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11.
An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation
This research presents an autonomous robotic framework for academic, vocational and training purpose. The platform is centred on a 6 Degree Of Freedom (DOF) serial robotic arm. The kinematic and dynamic models of the robot have been derived to facilitate controller design. An on-board camera to scan the arm workspace permits autonomous applications development. The sensory system consists of position feedback from each joint of the robot and a force sensor mounted at the arm gripper. External devices can be interfaced with the platform through digital and analog I/O ports of the robot controller. To enhance the learning outcome for beginners, higher level commands have been provided. Advanced users can tailor the platform by exploiting the open-source custom-developed hardware and software architectures. The efficacy of the proposed platform has been demonstrated by implementing two experiments; autonomous sorting of objects and controller design. The proposed platform finds its potential to teach technical courses (like Robotics, Control, Electronics, Image-processing and Computer vision) and to implement and validate advanced algorithms for object manipulation and grasping, trajectory generation, path planning, etc. It can also be employed in an industrial environment to test various strategies prior to their execution on actual manipulators. 相似文献
12.
This paper introduces the notion of manipulability to mobile, multi-agent networks as a tool to analyze the instantaneous effectiveness of injecting control inputs at certain, so-called leader nodes in the network. Effectiveness is interpreted to characterize how the movements of the leader nodes translate into responses among the remaining follower nodes. This notion of effectiveness is a function of the interaction topologies, the agent configurations, and the particular choice of inputs used to influence the network. In fact, classic manipulability is an index used in robotics to analyze the singularity and efficiency of configurations of robot-arm manipulators. To define similar notions for leader–follower networks, we use a rigid-link approximation of the follower dynamics and, under this assumption, we prove that the instantaneous follower velocities can be uniquely determined from that of the leaders’, which allows us to define a meaningful and computable manipulability index for the leader–follower networks. This paper examines the property of the proposed index in simulation and with real mobile robots, and demonstrates how the index can be used to find effective interaction topologies. 相似文献
13.
Extraction and implementation of muscle synergies in neuro-mechanical control of upper limb movement
Hang Pham Yohei Ariga Kenta Tominaga Takanori Oku Kanna Nakayama Mitsunori Uemura 《Advanced Robotics》2014,28(11):745-757
This work faces the redundancy problem, a central concern in robotics, in a particular force-producing task by using muscle synergies to simplify the control. We extracted muscle synergies from human electromyograph signals and interpreted the physical meaning of the identified muscle synergies. Based on the human analysis results, we hypothesized a novel control framework that can explain the mechanism of the human motor control. The framework was tested in controlling a pneumatic-driven robotic arm to perform a reaching task. This control method, which uses only two synergies as manipulated variables for driving antagonistic pneumatic artificial muscles to generate desired movements, would be useful to deal with the redundancy problem; thus, suggesting a simple but efficient control for human-like robots to work safely and compliantly with humans. 相似文献
14.
15.
随着机器人技术的发展以及服务机器人形态的日益丰富,智能家居/智慧生活逐渐成为一种未来的生活方式。文章探索了智能家居和智慧生活的服务机器人技术与系统,在其众多的关键技术中,重点探讨了面向服务机器人的云端融合技术以及高用户体验度的人-机器人交互技术。并以家庭服务机器人为例,实现了基于微信和语音云的人-机器人交互方式,验证了基于云架构的家庭服务机器人体系结构的可行性。文章所提出的服务机器人技术与系统是智能家居、智慧生活的一种实现方式,为未来形形色色的服务机器人技术方案提供了一些思路。 相似文献
16.
水下船体表面清刷和检测为爬壁机器人开辟了新的应用领域,其特点是机械本体稳定地吸附在水下船体表面上,同时能够灵活地完成移动、转向、越障等行走功能,进而完成针对船体表面的检测、清刷等作业。文中重点介绍了几种水下船体作业的爬壁爬行机器人,并对机器人的吸附和行走两个关键技术进行了分析,总结了水下船体作业机器人研究中的一些难点问题及其发展趋势。 相似文献
17.
