Pub Date : 2005-04-18DOI: 10.1109/ROBOT.2005.1570450
Alexandra Moutinho, J. Azinheira
This paper presents a stability and robustness analysis of a nonlinear control system for the autonomous airship of the AURORA project. A Dynamic Inversion controller is implemented with desired dynamics given by a linear optimal compensator. The stability analysis of the nonlinear system is done applying Lyapunov’s stability theory. Robustness tests are performed in order to verify the nonlinear controller performance in face of disturbances and model parameters errors. The results obtained illustrate the overall system robustness, and point at the most sensitive model parameters of the AURORA airship, for which a more careful identification/determination should be carried.
{"title":"Stability and Robustness Analysis of the AURORA Airship Control System using Dynamic Inversion","authors":"Alexandra Moutinho, J. Azinheira","doi":"10.1109/ROBOT.2005.1570450","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570450","url":null,"abstract":"This paper presents a stability and robustness analysis of a nonlinear control system for the autonomous airship of the AURORA project. A Dynamic Inversion controller is implemented with desired dynamics given by a linear optimal compensator. The stability analysis of the nonlinear system is done applying Lyapunov’s stability theory. Robustness tests are performed in order to verify the nonlinear controller performance in face of disturbances and model parameters errors. The results obtained illustrate the overall system robustness, and point at the most sensitive model parameters of the AURORA airship, for which a more careful identification/determination should be carried.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123112357","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-04-18DOI: 10.1109/ROBOT.2005.1570523
J. García, A. Robertsson, J. Ortega, Rolf Johansson
In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose a new control strategy based on multisensor fusion with three different sensors— that is, encoders mounted at each joint of the robot with six degrees of freedom, a wrist force sensor and an accelerometer— whose goal is to obtain a suitable contact force estimator for the three Cartesian axes. This new observer contributes to overcome many of the difficulties of uncertain world models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture.
{"title":"Force and Acceleration Sensor Fusion for Compliant Robot Motion Control","authors":"J. García, A. Robertsson, J. Ortega, Rolf Johansson","doi":"10.1109/ROBOT.2005.1570523","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570523","url":null,"abstract":"In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose a new control strategy based on multisensor fusion with three different sensors— that is, encoders mounted at each joint of the robot with six degrees of freedom, a wrist force sensor and an accelerometer— whose goal is to obtain a suitable contact force estimator for the three Cartesian axes. This new observer contributes to overcome many of the difficulties of uncertain world models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116929853","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-04-18DOI: 10.1109/ROBOT.2005.1570802
Sukhan Lee, Jongmoo Choi, DaeSik Kim, Jaekeun Na, Seungsub Oh
This paper presents an original approach to coding the light patterns for robust depth imaging based on structured light. We have discovered that the degradation of precision and robustness, seen in most conventional approaches to structured light, comes mainly from the overlapping of multiple codes in the signal received at a camera pixel, where the overlapped codes are from the neighbouring and/or, even, distant pixels of the projecting mirror array. Considering the criticality of separating the overlapped codes to precision and robustness, we propose a novel signal separation code, referred to here as “Hierarchical Orthogonal Code (HOC),” for depth imaging. HOC provides not only the separation of overlapped codes, but also a robust decision on pixel correspondence with error correction based on a contextual likelihood among the sets of separated codes from neighbouring camera pixels. The experimental results have shown that the proposed HOC significantly enhances the robustness and precision in depth imaging, compared to the best known conventional approaches. The proposed approach opens a greater feasibility of applying structured light based depth imaging to a 3D modelling of cluttered workspace for home service robots.
{"title":"Signal Separation Coding for Robust Depth Imaging Based on Structured Light","authors":"Sukhan Lee, Jongmoo Choi, DaeSik Kim, Jaekeun Na, Seungsub Oh","doi":"10.1109/ROBOT.2005.1570802","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570802","url":null,"abstract":"This paper presents an original approach to coding the light patterns for robust depth imaging based on structured light. We have discovered that the degradation of precision and robustness, seen in most conventional approaches to structured light, comes mainly from the overlapping of multiple codes in the signal received at a camera pixel, where the overlapped codes are from the neighbouring and/or, even, distant pixels of the projecting mirror array. Considering the criticality of separating the overlapped codes to precision and robustness, we propose a novel signal separation code, referred to here as “Hierarchical Orthogonal Code (HOC),” for depth imaging. HOC provides not only the separation of overlapped codes, but also a robust decision on pixel correspondence with error correction based on a contextual likelihood among the sets of separated codes from neighbouring camera pixels. The experimental results have shown that the proposed HOC significantly enhances the robustness and precision in depth imaging, compared to the best known conventional approaches. The proposed approach opens a greater feasibility of applying structured light based depth imaging to a 3D modelling of cluttered workspace for home service robots.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121034356","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-04-18DOI: 10.1109/ROBOT.2005.1570740
L. Cuvillon, E. Laroche, J. Gangloff, M. Mathelin
In this paper is considered fast visual servoing of a two-links arm including flexibilities for compensation of heart movements in surgery. The flexibilities are globally identified with no additional sensor than the external-500 Hz camera used in the visual servoing loop. The obtained model is valid around the working position of the arm and can be easily modified for new positions of the camera. Two control strategies to handle flexibilities and achieve high bandwidth are implemented: Generalized Predictive Control (GPC) and H∞ control. Simulation and experimental results are given allowing to compare their efficiencies.
