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Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 1: Overview and Force Sensing InTech
A. Schneider; U. Schmucker.
The control system algorithms and their technical realization for the robots "Masha" and "Katharina" are described in (Schmucker et al., 1996; Schmucker, 2002). Each leg of "Katharina" has its own controller based on a microcontroller INTEL 87C196KR which only controls the respective leg. The controller includes the CPU, FLASH-memory and RAM, a PWM output unit (PWM-U), analog input unit (AIU) and a synchronous serial communication unit (SSCU) on the chip. All microcontroller units are connected by a synchronous serial bus.
Tipo: 23 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/force_sensing_for_multi-legged_walking_robots__theory_and_experiments_part_1__overview_and_force_sen
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Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 2: Force Control of Legged Vehicles InTech
A. Schneider; U. Schmucker.
Initial research began at the Institute of Mechanics together with the Institute for Problems of Information Transmission (Moscow) at the initiative of Professors D.E. Okhotsimsky, V.S. Gurfinkel, members of the Russian Academy of Sciences and Professor E.A. Devjanin. Research is continuing at the Fraunhofer Institute for Factory Operation and Automation (IFF, Magdeburg) and is being supported by the Germany Research Foundation DFG. We would like to express special thanks to Professor D. M. Gorinevsky, together with whom the basic results of the force distribution algorithms have been achieved and also Professors A. Formalsky, and Yu. Golubev. The author is deeply grateful to Doctors A. Lensky, E. Gurfinkel and L. Shtilman.
Tipo: 24 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/force_sensing_for_multi-legged_walking_robots__theory_and_experiments__part_2__force_control_of_legg
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Multi-Agent System Concepts Theory and Application Phases InTech
Adel Al-Jumaily; Mohamed Al-Jaafreh.
The three robots with the current speeds in the circle formation can lock up a dynamic target of up to a speed of 0.300 meters/second. With that speed whenever the target tries to get out of the circle, it is blocked by one of the attackers and it has to avoid them and go back inside the circle. At worst case if the target's speed is slightly more than 0.300 the target is caught by one of the attackers doing the circle formation, but it can never escape.
Tipo: 19 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/multi-agent_system_concepts_theory_and_application_phases
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Multi-Robot Systems and Distributed Intelligence: The ETHNOS Approach to Heterogeneity InTech
Antonio Sgorbissa.
We presented ETHNOS, a software architecture and a programming environment for the real-time control of distributed Multi Robot systems; its properties have been described as well as its influence on the development of a soccer team for RoboCup. Throughout the chapter, we have argued that the ART team in Stockholm 1999 has been an unique experience because of its extreme heterogeneity: players in the team differed both in the hardware and in the software, and were designed in total autonomy by different research units with almost no cooperation; however, after only one week of training before RoboCup, they were able to coordinate themselves on the soccer field and to win the second prize. ETHNOS contribution to achieving this is discussed. In particular,...
Tipo: 22 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/multi-robot_systems_and_distributed_intelligence__the_ethnos_approach_to_heterogeneity
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Novel Robotic Applications using Adaptable Compliant Actuation. An Implementation Towards Reduction of Energy Consumption for Legged Robots InTech
Bjorn Verrelst; Bram Vanderborght.
This publication discusses the importance of variable compliance for legged robots. Use of passive compliance in the actuation reduces reflected inertia which primarily is interesting
Tipo: 26 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/novel_robotic_applications_using_adaptable_compliant_actuation__an_implementation_towards_reduction_
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A Reusable UART IP Design and its Application in Mobile Robots InTech
Ching-Chang Wong; Yu-Han Lin.
A reusable UART IP design and its application in mobile robots are presented in this chapter. The UART IP is composed of a baud rate generator, a receiver module, and a transmitter module. These modules are reusable and synthesizable and they are used to be a data detector of IR ranging system to receive the distance information of objects, a data detector of digital compass to receive the head direction of robot, and a transceiver of a wireless modem to communicate with the other robots and host computer. These application circuits have been implemented on a FPGA chip to illustrate the robot can detect data from the IR ranging system and the digital compass exactly and communicate with the host computer and other robots successfully.
Tipo: 8 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/a_reusable_uart_ip_design_and_its_application_in_mobile_robots
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Combined Torque and Velocity Control of a Redundant Robot System InTech
Damir Omrcen; Leon Zlajpah; Bojan Nemec.
The use of the robots in the real world mostly depends on the development of a autonomous robotic systems that integrate mobility and manipulability. This chapter has presented a new approach to the robot control. The control is called combined control since it combines (integrates) two different types of robot control, i.e. the torque and the velocity control in a single robot system. Later on the mathematical analysis of the proposed combined control has been shown. Verification has been done on a simulated and a real system composed of a velocity controlled mobile platform and a torque controlled manipulator. The results show good tracking of the desired trajectory in the task space and in the null space depending on the controller gains. Controller...
