W4A | | Mobile Robots | W4B | SALA PLATEA | 17:10―18:30 | SALA PASTA | Claudio Melchiorri, Italy | CHAIR | Tim Salcudean, Canada | | | CO-CHAIR | Giovanni Muscato, Italy | Advanced Mechatronics in ESA's Space Robotics Developments
G. Visentin, M. Van Winnendael, P. Putz, European Space Technology Center, The Netherlands
Space robots are driven by requirements for high performance and versatility under extreme constraints of low mass, low energy consumption, and few interaction possibilities with supervising humans. This necessitates high degrees of miniaturisation and autonomy. The paper gives an overview of advanced mechatronic solutions for novel space robot systems in a variety of applications: small robot arms for operation on a Space Station or on planets; various concepts of mobility on the Moon, Mars, or Mercury; penetrating or drilling systems for subsurface investigations; micro satellites circling a Space Station and flying robots exploring extreme topologies on Mars. | 17:10―17:30 | Optimal Flow Control for AUV Networks
Joseph T. Napoli, T.J. Tarn, Washington University in Saint Louis, USA
This paper presents a procedure for constructing controllers that limit and route information flow in Autonomous Underwater Vehicle (AUV) networks. Particular attention is paid to the objectives of maximizing throughput and bandwidth efficiency while minimizing power consumption. Both a finite and infinite time horizon problem are formulated and solved for unique, piecewise continuous optimal controllers. In the infinite time case, a receding horizon system is adopted and a stability result for it is presented.
| Development of a Multiagent Robotic System With Application to Space Exploration
E.J.P. Earon, T.D. Barfoot, G.M.T. D'Eleuterio, University of Toronto, Canada
A concept network of autonomous mobile robots intended to carry out tasks related to planetary space exploration is described. Many aspects of the system have been fashioned to make the transition from simulation to hardware as seamless as possible. Representative space exploration tasks are outlined followed by brief descriptions of the hardware and control. One specific task deploying an array of sensors for network science is used as an example. Technical challenges and preliminary experimental results are discussed. The benefits of using a simulator and hardware to develop controllers are found to be complementary. | 17:30―17:50 | Detection of Stair Dimensions for the Path Planning of a Bipedal Robot
Amos Albert, Michael Suppa, Wilfried Gerth, Univ. Hannover, Germany
This paper deals with the detection of the characteristics of stairs i.e. the number of steps the step height and the step width for online path planning of a bipedal robot. For the construction of a multi purpose mobile platform for service robot applications with special respect to the human environment a biped seems to be more advantageous than a wheel based robot. In the framework of our studies the bipedal robot BARt-UH has been built and walking as well as the climbing of stairs have been realized. The environment of the robot is assumed to be structured consisting of flat surfaces and stairs but not known in advance. Therefore a state transition algorithm for intelligent path planning of the robot is suggested. Further a stereo vision module with a line laser is considered in order to detect the stair … | Lightweight Hyper-redundant Binary Elements for Planetary Exploration Robots
Vivek A. Sujan, Matthew D. Lichter, Steven Dubowsky, MIT, USA
This paper presents the design of a new lightweight, hyper-redundant, deployable Binary Robotic Articulated Intelligent Device (BRAID), for space robotic systems. The BRAID element is intended to meet the challenges of future space robotic systems that need to perform more complex tasks than are currently feasible. It is lightweight, has a high degree of freedom and a large workspace. The device is based on embedded muscle type binary actuators and flexure linkages. Such a system may be used for a wide range of tasks, and requires minimal control computation and power resources.
| 17:50―18:10 | Modeling of Mobile Manipulators on Irregular Terrain and Evaluation of Disturbance Torques
Masatoshi Hatano, Toyama University, Mamoru Minami, Fukui University, Tsuyoshi Ohsumi, Haruki Obara, Toyama University, Japan
In the present research we propose a model of a dynamic mobile manipulator traveling on irregular terrain and evaluate disturbance torques caused by irregular terrain. Terrain irregularities exist even in structures such as the man-made floors of factories and buildings. When a mobile manipulator's hand is required to operate precisely while traveling on irregular terrain it is subject to disturbance torques caused by traveling across such terrain. Therefore a compensation method of decreasing control errors caused by disturbances due to terrain must be considered. In this paper a model of a dynamic mobile manipulator traveling on irregular terrain is formulated with traveling states and constraint conditions … | Model Predictive Control of an Autonomous Vehicle
B. Kim, D. Necsulescu, University of Ottawa, J. Sasiadek, Carleton University, Canada
This paper presents model predictive control of an autonomous vehicle. Simulation and experimental results have been shown and compared with input-output linearization method. The results obtained show that the MPC is an efficient method that allows for accurate control and navigation of an autonomous vehicle. Model based predictive control is tested in simulations for motion on an inclined plane. This is done to prepare future work regarding the avoidance of the violation of the smoothness condition for exact linearization, while at the same time by modifying the input commands the geometric path planning results are conserved. The approach is presented for the wheel-ground slippage and tip-over avoidance of the three-wheeled vehicle for inclined plane motion. A complete three-dimensional …
| 18:10―18:30 | Robot Motion Control in Dynamic Environments
I.V. Miroshnik, K.A. Sergeev, State Institute of Fine Mechanics and Optics, Russia
The paper concerns trajectory problems for stationery, platform-mounted or mobile robots interacting with moving external objects. A new task oriented model of spatial motion in mobile environments is obtained and nonlinear control lawas based on geometric methodologies of the theory of nonlinear and MIMO systems are designed. |
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