Pub Date : 2019-12-01DOI: 10.1109/ICAR46387.2019.8981562
M. U. Borges, Fernando Augusto A. Pinto, E. J. Lima
With the advent of 4.0 industry, robotic technologies are now considered part of the industrial complex. New areas are being researched, merging robotic manipulator's precise and accurate movement to automatise repetitive tasks. In the industry, hundreds of manipulators are being applied to execute tasks that were previously executed manually. This fact promoted not only the rising on the processes efficiency, but also reduced the human exposure to danger. The comprehension of those systems dynamic behaviour is essential to better design new manipulators for specific tasks. Despite this growth, just few other papers are regarding manipulator's energy and design. In this paper, a vertical planar robotic manipulator with two cylindrical arms and two degrees-of-freedom is modelled to analyse the influence of a dimensionless design parameter, i.e. a ratio between length and diameter, on the energy consumption and peak power required. In conjunction with preset properties, e.g. material density, weight and inertial momentum, three simulations are run covering two different move sets and two different manipulators sizes to calculate energy and power for a specific task. It is expected that the longest the manipulator's arm, the higher the energy consumption. However, this is not always observed, and the reasons why are discussed in this paper.
{"title":"Analysis of Energy Consumption in a Two-arm Vertical Planar Robot by Varying a Dimensionless Design Construction Parameter","authors":"M. U. Borges, Fernando Augusto A. Pinto, E. J. Lima","doi":"10.1109/ICAR46387.2019.8981562","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981562","url":null,"abstract":"With the advent of 4.0 industry, robotic technologies are now considered part of the industrial complex. New areas are being researched, merging robotic manipulator's precise and accurate movement to automatise repetitive tasks. In the industry, hundreds of manipulators are being applied to execute tasks that were previously executed manually. This fact promoted not only the rising on the processes efficiency, but also reduced the human exposure to danger. The comprehension of those systems dynamic behaviour is essential to better design new manipulators for specific tasks. Despite this growth, just few other papers are regarding manipulator's energy and design. In this paper, a vertical planar robotic manipulator with two cylindrical arms and two degrees-of-freedom is modelled to analyse the influence of a dimensionless design parameter, i.e. a ratio between length and diameter, on the energy consumption and peak power required. In conjunction with preset properties, e.g. material density, weight and inertial momentum, three simulations are run covering two different move sets and two different manipulators sizes to calculate energy and power for a specific task. It is expected that the longest the manipulator's arm, the higher the energy consumption. However, this is not always observed, and the reasons why are discussed in this paper.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"5 1","pages":"308-311"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85839313","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 : 2019-12-01DOI: 10.1109/ICAR46387.2019.8981605
T. L. Costa, J. C. Vendrichoski, E. S. Elyoussef, E. D. Pieri
In this work, we present a control law for an unmanned aerial vehicle (UAV) carrying a camera through a two degrees of freedom (2-DOF) gimbal mechanism. The vehicle is an H -shaped quadrotor with an additional mechanism that allows the independent projection, along the longitudinal direction, of the thrust generated by each rotor. This particular characteristic shows useful during the execution of some specific tasks, especially the ones that require high velocity. A control law is designed to deal with the underactuation and nonlinearities behavior of the vehicle, that are expressed mathematically by the Euler-Lagrange formulation. The control structure is arranged in four subsystems, designed to control the dynamics of the UAV position, attitude, rotors inclination, and camera pointing. For the position control, the inverse dynamic is used to linearize the translation subsystem, and then a robust H∞ controller is applied. For the remaining subsystems, the Super-Twisting Sliding Mode Control is applied. We present, through simulation, the performance of the designed control structure, proving that the controlled UAV is stabilized and able to track given trajectories even in the presence of unmodeled dynamics, parametric uncertainties and external disturbances (such as wind gusts).
