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Robotics and autonomous systems 18건

  1. [해외논문]   Editorial Board  


    Robotics and autonomous systems v.106 ,pp. ii - ii , 2018 , 0921-8890 ,

    초록

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  2. [해외논문]   Multi-target trapping with swarm robots based on pattern formation  

    Zhang, Shuai (School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, PR China ) , Liu, Mingyong (School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, PR China ) , Lei, Xiaokang (School of Information and Control Engineering, Xi'an University of Architecture and Technology, Xi'an, Shaanxi, 710055, PR China ) , Huang, Yunke (School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, PR China ) , Zhang, Feihu (School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, PR China)
    Robotics and autonomous systems v.106 ,pp. 1 - 13 , 2018 , 0921-8890 ,

    초록

    Abstract A significant limitation of most previous target trapping algorithms for swarm robots is that the target shape needs to be predefined and only some regular Euclidean shapes can be applied. Besides, splitting and merging of multiple shapes depending on moving targets have not been considered by previous methods. This may be inadequate for dealing with the problem of entrapment in dynamic targets. This paper proposes a flexible shape formation algorithm by using Radial Basis Implicit Function (RBIF) to realize the multi-target trapping task that needs the transformation of trapping shape response to dynamic targets. With this flexible shape formation method, we improve previous methods by allowing most distribution of group targets to be entrapped without a predefined shape and robots to split/merge with regards to the moving targets. The previous bound on the number of reference points for a target shape is triple the number of targets, while it becomes less by considering the convex hulls of targets in the new method. Numerical simulations of static/dynamic scenarios, obstacle avoidance, noise and self-reorganization have been performed to validate the effectiveness and flexibility of the proposed approach for multi-target trapping.

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    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  3. [해외논문]   A model-based scooping grasp for the autonomous picking of unknown objects with a two-fingered gripper  

    Lé (Corresponding author.) , vesque, Franç , ois , Sauvet, Bruno , Cardou, Philippe , Gosselin, Clé , ment
    Robotics and autonomous systems v.106 ,pp. 14 - 25 , 2018 , 0921-8890 ,

    초록

    Abstract Grasping objects used in daily activities is not an easy task for a robot: the diversity of shapes and volumes of objects renders specific grasping methods inefficient. In this paper, we propose a novel model-based scooping grasp for the picking of thin objects lying on a flat surface, which are typically elusive to common grippers and grasping strategies. A robotic work cell composed of a serial arm, a commercially available gripper and a 3D camera overlooking the workspace is used to demonstrate and test the algorithm. Since a commercial gripper is used, the robot is capable of grasping a large variety of objects, in addition to the targeted thin objects. An experiment based on a test set of 80 objects results in an overall grasp success rate of 84%, which demonstrates the potential of the novel scooping grasp to extend the capabilities of existing grippers. Highlights A model-based scooping grasp that is capable of picking thin objects on a flat surface. An implementation of the scooping grasp using a commercial gripper. Autonomous grasping using a robotic cell including a gripper, a 6-dof robot and a camera. Tests results of the robotic cell involving 80 objects and 800 trials.

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    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  4. [해외논문]   An improved A* algorithm for the industrial robot path planning with high success rate and short length  

    Fu, Bing (Corresponding author.) , Chen, Lin , Zhou, Yuntao , Zheng, Dong , Wei, Zhiqi , Dai, Jun , Pan, Haihong
    Robotics and autonomous systems v.106 ,pp. 26 - 37 , 2018 , 0921-8890 ,

    초록

    Abstract Intelligent path planning is a significant tool for field of industrial robot. This field has attracted the attention of numerous researchers due to the great market demands, broad application prospects, and large potential development. Due to the limitation of neighborhood, the path search by the original A* algorithm is more likely to fail, and the solved path may contain too many local paths. In this study, an improved A* algorithm is proposed to solve the robot path planning problem. The first improvement of the advanced method is the local path between the current node and the goal node, which is planned before the next search in the neighborhood of the current node. And the local path will be adopted directly if it is safe and collisionless. The second advantage of this method is the utilization of post-processing stage to optimize the resulting path, by straightening the local path to reduce the number of local paths as well as the path length. In order to verify the theoretical advantages of the improved A* algorithm, a series of two-dimensional figures of the robot task was presented in this paper. In addition, some comparative experiments in the virtual and real robot manipulator platform are performed to examine the improved A* algorithm. Experimental results show that the search success rate of the improved A* algorithm is higher than the original A* algorithm, along with a shorter and smoother path could be obtained by the improved A* algorithm. Therefore, the success rate of robot path planning and the optimal extent of the robot path are effectively improved by the improved A* algorithm. Highlights Focus on path planning for industrial robots in complex environments. A local safety and collisionless path was built between the sampling points by local path planner. The local path to the goal node is planned before the next search in the neighborhood of the current node. A post-processing stage used to optimize the resulting path. Path planning problem is solved by the improved A* algorithm with high search success rate and short length.