Tipo: 3 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/combined_torque_and_velocity_control_of_a_redundant_robot_system
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Transputer Neuro-Fuzzy Controlled Behaviour-Based Mobile Robotics System InTech
E. Al Gallaf.
In this chapter a neuro-fuzzy -based embedded controller has been successfully used to drive a mobile robot run on a Transputer system. The Transputer ability, as an embedded controller, to perform a demanding parallel fuzzy controller, has been demonstrated in the real-time. Experimental testing of the mobile robot for obstacle avoidance behavior has been reported. Sensor fusion (of ultrasonic data) in the mobile robot navigation have been accomplished successfully. The neuro-fuzzy controller and how it was accomplished have been discussed in details. Two results of behaviors have been demonstrated. Obstacle avoidance, and posture seeking. Results have shown that; a Transputer computation system was a very suited environment to achieve an implementation...
Tipo: 15 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/transputer_neuro-fuzzy_controlled_behaviour-based_mobile_robotics_system
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Bio-Mimetic Finger: Human Like Morphology, Control & Motion Planning for Intelligent Robot & Prosthesis InTech
Emanuele Lindo Secco; Giovanni Magenes.
We would like to thank professor Antonio Visioli for scientific advice.
Tipo: 17 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/bio-mimetic_finger__human_like_morphology__control__amp__motion_planning_for_intelligent_robot__amp_
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Vision Based Control of Model Helicopters InTech
Erdinc Altug; James P. Ostrowski; Camillo J. Taylor.
In this work, we have presented pose estimation algorithms and non-linear control techniques to build and control autonomous helicopters. We introduce a novel twocamera method for helicopter pose estimation. The method has been compared to other pose estimation algorithms and shown to be more effective, especially when there are errors on the image plane. A three dimensional quadrotor rotorcraft model has been developed. Nonlinear backstepping and PD controllers have been used to stabilize and
Tipo: 18 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/vision_based_control_of_model_helicopters
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Grid Technologies for Intelligent Autonomous Robot Swarms InTech
Fabio P. Bonsignorio.
From a certain respect what is described above can be seen as a generalized grid where some of the resource managed are various kind of intelligent autonomous robotic agents. This seems to show some inherent advantages.
Tipo: 20 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/grid_technologies_for_intelligent_autonomous_robot_swarms
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Real-Time Optimization Approach for Mobile Robot InTech
Hiroki Takeuchi.
1
Tipo: 11 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/real-time_optimization_approach_for_mobile_robot
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Mechanism and Control of Anthropomorphic Biped Robots InTech
Hun-ok Lim; Atsuo Takanishi.
The mechanism of a 43 DOF biped humanoid robot WABIAN-RII was described to simulate human motions was described. For the humanoid robot to walk stably on various terrains, its functions should be separated. Its waist and trunk carries out the function of stability, while its legs work out the function of the locomotion. A locomotion pattern generation was discussed which used a polynomial. In the pattern generation, the direction of the walking and the length of the step can be determined by visual and auditory information. Also, a moment compensation control was presented to balance its body, which was based on the motion of the waist and trunk. In addition, an impedance control method was discussed to absorb the impact/contact forces generated between...
Tipo: 16 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/mechanism_and_control_of_anthropomorphic_biped_robots
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Supervisory Control for Turnover Prevention of a Teleoperated Mobile Agent with a Terrain-Prediction Sensor Module InTech
Jae Byung Park; Beom Hee Lee.
The turnover prevention control algorithm of a teleoperated mobile agent was presented. For online prediction of front terrain, a low-cost terrain prediction sensor composed of a camera vision, a laser line generator, and an inclinometer was developed. The terrain parameters were obtained by finding structured laser line projected onto the front terrain and used for turnover prevention control through the quasi-static rollover analysis. As a result of turnover prevention control, the translational and rotational velocities of the agent were restricted. However, the velocity restriction for turnover prevention may bring about the inconsistencies between the intended motion and the reactive motion of the agent. Thus, the force reflection technique was...
Tipo: 1 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/supervisory_control_for_turnover_prevention_of_a_teleoperated_mobile_agent_with_a_terrain-prediction
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Design and Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels InTech
Jae-Bok Song; Kyung-Seok Byun.
