Autonomous Robotic Systems - Anibal T de Almeida and Oussama Khatib (Eds) Part 12 docx

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 12 docx

... structure of an assistant robot One of these robots is Tou, developed at the Universitat Polit~cnica de Catalunya from 1989 to 1992. It is characterized by its soft structure, to guaranty the ... living-room the study and the bath-room. Some representative robot tasks are to open the door of the refrigerator, taking some food, heating it in the microwaves and putting it on the table. The ... adapted to his remaining movements. The assistant robot "Isac" (Intelligent Soft Arm Control) constitutes another aid with these performances. It was developed at the University of Vanderbilt...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 9 docx

... smooth transfer of system set points between the automatic system and the operator. The servoed operator controls also restrict the control computer to the same safety interlocks and limits ... terrain model. The gait planner determines the "leg states" (support or transfer), and the phases and state periods (time lengths of the support or transfer states) according to the ... reckoning part and K 2 the part coming from the DGPS part. K z is non-zero only in the time window mentioned above and thus contributes to the correction part of the filter. For actual results...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 8 doc

... production-opt denotes total output of the network type II, while the others are results in case of type I. Both systems of 135 evolution in the context of the environment. The component unit ... will find that the answer is situation dependent. This section discusses the relation between diversity and optimality. To show this, let us consider a network structure where the site R is disconnected ... robots do nothing. The only thing what robots do is to reduce the difference between the current state and desired state. Task selection of the robot depends on the site where the robot is...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 10 pot

... during the late spring of 1988 and taken to the Robots 12 exhibition in Cobo Hall in Detroit. Time ran short, and the first time the shells were attached to the robot and buttoned up was on the ... person if they stood still. The first field test, at the end of 1987, was from the Dietary department to the elevator bank in the next building. We arrived at about 9 AM and had the system programmed ... openings that lead to the final destination either directly or by deviating around an obstacle. One opening is selected using path heuristics, and position commands that direct the robot towards this...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 11 pot

... to the robot. Note that this is the only site specific information used by the HelpMate to generate the menu driven user interface tailored to the site, to generate the routes to travel between ... movements (head, face or mouth movements) constitutes the means of communication with the computer in order to control the movements of the arm until the desired actuation is attained. Apart of the ... able to plan a route to the station specified. This is done by examining all the possible paths from the current station to the destination and picking the path with the smallest weight. After...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 14 pot

... active part in taking the technology to its next logical stage - whatever this may be! To do this simply contact the author so that you may be included in the activities of the CLAWAR Network. ... For sticking under load the transmitted torques are added to the initial tensions. In addition to the mentioned phenomena, the following ones are part of the simulation model: The contact between ... here utilise this method. The likely future development of mobile robots is also considered; it is expected that the traditional one-off prototyping approach to robot design cannot continue...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 15 pps

... Dynamical Systems with Saturation Nonlinearities: Analysis and Design 212 pp. 1994 [ 3-5 4 0-1 988 8-1 ] Vol. 196: Battilotti, S. Noninteracting Control with Stability for Nonlinear Systems 196 ... Simultaneous Stabilization of Linear Systems 212 pp. 1993 [ 3-5 4 0-1 986 2-8 ] Vol. 192: Smith, R.S.; Dahleh, M. (Eds) The Modeling of Uncertainty in Control Systems 412 pp. 1993 [ 3-5 4 0-1 987 0-9 ] Vol. ... 204: Takahashi, S.; Takahara, Y. Logical Approach to Systems Theory 192 pp. 1995 [ 3-5 4 0-1 9956-X] Vol. 205: Kotta, U. Inversion Method in the Discrete-time Nonlinear Control Systems Synthesis...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 1 doc

... University of Coimbra and the Department of Electrical Engineering for hosting the workshop. Our special thanks go to the researchers, staff, and students of the Institute of Systems and Robotics, ... contributions represent a wide coverage of the state-of-the-art and the emerging research directions in autonomous robotic systems. The material was developed in an advanced tutorial style making ... and the motion mode to apply: it selects and controls the trajectory planner; trajectory planning which determines the trajectory to execute (in one of the above-mentioned three motion modes)...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 2 potx

... react to the movements of the object's and with the ability to keep the distance and attitude between the two bodies, it is necessary to evaluate the distance of the object with respect to ... maintain the relative distance and orientation to the target. Essentially the system must control the position of each actuator to maintain this goal. This implies to control the actuators of the ... possibility is explored in our system to correct the path dur- ing the movement execution. The commands sent to the mobile robot reflect the position that the robot must reach to maintain the distance...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 4 ppsx

... Inertial System based on Solid-State Devices To study the integration of the inertial information in artificial autonomous systems that include active vision systems it was decided to develop ... sensor with parallel emitter and detector optical axes, the detected intensity varies approximately with the bi-quadratic inverse of the distance [32]. Because the reflected intensity depends ... range to the object. The maximum detection range depends on the emitted power, on the target cross-sectional area, reflectivity and orientation. Although these sensors are very independent from...

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