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Distributed Motion Generation for Two Omni-Directional Robots Carrying a Ladder [chapter]

Yuichi Asahiro, Eric Chung-Hui Chang, Amol Mali, Shunsuke Nagafuji, Ichiro Suzuki, Masafumi Yamashita
2000 Distributed Autonomous Robotic Systems 4  
The problem of e ciently moving a pair of omni-directional robots carrying a ladder using distributed control is discussed.  ...  in terms of the maximum speed, path generation strategy, sensitivity to the motion of the other robot, etc.  ...  Concluding Remarks We have presented three distributed algorithms for two robots carrying a ladder under various conditions, and evaluated their performance using computer simulation.  ... 
doi:10.1007/978-4-431-67919-6_40 fatcat:5nrfkj35lnb2rpri36ronb7w5m

Mobile manufacturing of large structures

David Bourne, Howie Choset, Humphrey Hu, George Kantor, Chris Niessl, Zachary Rubinstein, Reid Simmons, Stephen Smith
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
We describe and demonstrate these techniques in the context of a testbed we implemented for assembling a wing ladder.  ...  Numerous small mobile robots can replace these large structures and, therefore, replicate the efficiency of the assembly line with far more flexibility.  ...  To date, we have focused on two tasks: coordination of two robots to insert ribs into a partially-assembled wing ladder and sensorbased coordinated motion of two robots to carry a flexible skin panel.  ... 
doi:10.1109/icra.2015.7139397 dblp:conf/icra/BourneCHKNRSS15 fatcat:vugkqzqgzvbsbjfmfobyhiwxna

ARMAR-6: A High-Performance Humanoid for Human-Robot Collaboration in Real World Scenarios

Tamim Asfour, Mirko Waechter, Lukas Kaul, Samuel Rader, Pascal Weiner, Simon Ottenhaus, Raphael Grimm, You Zhou, Markus Grotz, Fabian Paus
2019 IEEE robotics & automation magazine  
Special thanks to Michael Suppa from Roboception for providing us with one of the earliest ARMAR-6 sensors.  ...  In particular, we investigated two methods for carrying large and heavy objects (bimanual manipulation tasks).  ...  Subsequent motion planning includes the planning of timeoptimal, collision-free trajectories for fast grasping as well as a human-like approach direction and hand orientation.  ... 
doi:10.1109/mra.2019.2941246 fatcat:ndygpqq7yfcz7dzwzlm7lgqrcu

Robots that look like humans: A brief look into humanoid robotics

Eiichi Yoshida
2018 Mètode Science Studies Journal: Annual Review  
Upper-body humanoids with a mobile base, which are mainly utilized for research on human-robot interaction and cognitive robotics, are also introduced before addressing current issues and perspectives.  ...  First, historical development and hardware progress are presented mainly on human-size full-body biped humanoid robots, together with progress in pattern generation of biped locomotion.  ...  ARMAR-III has a head, two redundant arms with seven degrees of freedom, each of which equipped with and eight degrees of freedom hand, linked to an omni-directional mobile base via a hip joint.  ... 
doi:10.7203/metode.9.11405 fatcat:ceuzu732hvbpde4rmcelarocam

Evolution of Solitary and Group Transport Behaviors for Autonomous Robots Capable of Self-Assembling

Roderich Groβ, Marco Dorigo
2008 Adaptive Behavior  
We conclude the article by discussing potential implications for evolutionary biology and robotics.  ...  Group transport is performed in many natural systems and has become a canonical task for studying cooperation in robotics.  ...  Franks for helpful comments on a previous version of this article. Notes  ... 
doi:10.1177/1059712308090537 fatcat:iid3lawicjaathw2etm7qspp74

Page 761 of Mathematical Reviews Vol. , Issue 2002B [page]

2002 Mathematical Reviews  
761 00B Conference proceedings and collections of papers Suzuki [Ichiro Suzuki'] and Masafumi Yamashita, Distributed motion generation for carrying a ladder by two omni-directional robots (11-17); Tetsuo  ...  Tammer, Approximate saddle point assertions for a general class of approximation prob- lems (71-80); Jorge Bustamante [Jorge Bustamante Gonzalez] and Miguel Antonio Jiménez [Miguel A.  ... 

Multimodal Soft Robot for Complex Environments Using Bionic Omnidirectional Bending Actuator

Wenkai Huang, Zhipeng Xu, Junlong Xiao, Wei Hu, Huoqiu Huang, Fobao Zhou
2020 IEEE Access  
Using modular methods, it can be quickly assembled into a soft robot with a variety of motion modes.  ...  .: Multimodal Soft Robot for Complex Environment Using Bionic Omnidirectional Bending Actuator 1 FIGURE 8.  ...  Therefore, the existing omni-directional bending actuators generally use filament winding to reduce radial expansion, but the fiber will cut the soft actuator.  ... 
doi:10.1109/access.2020.3032983 fatcat:brccfq62vbh6xgzc6fbqqyqi5m

Transportation of long objects in unknown cluttered environments by a team of robots: A dynamical systems approach