{"title":"Modeling and Control of an Unmanned Aerial Vehicle with Tilt Rotors Equipped with a Camera","authors":"T. L. Costa, J. C. Vendrichoski, E. S. Elyoussef, E. D. Pieri","doi":"10.1109/ICAR46387.2019.8981605","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981605","url":null,"abstract":"In this work, we present a control law for an unmanned aerial vehicle (UAV) carrying a camera through a two degrees of freedom (2-DOF) gimbal mechanism. The vehicle is an H -shaped quadrotor with an additional mechanism that allows the independent projection, along the longitudinal direction, of the thrust generated by each rotor. This particular characteristic shows useful during the execution of some specific tasks, especially the ones that require high velocity. A control law is designed to deal with the underactuation and nonlinearities behavior of the vehicle, that are expressed mathematically by the Euler-Lagrange formulation. The control structure is arranged in four subsystems, designed to control the dynamics of the UAV position, attitude, rotors inclination, and camera pointing. For the position control, the inverse dynamic is used to linearize the translation subsystem, and then a robust H∞ controller is applied. For the remaining subsystems, the Super-Twisting Sliding Mode Control is applied. We present, through simulation, the performance of the designed control structure, proving that the controlled UAV is stabilized and able to track given trajectories even in the presence of unmodeled dynamics, parametric uncertainties and external disturbances (such as wind gusts).","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83691061","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 : 2019-12-01DOI: 10.1109/ICAR46387.2019.8981623
Satoshi Tanaka, T. Senoo, M. Ishikawa
Although research on physical distribution using unmanned aerial vehicles (UAVs) has seen increasingly significant interest, the task of automatically loading a parcel onto a UAV has not been researched adequately. In this study, to design an automatic UAV delivery system, we achieved the task of non-stop handover of a parcel to an airborne UAV. For the handover task, we developed a novel tracking system with highspeed, multi-camera vision using cameras with different frame rates. Through sensor fusion, the proposed system overcomes the problem associated with tracking far away objects by using high-speed cameras with short exposure times. The proposed system demonstrates that it is feasible to combine both highspeed object tracking (1000 fps) and distant object tracking.
{"title":"Non-stop Handover of Parcel to Airborne UAV Based on High-speed Visual Object Tracking","authors":"Satoshi Tanaka, T. Senoo, M. Ishikawa","doi":"10.1109/ICAR46387.2019.8981623","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981623","url":null,"abstract":"Although research on physical distribution using unmanned aerial vehicles (UAVs) has seen increasingly significant interest, the task of automatically loading a parcel onto a UAV has not been researched adequately. In this study, to design an automatic UAV delivery system, we achieved the task of non-stop handover of a parcel to an airborne UAV. For the handover task, we developed a novel tracking system with highspeed, multi-camera vision using cameras with different frame rates. Through sensor fusion, the proposed system overcomes the problem associated with tracking far away objects by using high-speed cameras with short exposure times. The proposed system demonstrates that it is feasible to combine both highspeed object tracking (1000 fps) and distant object tracking.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"43 1","pages":"408-413"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88095646","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 : 2019-12-01DOI: 10.1109/ICAR46387.2019.8981613
Mobin Mohammadnia, Navvab Kashiri, F. Braghin, N. Tsagarakis
Upon the employment of robots in applications beyond traditional industries, the need for development of torque-controlled actuators has become more evident. To exploit the full capacity of torque/motion actuators, it is essential to regulate the motor flux in demand. Despite many studies in this area, major research in flux control has been dedicated to speed control. This work targets to present a novel and robust field weakening strategy for surface mounted permanent magnet motors (SPMSMs) when only a torque reference is given so that the motor velocity can adapt to operating conditions. The concept of proposed approach is elaborated and described qualitatively and mathematically. This work analyses the robustness of proposed approach to variation in motor parameters, and compares it with the performance of another approach in simulation and experimental results.
