1,721,243 research outputs found
2008 PROSE Awards for Excellence in Physical Sciences & Mathematics and for Engineering & Technology
No full textThe Springer Handbook of Robotics received in February 2009 two PROSE Awards (the American Publishers Awards for Professional and Scholarly Excellence) for 2008: for Excellence in Physical Sciences & Mathematics, and for Engineering & Technology
Stabilization via iterative state steering with application to chained-form systems
No full textKobe, Japa
Robust stabilization of the angular velocity for an underactuated rigid spacecraft
No full textEnschede, The Netherland
A general framework for task-constrained motion planning with moving obstacles
No full textConsider the practically relevant situation in which a robotic system is assigned a task to be executed in an environment that contains moving obstacles. Generating collision-free motions that allow the robot to execute the task while complying with its control input limitations is a challenging problem, whose solution must be sought in the robot state space extended with time. We describe a general planning framework which can be tailored to robots described by either kinematic or dynamic models. The main component is a control-based scheme for producing configuration space subtrajectories along which the task constraint is continuously satisfied. The geometric motion and time history along each subtrajectory are generated separately in order to guarantee feasibility of the latter and at the same time make the scheme intrinsically more flexible. A randomized algorithm then explores the search space by repeatedly invoking the motion generation scheme and checking the produced subtrajectories for collisions. The proposed framework is shown to provide a probabilistically complete planner both in the kinematic and the dynamic case. Modified versions of the planners based on the exploration–exploitation approach are also devised to improve search efficiency or optimize a performance criterion along the solution. We present results in various scenarios involving non-holonomic mobile robots and fixed-based manipulators to show the performance of the planner
Motion planning for mobile manipulators along given end-effector paths
No full textWe consider the problem of planning collision-free motions for a mobile manipulator whose end-effector must travel along a given path. Algorithmic solutions are devised by adapting a technique developed for fixed-base redundant robots. In particular, we exploit the natural partition of generalized coordinates between the manipulator and the mobile base, whose nonholonomy is accounted for at the planning stage. The approach is based on the randomized generation of configurations that are compatible with the end-effector path constraint. The performance of the proposed algorithms is illustrated by several planning experiments
Stabilization of the general two-trailer system
No full textExisting methods for nonholonomic feedback stabilization can only be applied to exactly nilpotentizable or flat systems. In this paper, a car towing two off-hooked trailers is considered as a canonical example of robot that does not fall into the above class. We show that exponential convergence to arbitrary configurations can be obtained by means of an iterative steering technique based on a nonhomogeneous nilpotent approximation of the system. Simulation results illustrate the performance of the method
Vision-based interception of a moving target with a nonholonomic mobile robot
No full textA novel vision-based scheme is presented for driving a nonholonomic mobile robot to intercept a moving target. The proposed method has a two-level structure. On the lower level, the pan-tilt platform carrying the on-board camera is controlled so as to keep the target as close as possible to the center of the image plane. On the higher level, the relative position of the target is retrieved from its image coordinates and the camera pan-tilt angles through simple geometry, and used to compute a control law which drives the robot to the target. Various possible choices are discussed for the high-level robot controller, and the associated stability properties are rigorously analysed. The proposed visual interception method is validated through simulations as well as experiments on the mobile robot MagellanPro. (c) 2007 Elsevier B.V. All rights reserved
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