新型智能机器人触觉传感服装阵列标定的研究

为使智能机器人在汽车冲撞试验中获得准确的触觉信息,研发了一种基于导电橡胶压阻特性的新型触觉传感服装阵列.针对该传感阵列设计了静态标定试验装置,在常温下(25℃)研究了不同型号的导电橡胶( N05,N10,N15)的压阻行为特性,选出压敏性最佳的N10作为触觉传感服装的敏感元件;在此基础上提出了标定方案,标定结果表明:高...     

Active sensing control improving SLAM accuracy for a vehicle robot

Artificial Life and Robotics - This study considers an autonomous mobile vehicle using SLAM technology in an unknown environment. The focused problem is the decrease of trajectory following...     

Force position control for a robot finger with a soft tip and kinematic uncertainties

We consider the problem of force and position regulation for a robot finger with a soft tip in contact with a surface with unknown geometrical characteristics. An adaptive controller is proposed, and the asymptotic convergence of the applied force error and the estimated position error of the tip to zero is shown for the spatial case. Simulation results demonstrate the controller performance.     

An active sensing strategy for contact location without tactile sensors using robot geometry and kinematics

In this study, we develop new techniques to sense contact locations and control robots in contact situations in order to enable articulated robotic systems to perform manipulations and grasping actions. Active sensing approaches are investigated by utilizing robot kinematics and geometry to improve upon existing sensing methods for contact. Compliant motion control is used so that a robot can actively search for and localize the desired contact location. Robot control in a contact situation is improved by the precise estimation of the contact location. From this viewpoint, we investigate a new control strategy to accommodate the proposed sensing techniques in contact situations. The proposed estimation algorithm and the control strategy both work complementarily. Then, we verify the proposed algorithm through experiments using 7-DOF hardware and a simulation environment. The two major contributions of the proposed active sensing strategy are the estimation algorithm for contact location without any tactile sensors, and the control strategy complementing the proposed estimation algorithm.     

Hybrid sensing and encoding using pad phone for home robot control

Multimedia Tools and Applications - For the patients with limb disorder to control the home robot movement, the human intention sensing and encoding are the two important tasks. This paper focuses...     

Development of a flexible three-axial tactile sensor array for a robotic finger

In this paper, we propose a flexible three-axial tactile sensor array for measuring both normal and shear loads. The sensor array has 16 tactile sensor units based on piezoresistive strain gauge. It is constructed on a Kapton polyimide film using advanced polymer micromachining technologies. Thin metal strain gauges are embedded in polyimide to measure normal and shear loads, which are tested by applying forces from 0 to 1?N. The developed sensor unit had a hysteresis error of about 9% and repeatability error of about 1.31%. The sensor showed a good resulting image when pressed by a circle-shaped object with 10?N loads. The proposed flexible three-axial tactile sensor array can be applied in a curved or compliant surface that requires slip detection and flexibility, such as a robotic finger.     

A multi-purpose dynamic and tactile sensor for robot manipulators

In this article, a multi-purpose tactile/acceleration sensor system made of newly developed thick polymeric piezoelectric material and capable of sensing acceleration, contact force and pressure is developed and evaluated using analytical and experimental techniques, The sensor system is discretized and modeled by a single degree of freedom second order system from which equations of electromechanical dynamics are formulated to evaluate its performance. Analytical solutions are compared favorably with experimental results.     

机器人控制软件的图形化编程系统设计

提出了一种基于图形化编程的机器人软件系统的总体结构设计,包括软件结构的总体设计思路,主要处理从流程图式的图形化结构到类C语言的转换,再将这种类C语言翻译转换为下位机所能识别的目标代码,经过串口通讯下载到下位机中,完成上位机和下位机的信息交互.提出的设计方法和思路已经过严格的测试和检测,实际应用表明,该系统具有较好的灵活性,稳定性和实用性.     

Stability analysis of a vision-based control design for an autonomous mobile robot

We propose a simple control design allowing a mobile robot equipped with a camera to track a line on the ground. The control algorithm, as well as the image-processing algorithm, are very simple. We discuss the existence and the practical stability of an equilibrium trajectory of the robot when tracking a circular reference line. We then give a complementary analysis for arbitrary reference lines with bounded curvature. Experimental results confirm the theoretical analysis.     

Development of a bioinspired MEMS based capacitive tactile sensor for a robotic finger

This paper presents the development of a MEMS based capacitive tactile sensor intended to be incorporated into a tactile array as the core element of a biomimetic fingerpad. The use of standard microfabrication technologies in realising the device allowed a cost efficient fabrication involving only a few process steps. A low noise readout electronics system was developed for measuring the sensor response. The performance of both bare and packaged sensors was evaluated by direct probing of individual capacitive sensor units and characterising their response to load–unload indentation cycles.     

Walking-support robot system for walking rehabilitation: design and control

An intelligent walking-assistance robot system has been developed to help the elderly or the disabled in rehabilitation programs. From the design viewpoint, several different mechanisms to satisfy the strict requirements for use in a rehabilitation program were considered and studied. A two-wheel mobile mechanism was developed to provide motions to follow the patient's walking trajectory, and also to make the patient follow a specified trajectory. Equations of motion were derived for the unloading control, and a force control algorithm was developed. For motion control of the mobile base, virtual trajectory planning by the B-spline method and PID control were used. Sensing the motion of the patient is performed by a linear potentiometer and a rotating encoder attached to the robot manipulator. The system was tested on patients in hospital and the experimental results are reported.     

