrun. In addition, the derivative value of packet-receiving interval is converged to zero by a low-pass filter. Proposed jitter buffer improves control performance of feedback control systems including time-varying delay elements. Validity of the proposed method is confirmed by experiments of position control through a network emulator.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91297309","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197045
Keivan Zavari, G. Pipeleers, J. Swevers
This paper presents a practical way to design gain-scheduled controllers for linear parameter varying (LPV) systems. An existing state-space model interpolation method for LPV systems is exploited in order to derive the desired controller. The interpolation requires designing local LTI controllers for local working conditions of the system, which is performed using a multi-objective H∞ approach. To simplify the weighting function design, the H∞ objective is broken apart into different H∞ design objectives and constraints, each related to various input-output combinations. The developed LPV control design approach is illustrated on an over-head crane system.
{"title":"Interpolated gain-scheduled controllers for an over-head crane","authors":"Keivan Zavari, G. Pipeleers, J. Swevers","doi":"10.1109/AMC.2012.6197045","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197045","url":null,"abstract":"This paper presents a practical way to design gain-scheduled controllers for linear parameter varying (LPV) systems. An existing state-space model interpolation method for LPV systems is exploited in order to derive the desired controller. The interpolation requires designing local LTI controllers for local working conditions of the system, which is performed using a multi-objective H∞ approach. To simplify the weighting function design, the H∞ objective is broken apart into different H∞ design objectives and constraints, each related to various input-output combinations. The developed LPV control design approach is illustrated on an over-head crane system.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"24 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89747037","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197099
Fumiya Mitome, K. Ohnishi
Σ-Δ estimation is a simple non linear method of background estimation used in the field of image processing. We propose the method of data transmission using the Σ-Δ modulation under narrow bandwidth, which degrades the performance due to time-discretization. In this paper, the Σ-Δ estimation is used as a method of motion detection of motors, and high priority is added to detected data. Hierarchical Token Bucket, which controls traffic in a link, discrimates motion data, and handles the packet with high priority preferentially. The motion detection algorithm based on traffic contonl is implemented into two degree-of-freedom robots to verify the validity of the proposed method. Effectiveness of the proposed method is verified through experiments.
{"title":"Data transmission using motion detection based on sigma-delta modulation for bilateral control","authors":"Fumiya Mitome, K. Ohnishi","doi":"10.1109/AMC.2012.6197099","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197099","url":null,"abstract":"Σ-Δ estimation is a simple non linear method of background estimation used in the field of image processing. We propose the method of data transmission using the Σ-Δ modulation under narrow bandwidth, which degrades the performance due to time-discretization. In this paper, the Σ-Δ estimation is used as a method of motion detection of motors, and high priority is added to detected data. Hierarchical Token Bucket, which controls traffic in a link, discrimates motion data, and handles the packet with high priority preferentially. The motion detection algorithm based on traffic contonl is implemented into two degree-of-freedom robots to verify the validity of the proposed method. Effectiveness of the proposed method is verified through experiments.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"105 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77737734","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197103
Hiroyuki Nagai, S. Katsura
Technology and science have been developing rapidly, and robotic system for human support has been researched recently. Considering the effect of low birthrate and longevity, the system is thought to become important in the future. In this research, environmental embedded haptic system for human support is developed. In order to realize the haptic system, impedance control with positive feedback is proposed. In this research, the stability analysis of the system is mainly focused on, and it is conducted by displacement poles. The validity of the proposed method is shown by simulation and experimental results.
{"title":"Positive feedback of reaction force for environmental embedded haptic system","authors":"Hiroyuki Nagai, S. Katsura","doi":"10.1109/AMC.2012.6197103","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197103","url":null,"abstract":"Technology and science have been developing rapidly, and robotic system for human support has been researched recently. Considering the effect of low birthrate and longevity, the system is thought to become important in the future. In this research, environmental embedded haptic system for human support is developed. In order to realize the haptic system, impedance control with positive feedback is proposed. In this research, the stability analysis of the system is mainly focused on, and it is conducted by displacement poles. The validity of the proposed method is shown by simulation and experimental results.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"9 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82709526","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197093
M. Franc, A. Hace
This paper deals with a haptic teleoperation, that can significantly improve the execution over a wide area of tasks. The latter can be found in a medicine, military, space exploration and many others. The paper describes the control algorithm implementation for a high performance haptic teleoperation. The algorithm is tested by a 2-DOF experimental haptic laboratory system. The Field Programmable Gate Array (FPGA) contributes to the bilateral teleoperator performance, therefore, transparency, stability, and robustness can be increased.