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

    이미지

    Fig. 1 이미지
  5. [해외논문]   Path following and obstacle avoidance for an autonomous UAV using a depth camera  

    Iacono, Massimiliano (Corresponding author.) , Sgorbissa, Antonio
    Robotics and autonomous systems v.106 ,pp. 38 - 46 , 2018 , 0921-8890 ,

    초록

    Abstract The main focus of this work is the development of a software architecture to autonomously navigate a flying vehicle in an indoor environment in presence of obstacles. The hardware platform used to test the developed algorithms is the AscTec Firefly equipped with a RGB-D camera (Microsoft Kinect): the sensor output is used to incrementally build a map of the environment and generate a collision-free path. Specifically, we introduce a novel approach to analytically compute the path in an efficient and effective manner. An initial path, given by the intersection of two 3D surfaces, is shaped around the obstacles by adding to either of the two surfaces a radial function at every obstacle location. The intersection between the deformed surfaces is guaranteed not to intersect obstacles, hence it is a safe path for the robot to follow. The entire computation runs on-board and the path is computed in real-time. In this article we present the developed algorithms, the software architecture as well as the results of our experiments, showing that the method can adapt in real time the robot’s path in order to avoid several types of obstacles, while producing a map of the surroundings.

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

    이미지

    Fig. 1 이미지
  6. [해외논문]   Estimation of the instantaneous centre of rotation with nonholonomic omnidirectional mobile robots  

    Clavien, Lionel (Université) , Lauria, Michel (de Sherbrooke, Sherbrooke QC, Canada ) , Michaud, Franç (University of Applied Sciences Western Switzerland (HES-SO), Geneva, Switzerland ) , ois (Université)
    Robotics and autonomous systems v.106 ,pp. 47 - 57 , 2018 , 0921-8890 ,

    초록

    Abstract In order to move safely and accurately, mobile platforms using steerable wheels require adequate coordination of their actuators. One possibility to achieve actuator coordination is to control the motion of the chassis’ instantaneous centre of rotation (ICR) and motion around it. Considering the chassis as a rigid body, the ICR is located at the intersection of each wheel’s zero motion axis. In practice however, these axes may not concur, in particular when compliant actuators are used for wheel steering. They then no more define precisely an ICR and only an estimation of its position can be computed. Moreover, most parametrizations of the ICR position bring in singularities with no physical meaning, which hinder estimation. This paper introduces the H representation, a new parametrization of the motion state space free of any non-structural singularities, and presents an algorithm which estimates the ICR within the joint space. The proposed approach is compared in terms of reliability, efficiency, accuracy and robustness with three methods working within the operational space. Results suggest that the proposed estimation approach provides the best compromise for these performance indicators. Highlights Compliant steering actuators usually do not define well the ICR, which needs to be estimated. A new ICR estimation algorithm working in the steering actuators’ space is proposed. It is designed for platforms with centred and sidewards off-centred wheels. The proposed algorithm gives a better estimation compared to other alternatives evaluated.

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

    이미지

    Fig. 1 이미지
  7. [해외논문]   Instantaneous centre of rotation based motion control for omnidirectional mobile robots with sidewards off-centred wheels  

    Clavien, Lionel (Université) , Lauria, Michel (de Sherbrooke, Sherbrooke QC, Canada ) , Michaud, Franç (University of Applied Sciences Western Switzerland (HES-SO), Geneva, Switzerland ) , ois (Université)
    Robotics and autonomous systems v.106 ,pp. 58 - 68 , 2018 , 0921-8890 ,

    초록

    Abstract AZIMUT-3 is a nonholonomic omnidirectional platform design using sidewards off-centred compliant wheels. This design makes it possible to experiment with the use of the chassis’ instantaneous centre of rotation (ICR) for motion control. Research on ICR-based motion controllers has focused on handling structural singularities and misses a more general consideration of the chassis’ kinematic and physical constraints like steering, velocity and acceleration constraints. This paper presents the design of an ICR-based motion controller for AZIMUT-3. Leveraging a new parametrization of the motion state space and the associated representation in R 3 (collectively referred to as the H representation) and adapting a time scaling principle initially developed for manipulator trajectories, the designed motion controller is able to handle actuators coordination and their physical limits, as well as structural singularities. Results of tests done with the platform are presented, demonstrating the applicability of the proposed motion controller in efficiently handling these issues. Highlights A new kinematics-based motion controller using the ICR paradigm has been developed. The motion controller is designed for platforms with sidewards off-centred wheels. All kinematic constraints are handled in an unified way. Algebraic constraints and structural singularities are also handled. Results demonstrate fast command execution and accurate odometry.