{"title":"Flux Regulation for Torque-controlled Robotics Actuators","authors":"Mobin Mohammadnia, Navvab Kashiri, F. Braghin, N. Tsagarakis","doi":"10.1109/ICAR46387.2019.8981613","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981613","url":null,"abstract":"Upon the employment of robots in applications beyond traditional industries, the need for development of torque-controlled actuators has become more evident. To exploit the full capacity of torque/motion actuators, it is essential to regulate the motor flux in demand. Despite many studies in this area, major research in flux control has been dedicated to speed control. This work targets to present a novel and robust field weakening strategy for surface mounted permanent magnet motors (SPMSMs) when only a torque reference is given so that the motor velocity can adapt to operating conditions. The concept of proposed approach is elaborated and described qualitatively and mathematically. This work analyses the robustness of proposed approach to variation in motor parameters, and compares it with the performance of another approach in simulation and experimental results.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"15 1","pages":"93-98"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87193328","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 : 2019-12-01DOI: 10.1109/ICAR46387.2019.8981577
Paulo Padrão, L. Hsu, Michael Vilzmann, K. Kondak
Developed by Elektra Solar, an official spin-off of the DLR Institute for Robotics and Mechatronics (DLR-RMC), the Elektra 2 is a solar-powered autonomous aircraft designed to endure long distances as well as high altitudes. The main motivation of this work is to develop and compare three different IMU sensor fault detection (FD) approaches to be further applied to the Elektra 2 Aircraft in real flight experiments. Currently, the Elektra 2 Solar aircraft provides a simple limit-checking of certain measurements such as aircraft angular velocities and pitch, roll and yaw angles. The first proposed FD approach is based on decoupled lateral and longitudinal linear models of the aircraft in combination with the ATLMS technique. The second proposed FD approach is based on a well-defined kinematic model of the aircraft in combination with an extended Kalman filter. The third FD approach is a model-free approach based on principal component analysis. Simulation methodology covered different flight scenarios with different additive faults (abrupt, incipient, extra noise) applied to roll and pitch angles and rates.
{"title":"A Comparative Study of Sensor Fault Detection Approaches applied to an Autonomous Solar-powered Aircraft","authors":"Paulo Padrão, L. Hsu, Michael Vilzmann, K. Kondak","doi":"10.1109/ICAR46387.2019.8981577","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981577","url":null,"abstract":"Developed by Elektra Solar, an official spin-off of the DLR Institute for Robotics and Mechatronics (DLR-RMC), the Elektra 2 is a solar-powered autonomous aircraft designed to endure long distances as well as high altitudes. The main motivation of this work is to develop and compare three different IMU sensor fault detection (FD) approaches to be further applied to the Elektra 2 Aircraft in real flight experiments. Currently, the Elektra 2 Solar aircraft provides a simple limit-checking of certain measurements such as aircraft angular velocities and pitch, roll and yaw angles. The first proposed FD approach is based on decoupled lateral and longitudinal linear models of the aircraft in combination with the ATLMS technique. The second proposed FD approach is based on a well-defined kinematic model of the aircraft in combination with an extended Kalman filter. The third FD approach is a model-free approach based on principal component analysis. Simulation methodology covered different flight scenarios with different additive faults (abrupt, incipient, extra noise) applied to roll and pitch angles and rates.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"40 1","pages":"761-766"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85579854","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 : 2019-12-01DOI: 10.1109/ICAR46387.2019.8981552
Michele Ginesi, D. Meli, A. Calanca, D. Dall’Alba, N. Sansonetto, P. Fiorini
Dynamic Movement Primitives (DMPs) are a framework for learning a trajectory from a demonstration. The trajectory can be learned efficiently after only one demonstration, and it is immediate to adapt it to new goal positions and time duration. Moreover, the trajectory is also robust against perturbations. However, obstacle avoidance for DMPs is still an open problem. In this work, we propose an extension of DMPs to support volumetric obstacle avoidance based on the use of superquadric potentials. We show the advantages of this approach when obstacles have known shape, and we extend it to unknown objects using minimal enclosing ellipsoids. A simulation and experiments with a real robot validate the framework, and we make freely available our implementation.