This paper presents a method for generating gaits for a one-legged articulated hopping robot. A static optimization procedure
produces the initial joint velocities for the flight phase, using the principle of conservation of angular momentum and assuming
(nearly) passive flight. Two novel objective functions for this static optimization enable one to choose different gaits by
simply changing a few parameters. A dynamic optimization procedure yields a solution for the flight trajectory that minimizes
control effort. The stance phase (when the foot is touching the ground) becomes a standard two point boundary value problem,
also solved with a dynamic optimization procedure. During the stance phase, the physical joint limitations, ground reaction
forces, and the trajectory of the zero-moment point all constrain the solution. After these single-phase optimizations, a
complete-cycle optimization procedure, incorporating both flight and stance phases, further reduces the control effort and
balances the motion phases. In simulation, the leg hops on even ground and up stairs, exhibiting energy-efficient and intuitively
satisfying gaits. 相似文献
18.
Christopher Rasmussen 《Autonomous Robots》2008,25(3):205-229
We present a vision- and ladar-based approach to autonomous driving on rural and desert roads that has been tested extensively
in a closed-loop system. The vision component uses Gabor wavelet filters for texture analysis to find ruts and tracks from
which the road vanishing point can be inferred via Hough-style voting, yielding a direction estimate for steering control.
The ladar component projects detected obstacles along the road direction onto the plane of the front of the vehicle and tracks
the 1-D obstacle “gap” presumed due to the road to yield a lateral offset estimate. Several image- and state-based tests to
detect failure conditions such as off-road poses (i.e., there is no road to follow) and poor lighting due to sun glare or
distracting shadows are also explained. The system’s efficacy is demonstrated with analysis of diverse logged data including
from the 2005 DARPA Grand Challenge, as well as tests with full control of a vehicle over 15 km of difficult roads at up to
37 km/h with no waypoints.
相似文献
Christopher RasmussenEmail: |
19.
So far, most of the applications of robotic technology to education have mainly focused on supporting the teaching of subjects
that are closely related to the Robotics field, such as robot programming, robot construction, or mechatronics. Moreover,
most of the applications have used the robot as an end or a passive tool of the learning activity, where the robot has been
constructed or programmed. In this paper, we present a novel application of robotic technologies to education, where we use
the real world situatedness of a robot to teach non-robotic related subjects, such as math and physics. Furthermore, we also
provide the robot with a suitable degree of autonomy to actively guide and mediate in the development of the educational activity.
We present our approach as an educational framework based on a collaborative and constructivist learning environment, where
the robot is able to act as an interaction mediator capable of managing the interactions occurring among the working students.
We illustrate the use of this framework by a 4-step methodology that is used to implement two educational activities. These
activities were tested at local schools with encouraging results. Accordingly, the main contributions of this work are: i) A
novel use of a mobile robot to illustrate and teach relevant concepts and properties of the real world; ii) A novel use of
robots as mediators that autonomously guide an educational activity using a collaborative and constructivist learning approach;
iii) The implementation and testing of these ideas in a real scenario, working with students at local schools.
相似文献
Alvaro Soto (Corresponding author)Email: |
20.
Nina Qian Hari Krishna Bisoyi Meng Wang Shuai Huang Zhongcheng Liu Xu-Man Chen Jun Hu Hong Yang Quan Li 《Advanced functional materials》2023,33(16):2214205
In recent years, although light-driven soft actuators have attracted intense scientific attention and achieved remarkable progress, the design and construction of an intelligent robotic system with maneuverability, self-adaptability, untethered control, and greater freedom of action, in particular the omnidirectional motion capability on a plane, remains challenging. Herein, four types of photo-thermal fillers and an unprecedented twist-bend actuation mode is introduced into a liquid crystal elastomer-based soft robot. The obtained twist-bend crawling robot not only exhibits in situ rotation, four-way turning, and four-way linear motion under light irradiation with four wavelength bands (520, 655, 808, and 980 nm), but also demonstrates the ability to avoid obstacles in complex geographical environments. This work may bring a new perspective for fabrication and development of soft robots that can adapt to dynamic and complex environmental conditions. 相似文献