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Your search keyword '"Robotics and Control"' showing total 4 results
Start Over Descriptor "Robotics and Control" Topic 020901 industrial engineering & automation
4 results on '"Robotics and Control"'

1. A framework for intuitive collaboration with a mobile manipulator

Author

Andrea Cherubini, Aïcha Fonte, Benjamin Navarro, Philippe Fraisse, Gérard Poisson, Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Département Images, Robotique, Automatique et Signal [Orléans] (IRAUS), Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique (PRISME), Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA), and ANR-14-CE27-0016,SISCob,Capteur de Sécurité intelligente pour la Cobotique(2014)

Subjects
0209 industrial biotechnology, Engineering, Physical human-robot interaction, business.industry, Mobile manipulator, 020207 software engineering, Control engineering, Robotics and Control, Redundancy Resolution, 02 engineering and technology, Computer Science::Robotics, Angular deviation, 020901 industrial engineering & automation, 0202 electrical engineering, electronic engineering, information engineering, Redundancy (engineering), [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Robot, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], Human operator, business, Omnidirectional antenna
Abstract

International audience; In this paper, we present a control strategy that enables intuitive physical human-robot collaboration with mobile manipulators equipped with an omnidirectional base. When interacting with a human operator, intuitiveness of operation is a major concern. To this end, we propose a redundancy solution that allows the mobile base to be fixed when working locally and moves it only when the robot approaches a set of constraints. These constraints include distance to singular poses, minimum of manipulability and distance to objects and angular deviation. Experimental results with a Kuka LWR4 arm mounted on a Neobotix MPO700 mobile base validate the proposed approach.

Published
2017
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2. Special Issue on Whole-body control of contacts and dynamics for humanoid robots

Author

Jan Babič, Robin R. Murphy, Michael Mistry, Serena Ivaldi, Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (LARSEN), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Complex Systems, Artificial Intelligence & Robotics (LORIA - AIS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), Department for automation, biocybernetics and robotics [Ljubljana], Jozef Stefan Institute [Ljubljana] (IJS), School of Computer Science [Birmingham], University of Birmingham [Birmingham], Department of Computer Science and Engineering [Texas A&M University] (CSE), Texas A&M University [College Station], European Project: 600716,EC:FP7:ICT,FP7-ICT-2011-9,CODYCO(2013), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), and Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Computer science, 02 engineering and technology, Plan (drawing), Contact force, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, CODYCO, Artificial Intelligence, Human–computer interaction, Contact Dynamics, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Contact dynamics, Adaptation (computer science), Humanoid Robots, Whole Body Interaction, Simulation, DRC, Robotics and Control, Object (philosophy), Robot, Humanoid Whole-Body Control, 020201 artificial intelligence & image processing, Falling (sensation), Humanoid robot
Abstract

International audience; Whether you are walking on a concrete floor, standing on a carpet, or sitting on a soft chair, your entire body continuously controls the posture and the contact forces that are produced by acting on rigid and compliant surfaces. Sometimes, like when reaching for a distant object or standing inside a moving bus that suddenly brakes, humans plan intentionally new contacts to preserve their balance and avoid falling. For humanoid robots to act in unstructured natural environments as humans do, contacts and physical interactions are necessary and unavoidable. This special issue of the Autonomous Robots journal aims at presenting the advances in whole-body control of real robots, focusing on control and learning techniques applied to estimation, control and adaptation of whole-body dynamics movement and contact forces that go beyond basic balancing abilities.

Published
2016
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3. Nonlinear Discontinuous Dynamics Averaging and PWM Based Sliding Control of Solenoid-Valve Pneumatic Actuators

Author

Sean Hodgson, Arnaud Lelevé, Minh Tu Pham, Mahdi Tavakoli, University of Alberta, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), Ampère (AMPERE), École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)

Subjects
Control valves, 0209 industrial biotechnology, Engineering, Variable structure control, Position Tracking, Plant, 02 engineering and technology, Sliding mode control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control theory, Teleoperation, 0202 electrical engineering, electronic engineering, information engineering, Solenoid valve, PWM, Electrical and Electronic Engineering, Pneumatic actuator, business.industry, 020208 electrical & electronic engineering, Pneumatic Actuator, Control engineering, Solenoid Valve, Robotics and Control, Computer Science::Other, Computer Science Applications, Sliding-mode Control, Haptic Systems, Control and Systems Engineering, Pneumatic cylinder, Force Tracking, business
Abstract

International audience; A pneumatic actuator with solenoid valves is a discontinuous-input system because each valve can be either in on or off state. For such an actuator, this paper proposes a sliding- mode control scheme that is based on an averaged continuous- input model of the discontinuous-input open-loop system. The averaged model is obtained from the nonlinear dynamics of the open-loop system undergoing pulse-width-modulation (PWM) at the input (i.e., valve open/close action). The PWM duty cycle will be regarded as a continuous input to the proposed averaged model, and thus generated by the proposed sliding- mode controller. For the sliding control design, we note that a pneumatic actu- ator has two chambers with a total of four on/off valves. Thus, there are sixteen possible combinations for valves' switching. Seven of these sixteen operating "modes" are considered both functional and unique. The proposed sliding control utilizes and switches between these seven modes of the open-loop system in order to select the ones with necessary and sufficient amounts of drive energy. In comparing the new 7-mode controller to the previous controllers, we will demonstrate reductions in the position tracking error and the number of switches made by the actuator's on/off valves. The proposed control scheme is used in both position control of a pneumatic cylinder and bilateral control of a one degree of freedom teleoperation system. Experimental results are presented to validate our theoretical findings.

Published
2015
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4. Homography-based Visual Servoing for Autonomous Underwater Vehicles

Author

Tarek Hamel, Guillaume Allibert, Szymon Krupinski, Minh-Duc Hua, Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Informatique, Signaux, et Systèmes de Sophia-Antipolis (I3S) / Equipe SYSTEMES, Signal, Images et Systèmes (Laboratoire I3S - SIS), Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S), Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA)-Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA)-Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA), Université Nice Sophia Antipolis (1965 - 2019) (UNS), and COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA)-Université Nice Sophia Antipolis (1965 - 2019) (UNS)

Subjects
0209 industrial biotechnology, Engineering, business.industry, 020208 electrical & electronic engineering, Control engineering, 02 engineering and technology, Kinematics, Robotics and Control, Visual servoing, System dynamics, Setpoint, Computer Science::Robotics, Nonlinear system, 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Homography, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], business, Added mass
Abstract

International audience; A nonlinear visual servoing approach is proposed for the stabilisation of fully-actuated autonomous underwater vehicles (AUVs) by exploiting the homography matrix between the two images of a planar scene. In a cascade manner, an outer-loop control defines a reference setpoint based on the homography matrix, and an inner-loop control ensures the stabilisation of the setpoint by assigning thrust and torque controls. In contrast with conventional kinematic solution, the proposed controller deals with the high nonlinearity and coupling of the system dynamics and ensures almost-global asymptotical stability. In addition, the interactions of the AUV with the surrounding fluid (e.g., added mass and drag effects) are often difficult to model precisely whereas they may significantly perturb its motion. The proposed controller –augmented with an effective integral action– allows for the compensation of model uncertainties and for robust performance against such perturbations. Simulation results illustrating these properties on a realistic AUV model subject to sea current are reported.

Published
2014
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