Toni Machado, Tiago Malheiro, Sergio Monteiro, Estela Bicho, Wolfram Erlhagen
2013 2013 IEEE International Symposium on Industrial Electronics  
We present a distributed architecture for teams of two autonomous mobile robots that act in coordination in a joint transportation task of long objects.  ...  The overt behavior is smooth and stable, because it is generated as a time sequence of attractor states, for the control variables, which contributes to the overall asymptotically stability of the system  ...  In [1] two robots transport a long ladder in a corridor with a 90 • corner (but only in simulation).  ... 
doi:10.1109/isie.2013.6563794 fatcat:efh6b3pzsfam7b624gnm666ibq

Multi-scale assembly with robot teams

Mehmet Dogar, Ross A. Knepper, Andrew Spielberg, Changhyun Choi, Henrik I. Christensen, Daniela Rus
2015 The international journal of robotics research  
First, the team of robots coordinates to transport large assembly parts which are too heavy for a single robot to carry.  ...  In this paper we present algorithms and experiments for multi-scale assembly of complex structures by multi-robot teams.  ...  In particular, the omni-directional mecanum wheels on our robots introduce control noise during base motion, which results in longer convergence times.  ... 
doi:10.1177/0278364915586606 fatcat:gyzivsfd7zdk7efj5pdfn75zpa

A Probabilistic Framework for Learning Kinematic Models of Articulated Objects

J. Sturm, C. Stachniss, W. Burgard
2011 The Journal of Artificial Intelligence Research  
Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges.  ...  We furthermore describe how to estimate the kinematic structure and how to use the learned kinematic models for pose prediction and for robotic manipulation tasks.  ...  as described in Section 4.3, and for evaluating the approach on their mobile manipulation robot Cody as described in Section 5.3.  ... 
doi:10.1613/jair.3229 fatcat:bxxtovothrf7xafckk4rojcsum

Evolving Self-Assembly in Autonomous Homogeneous Robots: Experiments with Two Physical Robots

Christos Ampatzis, Elio Tuci, Vito Trianni, Anders Lyhne Christensen, Marco Dorigo
2009 Artificial Life  
Our results suggest that direct access to the orientations or intentions of the other agents is not a necessary condition for robot coordination: our robots coordinate without direct or explicit communication  ...  More specifically, we present a homogeneous control system that can achieve assembly between two modules (two fully autonomous robots) of a mobile selfreconfigurable system without a priori introduced  ...  The Community is not responsible for any use that might be made of data appearing in this publication.  ... 
doi:10.1162/artl.2009.ampatzis.013 pmid:19463056 fatcat:vssvxd6nmvgf3gl53wjl7nuvhm

Self-Assembly in Physical Autonomous Robots - the Evolutionary Robotics Approach

Elio Tuci, Christos Ampatzis, Vito Trianni, Anders Lyhne Christensen, Marco Dorigo
2008 Workshop on the Synthesis and Simulation of Living Systems  
This research work illustrates the details of a methodological approach to the design of homogeneous neuro-controllers for self-assembly in physical autonomous robots in which no assumptions are made concerning  ...  Artificial evolution is used to set the parameters of a dynamical neural network that when ported on two physical robots allows them to coordinate their actions in order to decide who will grip whom.  ...  The Community is not responsible for any use that might be made of data appearing in this publication.  ... 
dblp:conf/alife/TuciATCD08 fatcat:lwg6ihxhg5c7dbw7aozyd6cmqe

A distributed ladder transportation algorithm for two robots in a corridor

Y. Asahiro, E.-C.-H. Chang, A. Mali, I. Suzuki, M. Yamashita
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)  
We consider the problem of transporting a long object, such as a ladder, through a 90 degree corner in a corridor using two omni-directional robots that do not necessarily have i d e n tical characteristics  ...  A distributed algorithm is presented in which each robot computes its own motion based on the current and goal positions of the ladder, the locations of the walls, and the motion of the other robot observed  ...  Suzuki, suzuki@cs.uwm.edu Figure 1 : 1 RIKEN's omni-directional robots carrying a bar (ladder). Figure 2 : 2 The robot-ladder system. Fig.  ... 
doi:10.1109/robot.2001.933080 dblp:conf/icra/AsahiroCMSY01 fatcat:ia5dap2ujzfgff7bitmf2spclq

New Fault Injection Approach for Network on Chip

Tapas Patel
2013 IOSR Journal of Electronics and Communication Engineering  
Due to their mechanical inertia, robot arms can not perform abrupt changes of velocity (direction and magnitude) even though this is frequently required in machining operations.  ...  Smart antennas allow the energy to be transmitted or received in a particular direction as opposed to disseminating energy in all directions.  ...  Today the automobile manufacturers make extensive use of robots for spot welding. V. Result-Relative motion of robot along x,y,z asxis.Relative conditions of motors,& sensors.  ... 
doi:10.9790/2834-0520106 fatcat:snatuoexlzd7bedziejtum6npe

Inhabiting the solar system

Brent Sherwood
2011 Open Engineering  
Foreseeable options for 21st century developments in human space flight provide a framework to tease out potential space architecture opportunities for the next century.  ...  Acknowledgments I am grateful to the 26 authors who contributed to Out of This World: The New Field of Space Architecture for their ideas and energy. In addition, I would like to personally  ...  The Mars Cruiser One concept uses large-diameter, hubless wheels to integrate high-speed omni-directional mobility, suitport access, external robotics, and interior habitation and laboratory functions  ... 
doi:10.2478/s13531-011-0004-y fatcat:ekkj7bf2mnglhmqhar6x63gqdy
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