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991.
自动化立体仓库搬运机器人精定位视觉系统 总被引:1,自引:0,他引:1
本文介绍一个搬运机器人的视觉系统.该系统是为机器人在具有较大相对位置偏差的货架中准确存取而研制的.系统由 CCD 摄象机获取货架图象,经过处理,给出精定位数据,从而引导机器人准确定位. 相似文献
992.
Stability and control of dynamic walking for a five-link planar biped robot with feet 总被引:1,自引:0,他引:1
During dynamic walking of biped robots, the underactuated rotating degree of freedom (DOF) emerges between the support foot and the ground, which makes the biped model hybrid and dimension-variant. This paper addresses the asymptotic orbit stability for dimension-variant hybrid systems (DVHS). Based on the generalized Poincare map, the stability criterion for DVHS is also presented, and the result is then used to study dynamic walking for a five-link planar biped robot with feet. Time-invariant gait planning and nonlinear control strategy for dynamic walking with fiat feet is also introduced. Simulation results indicate that an asymptotically stable limit cycle of dynamic walking is achieved by the proposed method. 相似文献
993.
Tetsushi Oka Toyokazu Abe Kaoru Sugita Masao Yokota 《Artificial Life and Robotics》2009,13(2):455-459
This article describes a multimodal command language for home robot users, and a robot system which interprets users’ messages
in the language through microphones, visual and tactile sensors, and control buttons. The command language comprises a set
of grammar rules, a lexicon, and nonverbal events detected in hand gestures, readings of tactile sensors attached to the robots,
and buttons on the controllers in the users’ hands. Prototype humanoid systems which immediately execute commands in the language
are also presented, along with preliminary experiments of faceto-face interactions and teleoperations. Subjects unfamiliar
with the language were able to command humanoids and complete their tasks with brief documents at hand, given a short demonstration
beforehand. The command understanding system operating on PCs responded to multimodal commands without significant delay.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献
994.
Ignacio Fernández Manuel Mazo José L. Lázaro Daniel Pizarro Enrique Santiso Pedro Martín Cristina Losada 《Autonomous Robots》2007,23(4):305-324
This paper presents a new proposal for positioning and guiding mobile robots in indoor environments. The proposal is based
on the information provided by static cameras located in the movement environment. This proposal falls within the scope of
what are known as intelligent environments; in this case, the environment is provided with cameras that, once calibrated,
allow the position of the robots to be obtained. Based on this information, control orders for the robots can be generated
using a radio frequency link. In order to facilitate identification of the robots, even under extremely adverse ambient lighting
conditions, a beacon consisting of four circular elements constructed from infrared diodes is mounted on board the robots.
In order to identify the beacon, an edge detection process is carried out. This is followed by a process that, based on the
algebraic distance, obtains the estimated ellipses associated with each element of the beacon. Once the beacon has been identified,
the coordinates of the centroids for the elements that make up the beacon are obtained on the various image planes. Based
on these coordinates, an algorithm is proposed that takes into account the standard deviation of the error produced in the
various cameras in ascertaining the coordinates of the beacon’s elements. An odometric system is also used in guidance that,
in conjunction with a Kalman Filter, allows the position of the robot to be estimated during the time intervals required to
process the visual information provided by the cameras.
相似文献
Cristina LosadaEmail: |
995.
996.
微细电火花加工技术的最新进展及应用实例 总被引:5,自引:2,他引:5
介绍了微细电火花加工技术的最新进展,并以一些最新的应用实例反映了该技术的发展趋势和应用前景。 相似文献
997.
用于移动机器人避障的人工神经网络和模糊逻辑控制技术 总被引:10,自引:0,他引:10
提出了一种用于移动机器人对当前感知环境进行了识别和分类进而实现避障的方法,分析和研究反映当前感知环境的特征向量的抽取技术,并建立反映期望环境类别的特征向量训练样本数据库;建立基于ART2神经网络的分类器模型,根据多传感器信息实现移动机器人对其当前感知环境进行快速识别和分类;利用模糊逻辑技术,设计用于移动机器人在未知环境下避障的三维模型控制器,在TIT-1型移动机器人上进行实验。 相似文献
998.
999.
1000.
机器人卫星自主控制系统的研究 总被引:3,自引:0,他引:3
在国内首次研制成功了机器人卫星(或称空间自由飞行机器人)的自主控制系统及其地上实验平台。该自主控制系统在平台上实现的空间微重力环境条件下,通过运动规划系统能完成机器人卫星自主地避开障碍物,准确地捕捉目标的路径规划演示实验。这一成果对用机器人卫星捕捉失效卫星并对其进行维修、补给能量从而使其复活再生的研究具有实际应用意义。 相似文献