262 research outputs found
Consiglio scientifico dell'Istituto 129 del CNRS - Institut des sciences de l'information et de leurs interactions (INS2I)
No full text
Consiglio scientifico dell'Istituto 129 del CNRS - Institut des sciences de l'information et de leurs interactions (INS2I)
No full text
Localization of Mobile Robots Using Ultrasonic Sensors, DIS Working Paper 37 - 96 , Dicembre 1996
No full textA control-based approach to task-constrained motion planning
No full textWe consider the problem of planning collision-free motions for general (i.e., possibly nonholonomic) redundant robots subject to task space constraints. Previous approaches to the solution are based on the idea of sampling and inverting the task constraint to build a roadmap of task-constrained configurations which are then connected by simple local paths; hence, task tracking is not enforced during the motion between samples. Here, we present a control-based randomized approach relying on a motion generation scheme that guarantees continued satisfaction of such constraint. The resulting planner allows to achieve accurate execution of the desired task without increasing the size of the roadmap. Numerical results on a fixed-base manipulator and a free-fying mobile manipulator are presented to illustrate the performance improvement obtained with the proposed technique
Interaction force reconstruction for humanoid robots
No full textHumanoids are, by definition, robotic systems for which the control of interaction forces with the environment is elemental for the accomplishment of any loco-manipulation task. Any feedback controller of the interaction forces would invariably require some form of measure or estimation of the forces actually exchanged between the robot and the environment. This paper describes a method for estimating the contact forces for humanoids physically interacting with the environment. While analogous problems have been solved in the case of serial chain manipulators, the same study is missing for humanoids. With respect to the estimation problem for manipulators, these robotic systems introduce some peculiar challenges related to the presence of redundantly actuated kinematic loops. The considered interaction is not limited to specific points of the humanoid body since the proposed method also allows localization of the contact point without resorting to other sensing techniques, like, e.g., vision. The method has been extensively tested on the humanoid NAO
Modeling and motion analysis of autonomous paragliders. Department of Computer and System Sciences Technical Reports, no. 5, 2010
No full textThis report describes a preliminary study on modeling and
control of parafoil and payload systems with the twofold objective of developing tools for automatic testing and classification of parafoils and of devising autonomous paragliders able to accomplish long-range delivery or monitoring tasks. Three different models of decreasing complexity are derived and their accuracy compared by simulation
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