Robotics 2010 Current and future challenges Part 13 potx
Robotics 2010 Current and future challenges Part 13 potx
... WorkPartner service robot.
WorkPartner is a centaur-like service robot with four wheeled legs and a human-like upper
body with two hands and a head (see Figure 3).
body with tw
o hands and ... on Robotics and Automation,
pp. 132 2 -132 8, Detroit, MI, USA, May 1999
representation, by calculating their mean and covariance. This is done in the place of the
resampling step o...
Robotics 2010 Current and future challenges Part 3 potx
... control using quasi veloc-
ities. Journal of Guidance, Control, and Dynamics 29(6), 130 9 131 4.
Robotics 2010: Current and Future Challenges 76
x
y
z
x
y
z
Fig. 3. Investigated motions for the ... combining (6) and (15)
M
a
(x) ¨e+C
a
(x, v) ˙e+K
D
(s
1
−s
2
)−∆−∆ = 0. (18)
Robotics 2010: Current and Future Challenges 60
6. References
Aghili, F. (2005). A unified approach for inverse...
Robotics 2010 Current and future challenges Part 2 pptx
... actuators are applied on the
Robotics 2010: Current and Future Challenges 44
Robotics 2010: Current and Future Challenges 42
Fig. 6. Target grasping sequence, wait, approach, and grasp
7. Operational ... coordinates
Robotics 2010: Current and Future Challenges 52
and then define
Γ
r
¯
Γ
22
, and Γ
o
¯
Γ
12
. (30)
Now, substituting (25) into (22) and then using definitions (28) a...
Robotics 2010 Current and future challenges Part 4 ppsx
...
Shiina and H. Yamaguchi, Randomized Manipulation Planning for A Multi-
Fingered Hand by Switching Contact Modes, Proc. 2003 IEEE Int. Conf. on Robotics
and Automation, 2003.
Y. Yin, S. Hosoe, and ... q
and
maxmin 222
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...
Robotics 2010 Current and future challenges Part 5 pps
... rope and one object and a
knot generated by two ropes. Although the knot production process obtained by the
Fig. 12. Analysis of Overhand Knot
Fig. 13. Production Process of Overhand ... for the overhand knot production process can be represented by the following:
rl
EE
(Fig. 13( a))
rl
ECCE
11
ˆˆ
(Fig. 13( b))
rl
ECCCCCCE
3 2132 1
ˆˆ
(Fig. 13(...
Robotics 2010 Current and future challenges Part 6 pot
... Extension
ARTICULATION ELBOW
Amplitude 130 °
Motors
Transmission
Ratio 106 107 71 71
Max. velocity in hand (approx.)
Joint torque (continuous) 18 Nm 18 Nm 13 Nm 13 Nm
Continuous effort in hand (approx.) 50 N 50 ... 25. Forearm and wrist 3 axis structure with its SCS drives
The heterogeneous linking devices on the mobile arch (two ball-joints on one hand and two
orthogonal axis on...
Robotics 2010 Current and future challenges Part 8 pptx
... Robotics 2010: Current and Future Challenges 258
Ability, Proc. of IEEE International Conference on Robotics and Automation, 2007,
FrB12.2.
Amano, ... and novel research topic. Moreover, precise
control of such a pipe inspection robot when subjected to flow disturbances necessitates
Robotics 2010: Current and Future Challenges 236
other hand, ... of the inter-vertebral disc and...
Robotics 2010 Current and future challenges Part 9 docx
... identification of systems and its applications to model-
ing and control, IEEE transactions on systems, man, and cybernetics 15(1): 116 132 .
Turing, A. (1950). Computing machinery and intelligence, Mind ... its position and attitude, and a simulation analysed its movement
for given routes on a plane surface. We paid particular attention to the actual movement of
an earthworm in...
Robotics 2010 Current and future challenges Part 11 pptx
... with linear and angular velocity components.
In (1), U, V, W, and P, Q, R are x, y, z components of linear and angular velocities.
, M, and
I represent displacement, mass, and mass moments ... evaluate current angular veloc-
ities. Received reference angular velocities and current angular velocities are compared and
PWM signals are generated via PID controllers (as i...
Robotics 2010 Current and future challenges Part 12 pps
... Control, Automation, Robotics and Vision, pp. 1–6
[5] Institute of Electrical and Electronics Engineers, Inc., Standard for local and metropolitan
area networks: overview and architecture. Amendment ... the scans landmarks are extracted from
scans and used in the estimation of the robot’s and landmarks’ position, and this estimate is
then sent to the fusion server. Any type...
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