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...

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... 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...

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... 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...

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... 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...

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... 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(...

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... 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...

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... 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...

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... 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...

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... 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...

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... 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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