The development and control of a flexible-spine for a human-form robot

In this paper, the development of a robot which has a flexible spine is presented. By embedding a multi-d.o.f. soft structure into a robot body as a spine, the robot can increase its ability to absorb shock and to work in various environment such as narrow places. As a result of these abilities, the robot can expand its opportunity to work in the human environment. Moreover, its motion could be more natural. The developed full-body human-form robot has a five-jointed flexible spine. Each joint (vertebra) has 3 d.o.f. Between each vertebrae is a 'disk' made of silicone rubber. The spine is controlled by eight tendons, whose tensions can be controlled using tension sensors and locally distributed microcontrollers. This paper describes the development of the flexible spine and the control of the posture of the spine and body.     

Beat gesture recognition and finger motion control of a piano playing robot for affective interaction of the elderly

This paper introduces a piano playing robot in views of smart house and assistive robot technology to care the affective states of the elderly. We address the current issues in this research area and propose a piano playing robot as a solution. For affective interaction based on music, we first present a beat gesture recognition method to synchronize the tempo of a robot playing a piano with the desired tempo of the user. To estimate the period of an unstructured beat gesture expressed by any part of a body or an object, we apply an optical flow method, and use the trajectories of the center of gravity and normalized central moments of moving objects in images. In addition, we also apply a motion control method by which robotic fingers are trained to follow a set of trajectories. Since the ability to track the trajectories influences the sound a piano generates, we adopt an iterative learning control method to reduce the tracking error.     

卓越Ⅰ型仿人机器人底层关节控制器的设计

为了实现卓越Ⅰ型机器人在实际环境中稳步行走,设计了底层控制系统中的关节控制器用于控制舵机。选用DSP TMS320F2812作为处理器,充分利用其全数字型,集成度高,体积小,低功耗以及可实现多轴运动的特点,对底层各个关节舵机进行控制,实现既定舵机的运转,以及将舵机的转速和位置等相关传感器的信息反馈给上级控制处理器实现对关节舵机精确的控制,并通过DSP TMS320F2812的两个事件管理器分别同时控制机器人的左右腿的关节舵机单元,提高了机器人在实际行走以及执行任务过程中的实时性、准确性以及稳定性。     

智能机器人车自主导航控制系统设计

针对智能机器人车的导航、控制问题,本文设计搭建了一套基于AT89S52的机器人车自主导航控制系统.该系统采用联合CCD和超声波测距的两级融合方法对目标的运动姿态、状态信息进行了检测,实现了机器人车的相对定位,确保了定位精度;并针对直流电机的PWM控制,采用了软件的方式分时产生两路PWM波,无需增加额外的硬件,既节约成本,又完全满足舵机的控制要求.通过对软件部分融合决策子程序的修改,可实现机器人车越障和目标跟踪的功能.     

Navigation control for a mobile robot

This article describes a navigation method of a mobile robot which uses a single camera and a guide mark. A travel path is instructed to the robot by means of path drawn on a monitor screen. The image of the guide mark provides information regarding the robot's position and heading direction. The heading direction is adjusted while moving if any deviation from the specified path is detected. The proposed method has been implemented in a mobile robot which runs at the average speed of 2.5 ft/s. without deviating more than one foot from the specified path in an indoor environment. © 1994 John Wiley & Sons, Inc.     

基于体感遥控的全向移动机器人的系统设计

设计一款利用人体骨骼移动信息生成控制指令控制基于麦克纳姆轮的具有全向移动抓取功能的机器人及其控制系统.首先通过kinect获取人体深度图像数据,然后利用骨骼追踪技术提取人体各个关节点,并建立空间坐标系,最后通过空间向量计算法计算出人体关节转动角度,从而识别出控制动作并映射成相关控制命令.之后利用WiFi无线传输,将控制命令传输到机器人使其执行相应动作.对系统动作识别效率和模拟场景任务执行进行测试,并给出测试结果.     

基于光学的触觉传感器电路设计

相较于电信号触觉传感器,基于光学的触觉传感器性能更好,受外界环境影响小,抗干扰性能更高.触觉传感器以弹性材料模拟人体皮肤,在弹性材料内部有标记点阵列.用摄像头拍摄标记点的图像,通过测量弹性材料受力发生形变时标记点阵列的位移情况来求解出力的分布情况,进一步计算出触觉信息.传感器采用EP4CGx30为主处理芯片,采用双层电路堆叠的方式实现,总尺寸为40mm×20mm×15 mm.     

机器视觉笔迹识别和Arduino控制机器人的设计

随着现代信息技术的高速发展,机器视觉技术已经成为研究应用的一个热点,并且结合自动化技术的机器人也更加趋向于智能化以及多功能化。由Arduino单片机、液晶显示屏、NRF2401L无线通信模块等构成该机器人的基础下位机硬件系统,具备无线传输数据、人机交互等功能;使用Python语言、结合机器视觉算法构建了笔迹识别模型,并将在上位机中识别好的信息通过NRF2401L无线通信传输至下位机硬件。