动态运动原语(Dynamic Movement Primitives, dmp)是从演示中学习轨迹的框架。只需一次演示就可以有效地学习轨迹，并且可以立即使其适应新的目标位置和持续时间。此外，该轨迹对扰动也具有鲁棒性。然而，dmp的避障仍然是一个悬而未决的问题。在这项工作中，我们提出了dmp的扩展，以支持基于使用超二次势的体积避障。我们展示了这种方法在障碍物形状已知时的优势，并使用最小的封闭椭球体将其扩展到未知物体。在一个真实的机器人上进行了仿真和实验，验证了该框架，并免费提供了我们的实现。
{"title":"Dynamic Movement Primitives: Volumetric Obstacle Avoidance","authors":"Michele Ginesi, D. Meli, A. Calanca, D. Dall’Alba, N. Sansonetto, P. Fiorini","doi":"10.1109/ICAR46387.2019.8981552","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981552","url":null,"abstract":"Dynamic Movement Primitives (DMPs) are a framework for learning a trajectory from a demonstration. The trajectory can be learned efficiently after only one demonstration, and it is immediate to adapt it to new goal positions and time duration. Moreover, the trajectory is also robust against perturbations. However, obstacle avoidance for DMPs is still an open problem. In this work, we propose an extension of DMPs to support volumetric obstacle avoidance based on the use of superquadric potentials. We show the advantages of this approach when obstacles have known shape, and we extend it to unknown objects using minimal enclosing ellipsoids. A simulation and experiments with a real robot validate the framework, and we make freely available our implementation.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"54 1","pages":"234-239"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80368066","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 : 2019-12-01DOI: 10.1109/ICAR46387.2019.8981547
T. C. Santos, D. Wolf
Lane change is one of the most common maneuvers in traffic and at least 60,000 people are injured from them. This problem is usually addressed from the perspective of automation and for a single vehicle using path planning and control approaches. However, traffic is a multi-agent system which can use communication technologies to perform coordinated maneuvers in a decentralized manner. This paper aims to present a Decentralized Bargaining Negotiation Process allowing that two conflicting agents negotiate. During the negotiation, agents calculate velocity change proposals and communicate with each other in order to solve the conflict at the lowest cost. This enables that agents open safe distance gaps and make the maneuvers. We also proposed a cost function attenuation so that the agents can continue to negotiate while the agreement was not reached, but with less impact on the cost. We simulated lane merge task on SUMO with a two-lane highway with speed limit of 30 m/s. We initially simulated 2 agents and we were increasing the number of agents up to 26. We recorded the total average time for the platoon to perform the lane merge task, the platoon average velocity and the average of the speed limit exceeded in each simulation. By increasing the number of agents the total average time stabilized approximately 25 seconds. Which represents an expressive result because the time for one vehicle to complete the maneuver is 4.6 seconds. The average speed was also approximately constant around 22 m/s, which represents a good result for the traffic flow. The highest speed exceeded 9 % which represents 2.70 m/s with the attenuation cost function. We can observe that the approach proved to be scalable since the analyzed data show stability by increasing the number of vehicles.
{"title":"Bargaining game approach for lane change maneuvers","authors":"T. C. Santos, D. Wolf","doi":"10.1109/ICAR46387.2019.8981547","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981547","url":null,"abstract":"Lane change is one of the most common maneuvers in traffic and at least 60,000 people are injured from them. This problem is usually addressed from the perspective of automation and for a single vehicle using path planning and control approaches. However, traffic is a multi-agent system which can use communication technologies to perform coordinated maneuvers in a decentralized manner. This paper aims to present a Decentralized Bargaining Negotiation Process allowing that two conflicting agents negotiate. During the negotiation, agents calculate velocity change proposals and communicate with each other in order to solve the conflict at the lowest cost. This enables that agents open safe distance gaps and make the maneuvers. We also proposed a cost function attenuation so that the agents can continue to negotiate while the agreement was not reached, but with less impact on the cost. We simulated lane merge task on SUMO with a two-lane highway with speed limit of 30 m/s. We initially simulated 2 agents and we were increasing the number of agents up to 26. We recorded the total average time for the platoon to perform the lane merge task, the platoon average velocity and the average of the speed limit exceeded in each simulation. By increasing the number of agents the total average time stabilized approximately 25 seconds. Which represents an expressive result because the time for one vehicle to complete the maneuver is 4.6 seconds. The average speed was also approximately constant around 22 m/s, which represents a good result for the traffic flow. The highest speed exceeded 9 % which represents 2.70 m/s with the attenuation cost function. We can observe that the approach proved to be scalable since the analyzed data show stability by increasing the number of vehicles.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"139 1","pages":"629-634"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76575115","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 : 2019-12-01DOI: 10.1109/ICAR46387.2019.8981615
A. Jebri, T. Madani, Karim D Djouani
This paper introduces a robust neural adaptive integral sliding mode controller with a SSVEP-based BCI for exoskeletons. A BCI is used to establish the desired trajectories by analyzing EEG signals. The neural networks are used to approximate nonlinear exoskeleton's dynamic. A sliding mode controller is added to guarantee the global asymptotic stability of the tracking trajectory and the neural network approximations. The controller's design is based on the hypothesis that only classical properties like boundedness of some parameters are known and all other functions are unknown. The closed-loop stability of the system is demonstrated using Lyapunov method. The effectiveness of the proposed approach is tested by an experiment application to rehabilitation context using an upper limb exoskeleton of 2-DOF.