{"title":"FPGA implementation of the bilateral control algorithm for a high performance haptic teleoperation","authors":"M. Franc, A. Hace","doi":"10.1109/AMC.2012.6197093","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197093","url":null,"abstract":"This paper deals with a haptic teleoperation, that can significantly improve the execution over a wide area of tasks. The latter can be found in a medicine, military, space exploration and many others. The paper describes the control algorithm implementation for a high performance haptic teleoperation. The algorithm is tested by a 2-DOF experimental haptic laboratory system. The Field Programmable Gate Array (FPGA) contributes to the bilateral teleoperator performance, therefore, transparency, stability, and robustness can be increased.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"59 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83364631","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197144
Dustin Li, H. Vallery
Falls are an urgent challenge in aging societies, and balance dysfunction is a major risk factor. Current robotic technology that assists human locomotion, however, aims at versatile functionality, particularly in the assistance of weak muscles. Such versatile design leads to heavy, bulky devices that are impractical in daily life for most elderly subjects. In this paper, we investigate the use of minimalistic robotic technology that focuses exclusively on stabilizing human balance during gait. This task-specific device is novel in its combination of portability and simplicity. Our initial simulations show that it is possible to return a person to a vertical position from an engagement angle of 10 degrees from vertical.
{"title":"Gyroscopic assistance for human balance","authors":"Dustin Li, H. Vallery","doi":"10.1109/AMC.2012.6197144","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197144","url":null,"abstract":"Falls are an urgent challenge in aging societies, and balance dysfunction is a major risk factor. Current robotic technology that assists human locomotion, however, aims at versatile functionality, particularly in the assistance of weak muscles. Such versatile design leads to heavy, bulky devices that are impractical in daily life for most elderly subjects. In this paper, we investigate the use of minimalistic robotic technology that focuses exclusively on stabilizing human balance during gait. This task-specific device is novel in its combination of portability and simplicity. Our initial simulations show that it is possible to return a person to a vertical position from an engagement angle of 10 degrees from vertical.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"28 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83365795","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197101
M. Kawafuku, M. Mizoguchi, M. Iwasaki
This paper describe a head positioning controller in HDDs based on a dynamic characteristic of rolling friction. In the control system in HDDs, the head assembly was influenced the effect of several disturbances, e.g, RRO, flutter vibration, force disturbance, and so on. At the force disturbance, it caused by wind force, external shock, tension force of Flexible Printed Circuit, and rolling friction around pivot bearing. In these force disturbance, the influence of the rolling friction is large at positioning in minute area. Therefore, controlling the rolling friction is important at short span seeking motion for the high performance trajectory. In this paper, we present a measuring method for the dynamic rolling friction that considering the inertia force of magnetic head. And we propose a 2 DOF controller design to suppress the effect of the dynamic rolling friction. The effects of the proposal method and controller performance are verified by experimental results.
