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排序方式: 共有2173条查询结果,搜索用时 15 毫秒
1.
Wesley P. Chan Hiroto Mizohana Xiangyu Chen Yasuto Shiigi Yoshiyuki Yamanoue Masaki Nagatsuka Masayuki Inaba 《野外机器人技术杂志》2019,36(1):17-33
The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition. 相似文献
2.
Creating the brain and interacting with the brain: an integrated approach to understanding the brain
In the past two decades, brain science and robotics have made gigantic advances in their own fields, and their interactions have generated several interdisciplinary research fields. First, in the ‘understanding the brain by creating the brain’ approach, computational neuroscience models have been applied to many robotics problems. Second, such brain-motivated fields as cognitive robotics and developmental robotics have emerged as interdisciplinary areas among robotics, neuroscience and cognitive science with special emphasis on humanoid robots. Third, in brain–machine interface research, a brain and a robot are mutually connected within a closed loop. In this paper, we review the theoretical backgrounds of these three interdisciplinary fields and their recent progress. Then, we introduce recent efforts to reintegrate these research fields into a coherent perspective and propose a new direction that integrates brain science and robotics where the decoding of information from the brain, robot control based on the decoded information and multimodal feedback to the brain from the robot are carried out in real time and in a closed loop. 相似文献
3.
小型蠕动机器人原理与实现 总被引:12,自引:1,他引:11
本文阐述了蠕动的原理,在此基础上研制了一套小型蠕动机器人系统,其主要部分由三个La:PZT电致伸缩微位移器和一套独特的柔性链机构所组成。机器人的外形尺寸为150*61*46mm,重2kg,最大步距10μm,行程40mm,运动精度0.2μm。 相似文献
4.
Matthias Zobel Joachim Denzler Benno Heigl Elmar Nöth Dietrich Paulus Jochen Schmidt Georg Stemmer 《Machine Vision and Applications》2003,14(1):26-34
Abstract. This contribution introduces MOBSY, a fully integrated, autonomous mobile service robot system. It acts as an automatic dialogue-based
receptionist for visitors to our institute. MOBSY incorporates many techniques from different research areas into one working
stand-alone system. The techniques involved range from computer vision over speech understanding to classical robotics.
Along with the two main aspects of vision and speech, we also focus on the integration aspect, both on the methodological
and on the technical level. We describe the task and the techniques involved. Finally, we discuss the experiences that we
gained with MOBSY during a live performance at our institute. 相似文献
5.
Decentralized adaptive coordinated control of multiple robot arms without using a force sensor 总被引:1,自引:0,他引:1
Haruhisa Kawasaki Author Vitae Satoshi Ueki Author Vitae Author Vitae 《Automatica》2006,42(3):481-488
This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown. 相似文献
6.
In this paper, we present a general method to calculate the inverse and direct dynamic models of parallel robots. The models
are expressed in a closed form by a single equation in which all the elements needed are expressed. The solution is given
in terms of the dynamic models of the legs, the dynamics of the platform and some Jacobian matrices. The proposed method is
applied in this paper on two parallel robots with different structures.
Categories (2), (3). 相似文献
7.
Ben J. A. Kr se Kai M. Compagner Franciscus C. A. Groen 《Robotics and Autonomous Systems》1993,11(3-4):221-230
This paper describes a robust and accurate ultrasonic sensing system for a mobile robot. The system continuously updates a local map of the environment in which obstacles are represented by straight lines or points in a robot centered coordinate frame. The presented algorithms use a Kalman filter for the reduction of the noise in the ultrasonic data and use a systematical error correction (‘bundle correction’) to reduce the uncertainty in obstacle direction. Experiments are carried out in simulation and with a real mobile robot system. Results show that the accuracy with which line parameters can be estimated is in the order of 1 degree for the orientation and about 2 cm for the position. The effect of the bundle correction is significant and maximal when the robot approaches walls under a small angle. 相似文献
8.
Cleanbot-Ⅰ擦窗机器人的智能化技术 总被引:1,自引:0,他引:1
本文简述了擦窗机器人智能化的主要概念.介绍了Cleanbot-I擦窗机器人系统的结构特点、主要组成部分、工作原理,操作方式,未知局部环境的模型建立,各类内、外传感器的结构、原理和信息融合技术,以及路径规划的方法. 相似文献
9.
High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks 总被引:1,自引:0,他引:1
Roland Lenain Benoit Thuilot Christophe Cariou Philippe Martinet 《Autonomous Robots》2006,21(1):79-97
When designing an accurate automated guidance system for vehicles, a major problem is sliding and pseudo-sliding effects. This is especially the case in agricultural applications, where five-centimetre accuracy with respect to the desired trajectory is required, although the vehicles are moving on slippery ground. It has been established that RTK GPS was a very suitable sensor to achieve automated guidance with such high precision: several control laws have been designed for vehicles equipped with this sensor, and provide the expected guidance accuracy as long as the vehicles do not slide. In previous work, further control developments have been proposed to take sliding into account: guidance accuracy in slippery environments has been shown to be preserved, except transiently at the beginning/end of curves. In this paper, the design of this control law is first recalled and discussed. A Model Predictive Control method is then applied in order to preserve accuracy of guidance even during these curvature transitions. Finally, the overall control scheme is implemented, and improvements with respect to previous guidance laws are demonstrated through full-scale experiments. 相似文献
10.
Real-time accurate hand path tracking and joint trajectory planning for industrial robots (I) 总被引:1,自引:0,他引:1
Previously, researchers raised the accuracy for a robot’s hand to track a specified path in Cartesian space mainly through
increasing the number of knots on the path and the number of the path’s segments, which results in the heavier online computational
burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate
hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by
a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly
raise the path tracking accuracy of robot’s hand and does not change the number of the path’s segments. It also does not increase
markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective,
and has important value in increasing the application of industrial robots.
Foundation item: Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No. RL200002)
Biography of the first author: TAN Guan-zheng, Dr., professor, born in Oct. 1962, majoring in artificial intelligence, robotics and automation. 相似文献