Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献

英文中文

Task-Induced Symmetry and Reduction in Kinematic Systems with Application to Needle Steering. 运动系统的任务诱导对称性和约简及其在针转向中的应用。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

Pub Date : 2007-10-29 DOI: 10.1109/IROS.2007.4399466

Vinutha Kallem, Dong Eui Chang, Noah J Cowan

Lie group symmetry in a mechanical system can lead to a dimensional reduction in its dynamical equations. Typically, the symmetries that one exploits are intrinsic to the mechanical system at hand, e.g. invariance of the system's Lagrangian to some group of motions. In the present work we consider symmetries that arise from an extrinsic control task, rather than the intrinsic structure of configuration space, constraints, or system dynamics. We illustrate this technique with several examples. In the examples, the reduction enables us to design essentially global feedback controllers on the reduced systems.We apply task-induced symmetry and reduction to a recently developed 6 DOF kinematic model of steerable bevel-tip needles. The resulting controllers cause the needle tip to track a subspace of its configuration space. We envision that the methodology presented in this paper will form the basis for a new planning and control framework for needle steering.

机械系统中的李群对称可以导致其动力学方程的降维。通常，人们利用的对称性是手头机械系统固有的，例如，系统的拉格朗日对某些运动组的不变性。在目前的工作中，我们考虑由外部控制任务产生的对称性，而不是配置空间、约束或系统动力学的内在结构。我们用几个例子来说明这种技术。在例子中，简化使我们能够在简化的系统上设计本质上的全局反馈控制器。我们将任务诱导的对称和约简应用于最近开发的可操纵斜尖针的6自由度运动学模型。由此产生的控制器使针尖跟踪其位形空间的一个子空间。我们设想，在本文中提出的方法将形成一个新的规划和控制框架的针转向的基础。

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引用次数: 12

Stability guaranteed control: Time domain passivity approach 稳定性保证控制:时域无源控制

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

Pub Date : 2004-10-25 DOI: 10.1109/IRDS.2002.1041579

J. Ryu, D. Kwon, Blake Hannaford

A new, energy-based method is proposed for guaranteeing the stability of large classes of control systems with minimum performance losses. Based on a network presentation, the large classes of control systems are analyzed in a unified framework. In this unified network model, the concept of passivity is used to study the stability of large classes of control systems. For guaranteeing the stability condition, the time-domain passivity controller is extended to a 2-port network to make the controller 2-port passive. The developed method is tested with numerical simulation in the regulation of a single link flexible manipulator. Totally stable control is achieved under a wide variety of operating conditions and uncertainties without any model information.

提出了一种新的基于能量的方法，以最小的性能损失保证大类控制系统的稳定性。基于网络表示，在一个统一的框架中分析了大类控制系统。在该统一网络模型中，采用无源性的概念研究了大类别控制系统的稳定性。为保证稳定条件，将时域无源控制器扩展到2端口网络，使控制器成为2端口无源控制器。以单连杆柔性机械臂的调节为例进行了数值仿真试验。在不需要任何模型信息的情况下，可以在多种工况和不确定性条件下实现完全稳定控制。

引用次数: 24

A novel gait generation for biped walking robots based on mechanical energy constraint 一种基于机械能约束的双足步行机器人步态生成方法

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

Pub Date : 2004-06-07 DOI: 10.1109/IRDS.2002.1041668

Fumihiko Asano, Masaki Yamakita, N. Kamamichi, Zhi-Wei Luo

This paper proposes a novel energy-based control law for biped robots based on an analysis of passive dynamic walking. Firstly we discuss the essence of dynamic walking using a passive walker on a gentle slope. In the second, we propose a simple and effective control law which imitates the energy behavior in every cycle considering the ZMP condition and other factors of the active walker. The control strategy is formed by the feature of mechanical energy dissipation and restoration. By the effect of the proposed method, the robot can exhibit natural and reasonable walk on a level ground without any gait design in advance. The validity of the proposed method is examined by numerical simulations and experiments.