{"title":"GPC versus H∞ Control for Fast Visual Servoing of a Medical Manipulator including Flexibilities","authors":"L. Cuvillon, E. Laroche, J. Gangloff, M. Mathelin","doi":"10.1109/ROBOT.2005.1570740","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570740","url":null,"abstract":"In this paper is considered fast visual servoing of a two-links arm including flexibilities for compensation of heart movements in surgery. The flexibilities are globally identified with no additional sensor than the external-500 Hz camera used in the visual servoing loop. The obtained model is valid around the working position of the arm and can be easily modified for new positions of the camera. Two control strategies to handle flexibilities and achieve high bandwidth are implemented: Generalized Predictive Control (GPC) and H∞ control. Simulation and experimental results are given allowing to compare their efficiencies.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127097270","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-04-18DOI: 10.1109/ROBOT.2005.1570167
U. Seibold, Bernhard Kübler, G. Hirzinger
Minimally invasive surgery (MIS) challenges the surgeon’s skills due to his separation from the operation area which can only be reached with long instruments. To overcome these drawbacks, minimally invasive robotic surgery (MIRS) plays an important role. This paper describes the development of actuated and sensorized instruments for minimally invasive robotic surgery which help to increase the surgeon’s immersion and dexterity.
{"title":"Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability","authors":"U. Seibold, Bernhard Kübler, G. Hirzinger","doi":"10.1109/ROBOT.2005.1570167","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570167","url":null,"abstract":"Minimally invasive surgery (MIS) challenges the surgeon’s skills due to his separation from the operation area which can only be reached with long instruments. To overcome these drawbacks, minimally invasive robotic surgery (MIRS) plays an important role. This paper describes the development of actuated and sensorized instruments for minimally invasive robotic surgery which help to increase the surgeon’s immersion and dexterity.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125883242","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-04-18DOI: 10.1109/ROBOT.2005.1570721
J. Xavier, M. Pacheco, D. Castro, A. Ruano, U. Nunes
A feature detection system has been developed for real-time identification of lines, circles and people legs from laser range data. A new method suitable for arc/circle detection is proposed: the Inscribed Angle Variance (IAV). Lines are detected using a recursive line fitting method. The people leg detection is based on geometrical relations. The system was implemented as a plugin driver in Player, a mobile robot server. Real results are presented to verify the effectiveness of the proposed algorithms in indoor environment with moving objects.
{"title":"Fast Line, Arc/Circle and Leg Detection from Laser Scan Data in a Player Driver","authors":"J. Xavier, M. Pacheco, D. Castro, A. Ruano, U. Nunes","doi":"10.1109/ROBOT.2005.1570721","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570721","url":null,"abstract":"A feature detection system has been developed for real-time identification of lines, circles and people legs from laser range data. A new method suitable for arc/circle detection is proposed: the Inscribed Angle Variance (IAV). Lines are detected using a recursive line fitting method. The people leg detection is based on geometrical relations. The system was implemented as a plugin driver in Player, a mobile robot server. Real results are presented to verify the effectiveness of the proposed algorithms in indoor environment with moving objects.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123273013","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-04-18DOI: 10.1109/ROBOT.2005.1570844
D. Mateus, J. Aviña-Cervantes, M. Devy
This work describes a navigation framework for robots in semi-structured outdoor environments which enables planning of semantic tasks by chaining of elementary visual-based movement primitives. Navigation is achieved by understanding the underlying world behind the image and using these results as a guideline to control the robot. As retrieving semantic information from vision is computationally demanding, short-term tasks are planned and executed while new vision information is processed. Thanks to learning techniques, the methods are adapted to different environment conditions. Fusion and filtering techniques provide reliability and stability to the system. The procedures have been fully integrated and tested with a real robot in an experimental environment. Results are discussed.
{"title":"Robot Visual Navigation in Semi-structured Outdoor Environments","authors":"D. Mateus, J. Aviña-Cervantes, M. Devy","doi":"10.1109/ROBOT.2005.1570844","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570844","url":null,"abstract":"This work describes a navigation framework for robots in semi-structured outdoor environments which enables planning of semantic tasks by chaining of elementary visual-based movement primitives. Navigation is achieved by understanding the underlying world behind the image and using these results as a guideline to control the robot. As retrieving semantic information from vision is computationally demanding, short-term tasks are planned and executed while new vision information is processed. Thanks to learning techniques, the methods are adapted to different environment conditions. Fusion and filtering techniques provide reliability and stability to the system. The procedures have been fully integrated and tested with a real robot in an experimental environment. Results are discussed.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125360753","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-04-18DOI: 10.1109/ROBOT.2005.1570248
J. Angeles
Current interest in the design of novel architectures for parallel robots with less than six degrees of freedom (dof) has called for a revisiting of the dof determination of a multiloop kinematic chain. The paper attempts to shed some light on the issue by resorting to the theory of groups, as first proposed by Hervé in 1978. The concepts, illustrated with various examples, should help robot designers produce novel architectures that would be difficult to devise otherwise.