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

    이미지

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  8. [해외논문]   Integrated design, modeling and analysis of a novel spherical motion generator driven by electromagnetic principle  

    Li, Xuerong (Department of Materials and Production, Aalborg University, 9220 Aalborg, Denmark ) , Liu, Jingmeng (School of Automation Science and Electrical Engineering, Beihang University, 100191 Beijing, China ) , Chen, Weihai (School of Automation Science and Electrical Engineering, Beihang University, 100191 Beijing, China ) , Bai, Shaoping (Department of Materials and Production, Aalborg University, 9220 Aalborg, Denmark)
    Robotics and autonomous systems v.106 ,pp. 69 - 81 , 2018 , 0921-8890 ,

    초록

    Abstract Spherical motion generators are increasingly needed for constructing robots, manipulators and pointing devices. This paper presents a novel design of spherical motion generator built on the basis of a spherical parallel manipulator. The new motion generator integrates the electromagnetic actuator with the co-axial 3-RRR spherical parallel manipulator, thus leads to a more compact and light-weight structure with the advantages of no backlash, high stiffness and low inertia. In this paper, the inverse kinematics and dynamics of the spherical parallel manipulator are described. The analytical torque model of this spherical motion generator is developed and compared with the numerical finite element method by Ansoft Maxwell. The models allow for comprehensive design analysis and parameter optimization. It is shown that the proposed SMG has better performance with larger workspace and output torques than the existing permanent magnet spherical motors with comparable dimensions. Upon the developed model, a motion control method is developed for tracking trajectory to demonstrate the application of the analytical model. Highlights A novel design of a highly integrated spherical motion generator (SMG) is presented. A compact design integrates the parallel mechanism with electromagnetics actuator. Analytical models, including kinematics, dynamics, and torque models, are developed. A task-space trajectory tracking control is proposed for the SMG.

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

    이미지

    Fig. 1 이미지
  9. [해외논문]   Robot-assisted smartphone localization for human indoor tracking  

    Jiang, Chao (Corresponding author.) , Fahad, Muhammad , Guo, Yi , Chen, Yingying
    Robotics and autonomous systems v.106 ,pp. 82 - 94 , 2018 , 0921-8890 ,

    초록

    Abstract Smartphone-based human indoor localization was previously implemented using wireless sensor networks at the cost of sensing infrastructure deployment. Motivated by increasing research attention on location-aware human–robot interaction, we propose a robot-assisted human indoor localization scheme utilizing acoustic ranging between a self-localized mobile robot and smartphones. Data from the low-cost Kinect vision sensor are fused with smartphone-based acoustic ranging, and an extended Kalman filter based localization algorithm is developed for real-time dynamic position estimation and tracking. Real robot–smartphone experiments are performed, and performances are evaluated in various indoor environments under different environmental noises and with different human walking speed. Comparing to existing indoor smartphone localization methods, the proposed system does not rely on wireless sensing infrastructure, and has comparable localization accuracy with increased flexibility and scalability due to the mobility of the robot. Highlights A robot-assisted human indoor localization method. Data from Kinect vision sensor fused with smartphone-based acoustic ranging. Real-time dynamic position estimation and tracking of moving persons. Robot–smartphone cooperation without relying on wireless sensing infrastructure.

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

    이미지

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  10. [해외논문]   Collaborative framework for robot-assisted minimally invasive surgery using a 7-DoF anthropomorphic robot  

    Sandoval, J. (PRISME Laboratory, University of Orleans, INSA CVL, France ) , Su, H. (Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy ) , Vieyres, P. (PRISME Laboratory, University of Orleans, INSA CVL, France ) , Poisson, G. (PRISME Laboratory, University of Orleans, INSA CVL, France ) , Ferrigno, G. (Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy ) , De Momi, E. (Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy)
    Robotics and autonomous systems v.106 ,pp. 95 - 106 , 2018 , 0921-8890 ,

    초록

    Abstract In this paper, we propose a control framework for robot-assisted minimally invasive general surgery (RA-MIS) for physical human–robot collaboration using a redundant 7-DoF serial robot. When a redundant manipulator is used in RA-MIS, the control system implemented must guarantee that the surgical tool always goes through the trocar, i.e. the medical instrument placed at the incision point on the patient’s body. In addition, the redundancy of the robot can be exploited to implement a physical human–robot collaborative strategy, allowing the medical staff and robot to work in a shared common workspace without affecting the performances of the surgical task, through a null-space compliance control strategy. However, classical null-space compliance laws are defined in joint coordinates, which have some limitations. First, an arbitrary desired joint configuration is rarely contained in the robot’s null-space, making the desired configuration unattainable. Moreover, the joint coordinates are not a direct representation of the robot’s null-space, which limits its exploitation. The control framework proposed in this paper is performed at the torque level. A manual motion mode is used to calibrate the trocar position before executing the task. Then, a cartesian compliance control strategy is activated during execution of the surgical task, enabling the robot to autonomously execute the surgical task while the tool orientation is calculated with respect to the trocar position. Furthermore, in order to preserve the surgical task when desired or undesired contacts occur, the null-space of the main task, i.e. surgical task, is used to implement a compliant motion in the robot’s body. The compliance control approach is defined in the swivel coordinates, which effectively represent the null-space of the robot, in order to easily restrict the swivel angle motion based on joint limitations or on any other physical constraint existing in the operating room. Finally, we evaluate our control framework using a robotic system including the KUKA LWR 4 + robot, demonstrating the feasibility of the null-space compliance control approach while preserving the accuracy of the surgical task. Highlights A collaborative Framework for robot-assisted MIS is proposed. A new null-space compliance strategy is designed, based on the swivel coordinates. Performance of the surgical task is preserved during contact with the robot’s body.

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    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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