在分析双足机器人被动动态行走的基础上，提出了一种基于能量的双足机器人控制律。首先，我们讨论了在缓坡上使用被动步行器进行动态步行的本质。其次，在考虑ZMP条件和其他因素的情况下，提出了一种简单有效的控制律，该律模拟了主动步行器在每个周期内的能量行为。该控制策略是利用机械能量耗散和恢复的特点形成的。通过该方法，机器人无需预先进行步态设计，即可在平地上自然合理地行走。通过数值模拟和实验验证了该方法的有效性。

引用次数: 48

Study of a wire-driven leg rehabilitation system 一种线驱动腿部康复系统的研究

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

Pub Date : 2003-12-30 DOI: 10.1109/IRDS.2002.1043959

K. Homma, O. Fukuda, Y. Nagata

We propose here a new type of leg rehabilitation system. The aim of the system is to realize the multiple-degree-of-freedom (DOF) training of a leg by manipulating the patient's leg with wires. First, a single-DOF experimental system was built and tested, and the experimental results showed the feasibility of a wire-driven leg rehabilitation system. Next, a 2-DOF experimental system was designed, with a target motion of flexion/extension of both the hip and knee joints. Experiments of single-DOF motion on a test dummy and a male subject showed that the system generated enough accurate motion to support a range of motion exercises. In addition, the results demonstrate that the wire-driven mechanism is user friendly.

我们在此提出一种新型的腿部康复系统。该系统的目的是通过导线操纵患者的腿部来实现腿部的多自由度训练。首先搭建了单自由度实验系统并进行了测试，实验结果验证了线驱动腿部康复系统的可行性。其次，设计了一个以髋关节和膝关节屈伸为目标运动的二自由度实验系统。在测试假人和男性受试者上进行的单自由度运动实验表明，该系统产生的运动足够精确，可以支持一系列运动练习。此外，结果表明，线驱动机构是用户友好的。

引用次数: 9

Soft computing system using fuzzy clustering and on-line learning 采用模糊聚类和在线学习的软计算系统

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

Pub Date : 2002-12-10 DOI: 10.1109/IRDS.2002.1041530

Chunshien Li, K. Cheng

An attractive self-organizing fuzzy system (SOFS) with on-line learning ability is proposed in this paper The SOFS possesses the ability of self-organization and on-line learning for its knowledge base in application while the plant is viewed as a "black box" for the SOFS. A novel concept of pseudo-errors is utilized to capture the characteristic of plant behavior, and the information of pseudo-errors is considered as the behavior information of a plant. With statistical regression, observed data pairs of pseudo-errors are collected and analyzed input space formed by pseudo-errors is partitioned into several regions in cluster form. In cluster-based fuzzy reasoning, the partitioned region in the input space is viewed as the antecedent of a fuzzy if-then rule, in which Gaussian membership functions are used. Based on random optimization algorithm, an on-line learning method is proposed in the paper. It enables the SOFS to learn on tracking a reference curve directly. The learning iteration is divided into several sub-parts to make the on-line learning feasible by which the system parameters are. updated in a real-time style to search for the optimal fuzzy sets of if-then rules. The T-S fuzzy model is utilized, where the consequent parts are in the form of linear function. Inferred result does not require defuzzification because the consequents of the fuzzy rules are crisp. Motion control of an auto-warehousing crane system is used to illustrate the feasibility of the proposed approach.