In this chapter, an omnidirectional mobile robot with steerable omnidirectional wheels (OMRSOW) has been proposed and the kinematic and dynamic analysis of a proposed robot has been conducted. The motion control system of a robot was developed and various experiments were conducted. As a result of this research, the following conclusions are drawn. 1. The OMR-SOW has 4 DOFs which consist of 3 DOFs for omnidirectional motion and 1 DOF for steering. This steering DOF functions as a continuously variable transmission (CVT). Therefore, the OMR-SOW can be also considered as an omnidirectional mobile robot with CVT. 2. The proposed steering control algorithm for CVT can provide a significant reduction in driving energy than the algorithm using a fixed steering...
Tipo: 12 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/design_and_control_of_an_omnidirectional_mobile_robot_with_steerable_omnidirectional_wheels
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Dynamic Model, Control and Simulation of Cooperative Robots: A Case Study InTech
Jorge Gudino-Lau; Marco A. Arteaga.
In this chapter, we developed the model for two cooperative industrial robots holding a rigid object without friction. The dynamic model for the manipulators is obtained independently from each other with the Lagrangian approach. Once the robots are holding the object, their joint variables are kinematically and dynamically coupled. These coupling equations are combined with the dynamic model of the object to obtain a mathematical description for the cooperative system. Besides, the tracking control problem for cooperative robots without velocity measurements is considered. The control law is a decentralized approach which takes into account motion constraints rather than the held object dynamics. By assuming that fingers dynamics are well known and that...
Tipo: 13 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/dynamic_model__control_and_simulation_of_cooperative_robots__a_case_study
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Fault-Tolerant Gait Planning of Multi-Legged Robots InTech
Jung-Min Yang; Yong-Kuk Park; Jin-Gon Kim.
In this article, gait planning for static walking of hexapod robots has been considered from a different point of view. The notion of a locked joint failure is introduced and its effect on robot walking is analyzed based on manipulator kinematics and gait study. A locked joint failure does not reduce stability of a gait but constrain the workspace of the failed leg to a restricted area. We have shown that there is a range of kinematic constraint on the configuration of the failed leg which guarantees the existence of post-failure walking on the straight-line and crab-walking trajectory, respectively. A strategy of fault tolerance for a locked joint failure has been proposed for the hexapod robot, in which the hexapod has discontinuous movement of the body...
Tipo: 28 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/fault-tolerant_gait_planning_of_multi-legged_robots
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Gauging Intelligence of Mobile Robots InTech
Ka C. Cheok.
The paper illustrates three means for gauging the intelligence of mobile robots: The qualitative perception of intelligence based on extending Turing test to the systems at hand; the quantitative measure that gauges task-specific intelligence from its performance in uncertain environments; the comparative measure that calibrates difficulty levels of what the system has to do against levels of human skills. The framework of an agent, an environment and a goal was applied to two case studies was helpful in gauging the intelligence of the mobile robots. An important field experiment reveals that the autonomous obstacle course challenge in the IGVC requires the sensory-motor-decision skill of at least a four-year old. As frontiers of and education efforts on...
Tipo: 7 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/gauging_intelligence_of_mobile_robots
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A Fuzzy Logic Controller for Autonomous Wheeled Vehicles InTech
Mohamed B. Trabia; Linda Z. Shi; Neil E. Hodge.
This chapter presents a fuzzy logic control system for steering a two-axle vehicle. Two controllers are presented individually: the steering controller and the velocity controller. Each fuzzy controller is divided into several modules to represent the distributed way in which humans deal with different driving tasks. All of these modules are of the Mamdanitype and use sigmoid or product of sigmoid membership functions. The outputs of the various modules are added together to control the steering angle and the speed of the vehicle, respectively. Two fuzzy modules in the steering controller are designed to meet the basic driving requirement: Target Steering Fuzzy module and Collision Avoidance Steering Fuzzy module. The first module steers the vehicle toward...
Tipo: 10 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/a_fuzzy_logic_controller_for_autonomous_wheeled_vehicles
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EMOBOT: A Robot Control Architecture Based on Emotion-Like Internal Values InTech
Nils Goerke.
Getting autonomous robots to do the things we want them to do is still a challenge. Even the definition of parameters for a given controller type is very hard or realise for interesting robotic tasks. Designing controllers that are easily configured in an adequate way is far more complicated. The idea to make a controller learn an adequate set of parameters and functions for a given task is not completely new, but still not solved sufficiently. Biological entities demonstrate that it is in principle possible to realise such a system. Based on these ideas, a hierarchical robot control structure, with three main information processing branches: a sensory upstream, an actuatory downstream, and a controller was developed. The controller consists of two main...
Tipo: 4 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/emobot__a_robot_control_architecture_based_on_emotion-like_internal_values
Registros recuperados: 28
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