Search results for " interaction"
showing 10 items of 5187 documents
Smart sensing and adaptive reasoning for enabling industrial robots with interactive human-robot capabilities in dynamic environments — a case study
2019
Traditional industry is seeing an increasing demand for more autonomous and flexible manufacturing in unstructured settings, a shift away from the fixed, isolated workspaces where robots perform predefined actions repetitively. This work presents a case study in which a robotic manipulator, namely a KUKA KR90 R3100, is provided with smart sensing capabilities such as vision and adaptive reasoning for real-time collision avoidance and online path planning in dynamically-changing environments. A machine vision module based on low-cost cameras and color detection in the hue, saturation, value (HSV) space is developed to make the robot aware of its changing environment. Therefore, this vision a…
Summarizing Large Scale 3D Point Cloud for Navigation Tasks
2017
International audience; Democratization of 3D sensor devices makes 3D maps building easier especially in long term mapping and autonomous navigation. In this paper we present a new method for summarizing a 3D map (dense cloud of 3D points). This method aims to extract a summary map facilitating the use of this map by navigation systems with limited resources (smartphones, cars, robots...). This Vision-based summarizing process is applied in a fully automatic way using the photometric, geometric and semantic information of the studied environment.
Robust adaptive tracking control of uncertain systems with time-varying input delays
2017
ABSTRACTIn this paper, the problem of robust adaptive tracking control of uncertain systems with time-varying input delays is studied. Under some mild assumptions, a robust adaptive controller is designed by using adaptive backstepping technique such that the system is globally stable and the system output can track a given reference signal. At the same time, a root mean square type of bound is obtained for the tracking error as a function of design parameters and thus can be adjusted. Finally, one numerical example is given to show the effectiveness of the proposed scheme.
Event-triggered robust adaptive control for discrete time uncertain systems with unmodelled dynamics and disturbances
2019
In practice, modelling errors caused by high-order unmodelled dynamics and external disturbances are unavoidable. How to ensure the robustness of an adaptive controller with respect to such modelling errors is always a critical concern. In this study, the authors consider the design of event-triggered robust adaptive control for a class of discrete-time uncertain systems which involve such modelling errors and also are allowed to be non-minimum phase. Unlike some existing event-triggered control schemes, the developed controllers do not require that the measurement errors meet the corresponding input-to-state stable condition. Global stability of the closed-loop system which means that all …
Dynamic Modeling, Energy Analysis, and Path Planning of Spherical Robots on Uneven Terrains
2020
Spherical robots are generally comprised of a spherical shell and an internal actuation unit. These robots have a variety of applications ranging from search and rescue to agriculture. Although one of the main advantages of spherical robots is their capability to operate on uneven surfaces, energy analysis and path planning of such systems have been studied only for flat terrains. This work introduces a novel approach to evaluate the dynamic equations, energy consumption, and separation analysis of these robots rolling on uneven terrains. The presented dynamics modeling, separation analysis, and energy analysis allow us to implement path planning algorithms to find an optimal path. One of t…
An Input Observer-Based Stiffness Estimation Approach for Flexible Robot Joints
2020
This letter addresses the stiffness estimation problem for flexible robot joints, driven by variable stiffness actuators in antagonistic setups. Due to the difficulties of achieving consistent production of these actuators and the time-varying nature of their internal flexible elements, which are subject to plastic deformation over time, it is currently a challenge to precisely determine the total flexibility torque applied to a robot's joint and the corresponding joint stiffness. Herein, by considering the flexibility torque acting on each motor as an unknown signal and building upon Unknown Input Observer theory, a solution for electrically-driven actuators is proposed, which consists of …
A new AR authoring tool using depth maps for industrial procedures
2013
Several augmented reality systems have been proposed for different target fields such as medical, cultural heritage and military. However, most of the current AR authoring tools are actually programming interfaces that are exclusively suitable for programmers. In this paper, we propose an AR authoring tool which provides advanced visual effect, such as occlusion or media contents. This tool allows non-programming users to develop low-cost AR applications, specially oriented to on-site assembly and maintenance/repair tasks. A new 3D edition interface is proposed, using photos and Kinect depth information to improve 3D scenes composition. In order to validate our AR authoring tool, two evalua…
A Humanoid Social Robot Based Approach for Indoor Environment Quality Monitoring and Well-Being Improvement
2020
The indoor environmental quality (IEQ) monitoring inside buildings where people spend most of their time is essential for ensuring their well-being. Traditional approaches based on Building Automation and Control Systems consider buildings equipped with many different sensors. Unfortunately, the sensors are not always placed for taking the measurements at the right positions. Besides, users could feel a negative perception due to continuous supervision. The present work proposes an approach based on a social humanoid robot that monitors indoor environmental quality. It friendly interacts with occupants providing appropriate suggestions. Particularly, the social robot has been endowed with c…
A port-Hamiltonian Fluid-Structure Interaction Model for the Vocal folds ⁎ ⁎This work was supported by CONICYT-PFCHA/2017-21170472, and AC3E CONICYT-…
2018
Abstract Fluid-structure interaction models are of special interest for studying the energy transfer between the moving fluid and the mechanical structure in contact. The vocal folds are an example of a fluid-structure system, where the mechanical structure is usually modeled as a mass-spring-damper system. In particular, the estimation of the collision forces of the vocal folds is of high interest in the diagnosis of phonotraumatic voice pathologies. In this context, the port-Hamiltonian modeling framework focuses on the energy flux in the model and the interacting forces. In this paper, we develop a port-Hamiltonian fluid-structure interaction model based on the interconnection methodolog…
Vibration control strategy for large-scale structures with incomplete multi-actuator system and neighbouring state information
2016
The synthesis of optimal controllers for vibrational protection of large-scale structures with multiple actuation devices and partial state information is a challenging problem. In this study, the authors present a design strategy that allows computing this kind of controllers by using standard linear matrix inequality optimisation tools. To illustrate the main elements of the new approach, a five-story structure equipped with two interstory actuation devices and subjected to a seismic disturbance is considered. For this control setup, three different controllers are designed: an ideal state-feedback H 8 controller with full access to the complete state information and two static output-fee…