{"title":"The Degree of Freedom of Parallel Robots: A Group-Theoretic Approach","authors":"J. Angeles","doi":"10.1109/ROBOT.2005.1570248","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570248","url":null,"abstract":"Current interest in the design of novel architectures for parallel robots with less than six degrees of freedom (dof) has called for a revisiting of the dof determination of a multiloop kinematic chain. The paper attempts to shed some light on the issue by resorting to the theory of groups, as first proposed by Hervé in 1978. The concepts, illustrated with various examples, should help robot designers produce novel architectures that would be difficult to devise otherwise.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126632314","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-04-18DOI: 10.1109/ROBOT.2005.1570682
M. Selekwa, D. Dunlap, E. Collins
Navigation in environments that are densely cluttered with obstacles is still a challenge for Autonomous Ground Vehicles (AGVs), especially when the configuration of obstacles is not known a priori. Reactive local navigation schemes that tightly couple the robot actions to the sensor information have proved to be effective in these environments, and because of the environmental uncertainties, fuzzy behavior systems have been proposed. The most difficult problem in applying these systems is that of arbitrating or fusing the reactions of the individual behaviors. This paper presents an architectural design of a fuzzy behavior based system for navigation control of robotic vehicles using multivalued reactive fuzzy behaviors. This design allows the robot to thoroughly use the available sensor information when choosing the control action to be taken. Experimental results show that the proposed method can smoothly and effectively guide a robot through cluttered environments such as dense forests.
{"title":"Implementation of Multi-valued Fuzzy Behavior Control for Robot Navigation in Cluttered Environments","authors":"M. Selekwa, D. Dunlap, E. Collins","doi":"10.1109/ROBOT.2005.1570682","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570682","url":null,"abstract":"Navigation in environments that are densely cluttered with obstacles is still a challenge for Autonomous Ground Vehicles (AGVs), especially when the configuration of obstacles is not known a priori. Reactive local navigation schemes that tightly couple the robot actions to the sensor information have proved to be effective in these environments, and because of the environmental uncertainties, fuzzy behavior systems have been proposed. The most difficult problem in applying these systems is that of arbitrating or fusing the reactions of the individual behaviors. This paper presents an architectural design of a fuzzy behavior based system for navigation control of robotic vehicles using multivalued reactive fuzzy behaviors. This design allows the robot to thoroughly use the available sensor information when choosing the control action to be taken. Experimental results show that the proposed method can smoothly and effectively guide a robot through cluttered environments such as dense forests.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126733614","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-04-18DOI: 10.1109/ROBOT.2005.1570183
G. Endo, J. Nakanishi, J. Morimoto, G. Cheng
Recently, there has been a growing interest in biologically inspired biped locomotion control with Central Pattern Generator (CPG). However, few experimental attempts on real hardware 3D humanoid robots have yet been made. Our goal in this paper is to present our achievement of 3D biped locomotion using a neural oscillator applied to a humanoid robot, QRIO. We employ reduced number of neural oscillators as the CPG model, along with a task space Cartesian coordinate system and utilizing entrainment property to establish stable walking gait. We verify robustness against lateral perturbation, through numerical simulation of stepping motion in place along the lateral plane. We then implemented it on the QRIO. It could successfully cope with unknown 3mm bump by autonomously adjusting its stepping period. Sagittal motion produced by a neural oscillator is introduced, and then overlapped with the lateral motion generator in realizing 3D biped locomotion on a QRIO humanoid robot.
{"title":"Experimental Studies of a Neural Oscillator for Biped Locomotion with QRIO","authors":"G. Endo, J. Nakanishi, J. Morimoto, G. Cheng","doi":"10.1109/ROBOT.2005.1570183","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570183","url":null,"abstract":"Recently, there has been a growing interest in biologically inspired biped locomotion control with Central Pattern Generator (CPG). However, few experimental attempts on real hardware 3D humanoid robots have yet been made. Our goal in this paper is to present our achievement of 3D biped locomotion using a neural oscillator applied to a humanoid robot, QRIO. We employ reduced number of neural oscillators as the CPG model, along with a task space Cartesian coordinate system and utilizing entrainment property to establish stable walking gait. We verify robustness against lateral perturbation, through numerical simulation of stepping motion in place along the lateral plane. We then implemented it on the QRIO. It could successfully cope with unknown 3mm bump by autonomously adjusting its stepping period. Sagittal motion produced by a neural oscillator is introduced, and then overlapped with the lateral motion generator in realizing 3D biped locomotion on a QRIO humanoid robot.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115083667","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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