本文提出了一种具有在线学习能力的自组织模糊系统(SOFS)，该系统在应用中对其知识库具有自组织和在线学习的能力，而对象被视为SOFS的“黑匣子”。利用伪误差的概念来捕捉植物的行为特征，并将伪误差信息视为植物的行为信息。采用统计回归的方法，对观测到的伪误差数据对进行收集和分析，将伪误差形成的输入空间以聚类的形式划分为若干区域。在基于聚类的模糊推理中，输入空间中的划分区域被视为模糊if-then规则的前提，其中使用高斯隶属函数。本文提出了一种基于随机优化算法的在线学习方法。它使SOFS能够直接学习跟踪参考曲线。将学习迭代分成若干子部分，使在线学习成为可能，从而确定系统参数。实时更新，搜索if-then规则的最优模糊集。采用T-S模糊模型，结果部分采用线性函数形式。推断结果不需要去模糊化，因为模糊规则的结果是清晰的。以一个自动仓储起重机系统的运动控制为例，说明了该方法的可行性。

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引用次数: 0

Fuzzy continuous gain scheduling H/sub /spl infin// control based on Taylor series fitting for robotic manipulators 基于泰勒级数拟合的机器人模糊连续增益调度H/sub /spl / in//控制

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

Pub Date : 2002-12-10 DOI: 10.1109/IRDS.2002.1041590

Zhongwei Yu, Huitang Chen, P. Woo

A new approach to the design of a fuzzy continuous gain scheduled H/sub /spl infin// controller based on Taylor series fitting for n-joint rigid robotic manipulators, which guarantees satisfactory dynamic characteristics in the whole movement range, is presented. This scheme combines the gain scheduled H/sub /spl infin// theory with LMI approach to design a continuous gain scheduled H/sub /spl infin// controller, which is applicable to systems with fast state variations so that the deficiency of the conventional gain scheduled controllers is overcome, with the use of Taylor series fitting. Fuzzy control is then incorporated so chat the designed controller possesses the characteristics of a fast response for large errors and a well-damped response for small errors. The system thus always has a good dynamic performance along with the variations of the system states. Simulations and experiments demonstrate the effectiveness of the designed controller.

针对n关节刚性机械臂，提出了一种基于泰勒级数拟合的模糊连续增益调度H/sub /spl //控制器的设计方法，使其在整个运动范围内具有满意的动态特性。该方案将增益计划H/sub /spl增益// /理论与LMI方法相结合，设计了一种连续增益计划H/sub /spl增益// /控制器，适用于状态变化快的系统，克服了传统增益计划控制器的不足，并采用泰勒级数拟合。然后加入模糊控制，使所设计的控制器对大误差具有快速响应的特性，对小误差具有良好的阻尼响应。因此，随着系统状态的变化，系统始终具有良好的动态性能。仿真和实验验证了所设计控制器的有效性。

引用次数: 1

Real-time area-covering operations with obstacle avoidance for cleaning robots 清洁机器人的实时避障区域覆盖操作

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

Pub Date : 2002-12-10 DOI: 10.1109/IRDS.2002.1041620

C. Luo, Simon X. Yang, Xiaobu Yuan

An area-covering operation is a kind of complete coverage path planning, which requires the robot path to cover every part of the workspace, which is an essential issue in cleaning robots and many other robotic applications such as vacuum, robots, painter robots, land mine detectors, lawn mowers, and windows cleaners. In this paper, a novel biologically inspired neural network approach is proposed for complete coverage path planning with obstacle avoidance of a cleaning robot in a nonstationary environment. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation or an additive equation derived from Hodgkin and Huxley's (1952) membrane equation. There are only local lateral connections among neurons. Thus the computational complexity linearly depends on the neural network size. The proposed model algorithm is computationally efficient, and can also deal with changing environment. Simulation results show that the proposed model is capable of planning collision-free complete coverage robot path.