{"title":"Neural Adaptive Integral-Sliding-Mode Controller with a SSVEP-based BCI for Exoskeletons","authors":"A. Jebri, T. Madani, Karim D Djouani","doi":"10.1109/ICAR46387.2019.8981615","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981615","url":null,"abstract":"This paper introduces a robust neural adaptive integral sliding mode controller with a SSVEP-based BCI for exoskeletons. A BCI is used to establish the desired trajectories by analyzing EEG signals. The neural networks are used to approximate nonlinear exoskeleton's dynamic. A sliding mode controller is added to guarantee the global asymptotic stability of the tracking trajectory and the neural network approximations. The controller's design is based on the hypothesis that only classical properties like boundedness of some parameters are known and all other functions are unknown. The closed-loop stability of the system is demonstrated using Lyapunov method. The effectiveness of the proposed approach is tested by an experiment application to rehabilitation context using an upper limb exoskeleton of 2-DOF.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"7 1","pages":"87-92"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83743617","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 : 2019-12-01DOI: 10.1109/ICAR46387.2019.8981616
Ivan Fischman Ekman Simões, A. Forner-Cordero
Herein a controller for biped robots that allows disturbance rejection and adaptability to different walking conditions is proposed. It is based on the Capture Point and N-Step Capturability theories, and is capable of speed modulation; including positive and negative velocities. The controller performance is accessed through simulations by disturbing a nominal gait with: impulsive and constant pushes, ascending and descending ramps, and a sinusoidal terrain. Finally, a discussion regarding the controller performance is presented.
{"title":"Walking in the 2-Step Capture Region; pushes, ramps and speed modulation","authors":"Ivan Fischman Ekman Simões, A. Forner-Cordero","doi":"10.1109/ICAR46387.2019.8981616","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981616","url":null,"abstract":"Herein a controller for biped robots that allows disturbance rejection and adaptability to different walking conditions is proposed. It is based on the Capture Point and N-Step Capturability theories, and is capable of speed modulation; including positive and negative velocities. The controller performance is accessed through simulations by disturbing a nominal gait with: impulsive and constant pushes, ascending and descending ramps, and a sinusoidal terrain. Finally, a discussion regarding the controller performance is presented.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"51 1","pages":"449-455"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79176378","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 : 2019-12-01DOI: 10.1109/ICAR46387.2019.8981650
Nils Einecke, A. Robert
Nowadays, autonomous lawn mowers are widely used in Europe. The robust autonomous operation and the ease of installation has lead to a substantial market share. Most autonomous lawn mowers move in a random fashion or with simple patterns because their self-localization capabilities are very limited. In this work, we analyze the potential of using apriori information about the shape of the boundary wire in combination with electromagnetic wire sensor readings for a particle-filter-based localization. In our experiments, this approach enables us to completely compensate for odometry drift. We achieve an accuracy of 20cm to 30cm in position and 3° in orientation for common garden sizes.
{"title":"Outdoor Particle Filter Localization with Sparse Observation","authors":"Nils Einecke, A. Robert","doi":"10.1109/ICAR46387.2019.8981650","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981650","url":null,"abstract":"Nowadays, autonomous lawn mowers are widely used in Europe. The robust autonomous operation and the ease of installation has lead to a substantial market share. Most autonomous lawn mowers move in a random fashion or with simple patterns because their self-localization capabilities are very limited. In this work, we analyze the potential of using apriori information about the shape of the boundary wire in combination with electromagnetic wire sensor readings for a particle-filter-based localization. In our experiments, this approach enables us to completely compensate for odometry drift. We achieve an accuracy of 20cm to 30cm in position and 3° in orientation for common garden sizes.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"11 1","pages":"590-597"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80608682","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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