Robotics 2010 Current and future challenges Part 2 pptx

... actuators are applied on the Robotics 20 10: Current and Future Challenges 44 Robotics 20 10: Current and Future Challenges 42 Fig. 6. Target grasping sequence, wait, approach, and grasp 7. Operational ... have ∂ ∂q a(q) 2 = 2a T ∂a ∂q . (5) Define v  W T (q) ˙q (6a) u  W −1 (q)f , (6b) 2 also known as generalized coordinates Robotics 20 10: Current and Future Challenges 52...

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... Robotics 20 10: Current and Future Challenges 25 8 Ability, Proc. of IEEE International Conference on Robotics and Automation, 20 07, FrB 12. 2. Amano, H.; (20 08). http://www.melos.co.jp/jigyou/product/index13.html ... movement and rotational movement are realized directly by using the human gait.  420 v R v L v 2d  ． x y  420 v R v L v 2d  ． x y -4 -2...

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... Kavraki, L. E. (20 01). A randomized algorithm for robot path planning based on lazy evaluation, Handbook on Randomized Computing, Kluwer Academic Publishers, p .22 1 -24 9 (20 01) pp. 22 1 24 9. Boor, V., ... Kavraki, L. E. (20 01). A randomized algorithm for robot path planning based on lazy evaluation, Handbook on Randomized Computing, Kluwer Academic Publishers, p .22 1 -24 9 (20 01) pp....

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... fulfilled φ 1 > 2 √ φ 0 φ 2 , φ 2 1 + φ 1  φ 2 1 −4φ 0 φ 2 > 2 0 φ 2  1 +  p M p m  , φ 1 +  φ 2 1 −4φ 0 φ 2 > 2 2 z e (0)  p M p m . (28 ) The variables p m and p M can be obtained ... Λ 2 ) ˙ ˆe + l D Λ 2 ˆe = ˙s 2 + l D s 2 . (17) The control error dynamics are obtained by combining (6) and (15) M a (x) ¨e+C a (x, v) ˙e+K D (s 1 −s 2 )−∆−...

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... q  and maxmin 22 2 qqq  . • The object and the floor contact at a point and the object does not do rotational motion. • A mode where both contact points (hand and object / object and floor) ... q  and maxmin 22 2 qqq   . • The object and the floor contact at a point and the object does not do rotational motion. • A mode where both contact points (hand and...

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... 2. 0 0 .25 0.5 1.0 60.0 2. 503 0.896 5.0 1 .24 1 60.660 4.0 12 1.601 3 .21 0 15.010 57.358 4.0 12 1.601 3 .21 0 10.010 57.358 Measured current [A] 1.871 0.794 0.591 0.5 72 ... 2. 0 0 .25 0.5 1.0 60.0 2. 503 0.896 5.0 1 .24 1 60.660 4.0 12 1.601 3 .21 0 15.010 57.358 4.0 12 1.601 3 .21 0 10.010 57.358 Measured current [A] 1....

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... ABLE - 4 axis shoulder kinematics r 12 R 1 R 12 R 2 I Joint 2 Joint 1 Actuator 1 Actuator 2 Joint 3 r 12 R 1 R 12 R 2 I Joint 2 Joint 1 Actuator 1 Actuator 2 Joint 3 Joint 4 Actuator 4 Joint ... Extension ARTICULATION Amplitude Motors Transmission Ratio 117 49 47 Max. velocity in hand (notional) Joint torque (continuous) 2 Nm 2 Nm 2 Nm Continuous effort in hand (a...

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... -89.33 0. 12 µ A 32 ( ˙ e ) 89.33 0. 12 -89.33 0 .29 µ A 11 (e) 22 2.4 0.04 -22 2.4 0.10 µ A 21 (e) 22 2.4 0. 12 -22 2.4 0.15 FINAL µ A 31 (e) 22 2.4 0.15 -22 2.4 0 .24 VALUES µ A 12 ( ˙ e ) 89.33 -0 .21 85 -89.33 ... a 1 c 1 a 2 c 2 µ A 11 (e) 22 2.4 0.041 -22 2.4 0.11 µ A 21 (e) 22 2.4 0.108 -22 2.4 0.18 INITIAL µ A 31 (e) 22 2.4 0.1756 -22 2.4 0 .24 VALUES µ A 12...

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... ID =23 , pos=(10 ,20 ) table: ID=73, pos=( -23 , 72) table: ID= 12, pos=(-53,56) I am Cam1, I see 3 entities person: ID=14,pos=(34 ,21 ) robot: ID =25 ,pos=(58,55) sofa: ID=134,pos=(93, 42) I am Robot 32, ... N.; Thrun, S. (20 03). Towards robotic assistants in nursing homes: challenges and results. Robotics and Autonomous Systems (RAS'03), 42: 271 28 1. Prodanov, P.; Drygaj...

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... & Sukhatme, G. (20 02) . A Laser-Based People Tracker. Proceedings of the IEEE International Conference on Robotics and Automation , pp. 3 024 -3 029 , Washington DC, USA, May 20 02 Hasegawa, T. ... Korea, Sep. 20 08 Kotecha, J. & Djurić, P. (20 03). Gaussian particle filtering. IEEE Transactions on Signal Processing, Vol. 51, No. 10, 25 92- 2601 Lee, J.H. & Hashi...

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