区域覆盖操作是一种完全覆盖路径规划，它要求机器人的路径覆盖工作空间的每个部分，这是清洁机器人和许多其他机器人应用(如真空机器人、机器人、油漆工机器人、地雷探测器、割草机和窗户清洁工)中必不可少的问题。针对清洁机器人在非平稳环境下的避障全覆盖路径规划问题，提出了一种基于生物启发的神经网络方法。在拓扑组织的神经网络中，每个神经元的动态由一个分流方程或一个从霍奇金和赫胥黎(1952)膜方程导出的加法方程来表征。神经元之间只有局部的外侧连接。因此，计算复杂度与神经网络的大小呈线性关系。所提出的模型算法计算效率高，并且能够适应变化的环境。仿真结果表明，该模型能够规划出无碰撞的全覆盖机器人路径。

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引用次数: 18

Skill assistance for myoelectric control using an event-driven task model 使用事件驱动任务模型的肌电控制技能辅助

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

Pub Date : 2002-12-10 DOI: 10.1109/IRDS.2002.1043958

O. Fukuda, T. Tsuji, Kousuke Takahashi, M. Kaneko

Electromyogram (EMG) has often been used as a control signal for a prosthetic arm, which includes information on the operator's motor intentions and the mechanical impedance of joints. Most previous research adopted the control methods of the prosthetic arms based on the EMG pattern discrimination and/or the force estimation from the EMG signals, and did not utilize any knowledge on tasks performed by amputees such as object grasping and soup-spooning tasks. In this paper, a new myoelectric control method is proposed using a statistically organized neural network and an event-driven task model. The task model is represented using a Petri net to describe the task dependent knowledge, which is used to modify the neural network's output. Experimental results show that the use of the task model significantly improves the accuracy of the EMG pattern discrimination.

肌电图(EMG)经常被用作假肢手臂的控制信号，它包括操作者的运动意图和关节的机械阻抗信息。以往的研究大多采用基于肌电模式识别和/或肌电信号的力估计的假肢手臂控制方法，而没有利用任何关于截肢者执行的任务的知识，如抓取物体和舀汤任务。本文提出了一种基于统计组织神经网络和事件驱动任务模型的肌电控制方法。该任务模型采用Petri网来描述任务相关知识，并用于修改神经网络的输出。实验结果表明，任务模型的使用显著提高了肌电模式识别的准确性。

引用次数: 13

A new method of image features pre-selection for real-time pose estimation based on Kalman filter 提出了一种基于卡尔曼滤波的实时姿态估计图像特征预选方法

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

Pub Date : 2002-12-10 DOI: 10.1109/IRDS.2002.1041417

V. Lippiello, B. Siciliano, L. Villani

The problem of real-time pose estimation of moving objects using a stereo video camera system is considered in this paper. A computationally efficient algorithm is proposed based on Kalman filtering of the position measurements of suitable feature points selected on the target objects. The efficiency of the algorithm is improved by adopting a new pre-selection technique of the feature points, based on binary space partition (BSP) trees, which takes advantage of the Kalman filter prediction capability. Computer simulations are presented.

研究了利用立体摄像机系统对运动物体进行实时姿态估计的问题。提出了一种基于卡尔曼滤波的目标物体上合适特征点位置测量的高效算法。采用一种新的基于二叉空间划分(BSP)树的特征点预选技术，利用卡尔曼滤波的预测能力，提高了算法的效率。给出了计算机仿真。

引用次数: 8

A laser scanner based mobile robot SLAM algorithm with improved convergence properties 一种基于激光扫描仪的移动机器人SLAM算法

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

Pub Date : 2002-12-10 DOI: 10.1109/IRDS.2002.1041453

Grigoris Lionis, K. Kyriakopoulos

We have developed a laser scanner based simultaneous localization and map building method, specifically addressing the divergence problem of the classical extended Kalman filters (EKF) based simultaneous localization and map building (SLAM) algorithms. Our method utilizes two EKFs. The first is used to estimate the orientations of the robot and the obstacles, and the second estimates the positions of the robot and of the obstacles. Experimental results are also presented to verify our arguments.

针对经典的扩展卡尔曼滤波(EKF)同步定位和地图构建算法的发散问题，提出了一种基于激光扫描仪的同步定位和地图构建方法。我们的方法使用两个ekf。第一个用于估计机器人和障碍物的方向，第二个用于估计机器人和障碍物的位置。实验结果也验证了我们的论点。

引用次数: 19

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Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

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