{"title":"Head positioning control system design based on dynamic characteristic of rolling friction in HDDs","authors":"M. Kawafuku, M. Mizoguchi, M. Iwasaki","doi":"10.1109/AMC.2012.6197101","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197101","url":null,"abstract":"This paper describe a head positioning controller in HDDs based on a dynamic characteristic of rolling friction. In the control system in HDDs, the head assembly was influenced the effect of several disturbances, e.g, RRO, flutter vibration, force disturbance, and so on. At the force disturbance, it caused by wind force, external shock, tension force of Flexible Printed Circuit, and rolling friction around pivot bearing. In these force disturbance, the influence of the rolling friction is large at positioning in minute area. Therefore, controlling the rolling friction is important at short span seeking motion for the high performance trajectory. In this paper, we present a measuring method for the dynamic rolling friction that considering the inertia force of magnetic head. And we propose a 2 DOF controller design to suppress the effect of the dynamic rolling friction. The effects of the proposal method and controller performance are verified by experimental results.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"61 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84042226","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197013
M. Laffranchi, N. Tsagarakis, D. Caldwell
As recent application domains emerge requiring the employment of robots within unstructured environments, new demands arise requiring more versatile systems which can cope with unpredictable interactions. Recently, compliance has been identified as one of the key features which enables the safe operation of robots interacting with humans and environment. Despite the certain merits gained with the introduction of compliance, this property introduces also some drawbacks as the reduction of the bandwidth achievable in the controlled system and the introduction of oscillatory dynamics which dramatically reduce the stability and accuracy of the system. A solution which can be used to overcome such issues consists in the incorporation of physical damping within the actuator mechatronics. Motivated by the above, this work presents the evolution of such actuators from purely compliant to more complex and performing systems which incorporate variable physical damping as added feature for the development of robust, safe and still well performing robots. The mechatronics of the developed units are analysed. The compact compliant actuator (CompAct™) with variable physical damping is evaluated with experimental trials performed using a prototype unit.
{"title":"Variable physical damping actuators (VPDAs): Facilitating the control and improving the performance of compliant actuation systems","authors":"M. Laffranchi, N. Tsagarakis, D. Caldwell","doi":"10.1109/AMC.2012.6197013","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197013","url":null,"abstract":"As recent application domains emerge requiring the employment of robots within unstructured environments, new demands arise requiring more versatile systems which can cope with unpredictable interactions. Recently, compliance has been identified as one of the key features which enables the safe operation of robots interacting with humans and environment. Despite the certain merits gained with the introduction of compliance, this property introduces also some drawbacks as the reduction of the bandwidth achievable in the controlled system and the introduction of oscillatory dynamics which dramatically reduce the stability and accuracy of the system. A solution which can be used to overcome such issues consists in the incorporation of physical damping within the actuator mechatronics. Motivated by the above, this work presents the evolution of such actuators from purely compliant to more complex and performing systems which incorporate variable physical damping as added feature for the development of robust, safe and still well performing robots. The mechatronics of the developed units are analysed. The compact compliant actuator (CompAct™) with variable physical damping is evaluated with experimental trials performed using a prototype unit.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"21 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76553361","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197142
T. Shimoichi, S. Katsura
Recently, the real-world haptics which deals with real-world tactile sense has been actively researched. In the real-world haptics, tactile information is dealt with by an actuator as a disturbance force. Therefore, the effect of other kinds of disturbance such as friction in an actuator should be minimized to extract clearer tactile information. If the disturbance is known in advance, the pure tactile information is able to be observed by compensation of the disturbance. Therefore, this paper proposes a method of determining modeled disturbance-parameter-values of an actuator. The proposed method is achieved by solving an optimization problem using bilateral control and disturbance model. The performance of bilateral control is increased by compensation of the disturbance using the proposal. The effectiveness of the proposed method is shown by experiments.
{"title":"Identification and compensation of disturbance for real-world haptics","authors":"T. Shimoichi, S. Katsura","doi":"10.1109/AMC.2012.6197142","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197142","url":null,"abstract":"Recently, the real-world haptics which deals with real-world tactile sense has been actively researched. In the real-world haptics, tactile information is dealt with by an actuator as a disturbance force. Therefore, the effect of other kinds of disturbance such as friction in an actuator should be minimized to extract clearer tactile information. If the disturbance is known in advance, the pure tactile information is able to be observed by compensation of the disturbance. Therefore, this paper proposes a method of determining modeled disturbance-parameter-values of an actuator. The proposed method is achieved by solving an optimization problem using bilateral control and disturbance model. The performance of bilateral control is increased by compensation of the disturbance using the proposal. The effectiveness of the proposed method is shown by experiments.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"54 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78006455","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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