International Journal of Robotics Research
0278-3649
1741-3176
Mỹ
Cơ quản chủ quản: SAGE Publications Ltd , SAGE Publications Inc.
Lĩnh vực:
Mechanical EngineeringSoftwareApplied MathematicsModeling and SimulationElectrical and Electronic EngineeringArtificial Intelligence
Phân tích ảnh hưởng
Thông tin về tạp chí
It is the policy of The International Journal of Robotics Research to encourage the application of theoretical advances to real problems and data. Results should represent a significant rather than incremental advance, and should be verified appropriately according to the topic. Experimental results are strongly encouraged. There should be an up to date literature review, and meaningful comparisons with previous work to demonstrate any proposed advance. All articles that pass initial editorial assessment are peer-reviewed by independent referees.
Các bài báo tiêu biểu
Path-tracking for a Tractor-Trailer-like Robot Path-tracking controllers for tractor-trailer-like robots are de signed by generalizing the geometric path-tracking approach currently adopted for car-like robots. This is done by formaliz ing the concepts of speed and lateral and heading offsets and by assuming slippage-free motion. The main result is that for straight-line or circular-arc paths to be tracked with a con stant velocity, path-tracking may be ensured by means of a linear, time-invariant, and decoupled controller, the gains of which may be determined using familiar proportional-integral- derivative (PID) and state-feedback techniques.
Tập 13 Số 6 - Trang 533-544 - 1994
RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments RGB-D cameras (such as the Microsoft Kinect) are novel sensing systems that capture RGB images along with per-pixel depth information. In this paper we investigate how such cameras can be used for building dense 3D maps of indoor environments. Such maps have applications in robot navigation, manipulation, semantic mapping, and telepresence. We present RGB-D Mapping, a full 3D mapping system that utilizes a novel joint optimization algorithm combining visual features and shape-based alignment. Visual and depth information are also combined for view-based loop-closure detection, followed by pose optimization to achieve globally consistent maps. We evaluate RGB-D Mapping on two large indoor environments, and show that it effectively combines the visual and shape information available from RGB-D cameras.
Tập 31 Số 5 - Trang 647-663 - 2012
A Tactile Sensing System for Robotic Manipulation A tactile sensing system (TSS) for articulated robotic hands is described. The system is composed of flexible touch sensing arrays, access electronics, and algorithms for data sampling and processing. The TSS is meant to exist in a multiprocess ing control environment and is designed to keep low-level procedures such as sensor addressing and data access off of the control system's shared bus. Up to 16 arrays of 256 taxels each can be accessed in parallel with achieved sampling rates of more than 60 Hz. The resolution of the sensors can be dynamically modified by a simple switching technique. This allows very fast sampling rates at low resolution while retain ing the ability to sample with high precision at lower rates. Variance of the resolution changes only the number of taxels and the size of their receptive fields but does not affect the coverage of the array. As part of the discussion about TSS, a generic class of resistive touch sensors is described. These sensors are inex pensive, flexible, and easy to build. Methods for efficient sampling, variable resolution, and shear force detection are introduced, and implementation issues for use with the Utah/ MIT Dextrous Hand are discussed.
Tập 9 Số 6 - Trang 25-36 - 1990
The Role of Dynamic Models in Cartesian Force Control of Manipulators Dynamic models are as important in Cartesian force control as they are in position control. A variety of Cartesian force control schemes are examined, comprising some that do incorporate a dynamic model into the control loop (resolved acceleration force control, operational space method, and impedance control) and some that do not (hybrid control and stiffness control). Stability analyses and experimental imple mentations are presented that demonstrate not only that using a dynamic model leads to more accurate control, but also that not using a model can in certain cases make force control unstable. Experiments on the MIT Serial Link Direct Drive Arm show that resolved acceleration force control is stable and accurate in producing force steps and sinusoidal force responses and in complying to sinusoidal position dis turbances.
Tập 8 Số 4 - Trang 51-72 - 1989
Historical Perspective and State of the Art in Robot Force Control This paper combines histarical lineage, assessment of the state of the art, and discussion of unsolved problems in robot force control. The difference between continuous and logic branching strategies is described. The development of various impedance strategies and hybrid methods is traced and com pared. The problem of stability is discussed, and remedies are related to higher strategy issues.
Tập 6 Số 1 - Trang 3-14 - 1987
Virtual Model Control: An Intuitive Approach for Bipedal Locomotion Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control framework is applied to a physical planar bipedal robot. It uses a simple set of virtual components that allows the robot to walk successfully over level terrain. This paper also describes how the algorithm can be augmented for rough terrain walking based on geometric consideration. The resulting algorithm is very simple and does not require the biped to have an extensive sensory system. The robot does not know the slope gradients and transition locations in advance. The ground is detected using foot contact switches. Using the algorithm, we have successfully compelled a simulated seven-link planar biped to walk blindly up and down slopes and over rolling terrain.
Tập 20 Số 2 - Trang 129-143 - 2001
The Equivalence of Second-Order Impedance Control and Proportional Gain Explicit Force Control This article discusses the essential equivalence of second-order impedance control with force feedback and proportional gain explicit force control with force feedforward. This is first done analytically by reviewing each control method and showing how they mathematically correspond for constrained manipula tor control. For stiff environments the correspondence is exact. However, even for softer environments, a similar response of the system is indicated. Next, the results of an implementation of these control schemes on the CMU DD Arm II are pre sented, confirming the predictions of the analysis. These results experimentally demonstrate that proportional gain force control and impedance control, with and without dynamics compensa tion, have equivalent response to commanded force trajectories.
Tập 14 Số 6 - Trang 574-589 - 1995
Force Tracking Impedance Control for Robot Manipulators with an Unknown Environment: Theory, Simulation, and Experiment In impedance control for force tracking, it is well known that the reference trajectory of the robot is calculated from known environmental stiffness. The authors present a simple technique for determining the reference trajectory under the condition that the environment is unknown. The technique is developed based on the replacement of the unknown stiffness with a function of the measured force. Combining this technique with the impedance function yields the force tracking impedance function. Robot dynamic uncertainties are assumed to be compensated by a robust position control method based on time-delayed control. The local stability at equilibrium points is analyzed with respect to uncertainty in environmental position. Computer simulation studies demonstrate that force tracking using the proposed technique is excellent for unknown environment and dynamics uncertainty. The practicality of the technique is also verified experimentally using a PUMA 560 manipulator.
Tập 20 Số 9 - Trang 765-774 - 2001
A Force Control Approach to a Robot-assisted Cell Microinjection System Robotic cell microinjection is a technique that utilizes automation technology to insert substances into a single living cell with a fine needle. Compared with manual microinjection, the main benefits of the robotic cell injection are quality, productivity and repeatability. In this paper we aim to control the penetration force during robotic cell injection to quantify the influence of the penetration force on cells. A force-control-based cell injection approach that is capable of regulating the penetration force in a desired force trajectory is developed. The proposed force control framework includes two control loops. The inner loop is an impedance control used to specify the interaction between the needle and the cell. The outer loop is a force tracking non-linear controller using a feedback linearization technique. The cell model is identified online with a least-squares parameter estimator. With the proposed force control approach, the penetration force can be regulated explicitly to follow the desired force trajectory during the cell injection process. Experiments performed on fish embryos verify the effectiveness of the proposed approach.
Tập 29 Số 9 - Trang 1222-1232 - 2010