Mobile Robotics - Solutions and Challenges - Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2009
IEEE/RSJ International Conference on Intelligent Robots and System
Simultaneous localization and mapping (SLAM) is one of the fundamental problems in mobile robots.... more Simultaneous localization and mapping (SLAM) is one of the fundamental problems in mobile robots. In this paper we present a new SLAM algorithm in an unknown indoor environment. A local Voronoi diagram (LVD) is built from a laser scanner measurements, in order to estimate the robot position using its topological and geometrical characteristics. The proposed algorithm introduces a backward step,
2007 IEEE/ASME international conference on advanced intelligent mechatronics, 2007
ABSTRACT Path planning for autonomous robots is an essential capacity for these systems. One clas... more ABSTRACT Path planning for autonomous robots is an essential capacity for these systems. One class of path planning algorithms use potential fields. However, some problems associated with these algorithms include (1) Trapping due to local minima, (2) No passage between closely spaced obstacles, and (3) Limit cycles. This paper presents a potential-field-based algorithm that does not exhibit the mentioned problems. The algorithm uses a two- part approach. The first part of the approach generates a "velocity map" of the environment that represents the admissible velocity at discrete cells in the workspace. This velocity map of the environment gives a grey scale that is darker near the obstacles and walls (black means zero speed) and more clear far from them (white means a predefined maximum robot speed). This velocity map imitates the repulsive electric potential from walls and obstacles, but with a limited maximum value. In the second step, the application of the Fast Marching method on the velocity map, represents and gives a potential map of the wave propagation with time as last axis. The propagation of this wave uses the previous velocity map. In this potential surface it is calculated the shortest time trajectory, by using the gradient method. The second part of the approach uses concepts of wave propagation to construct a smooth, safe, and time efficient path in the velocity map. This method is very fast, and can be used on line.
2009 35th Annual Conference of IEEE Industrial Electronics, 2009
This paper presents the applications of the Fast Marching and the Buffered Fast Marching Methods ... more This paper presents the applications of the Fast Marching and the Buffered Fast Marching Methods to solve typical control problems. Calculus of Variations and Optimal Control problems can be solved using the Euler-Lagrange or the Pontryagin equations and solving analytically or numerically the corresponding differential equations systems. The proposed method solves directly these control problems, calculating directly the control signal.
21st Mediterranean Conference on Control and Automation, 2013
ABSTRACT This paper presents a novel methodology for planning the movements of a robotic hand whe... more ABSTRACT This paper presents a novel methodology for planning the movements of a robotic hand when a precision grasp wants to be performed. This approach is based on the standard Fast Marching Square (FM2) path planning method recently introduced for robot ormations. A three-finger kinematic chain is consider as a robot formation to perform simulations. In order to achieve a precision grasp, the task is divided into two phases. In the first one, the hand has to move towards the object to be grasped and stops at a position from which the grasping points can be reached by the fingers of the hand. In the second one, given the contact points for a precision grasp, the movements of the fingers must be planned so that those points are reached by the corresponding fingertips. In both cases, the path planning method used is FM2, so smooth and fast paths are ensured due to the characteristics of FM2. In each phase, different control strategies for robot formations are used. The changes in the geometry of the formations are based on the velocities map calculated in FM2, ensuring collision avoidance and speeding up the grasping phase. Simulation results show the usefulness of this novel application of the method thanks to a good performance of the chosen planning strategy.
ABSTRACT The global localization problem for mobile robots is addressed in this paper. In this fi... more ABSTRACT The global localization problem for mobile robots is addressed in this paper. In this field, the most common approaches solve this problem based on the minimization of a quadratic loss function or the maximization of a probability distribution. The distances obtained from the perceptive sensors are used together with the predicted ones (from the estimates in the known map) to define a cost function or a probability to optimize. In our previous work, we developed an optimization-based global localization module that used evolutionary computation concepts. In particular, the algorithm engine was the Differential Evolution method. In this work, this algorithm has been modified including the minimization of the Kullback–Leibler divergence between true observations and estimates. This divergence is used to calculate the cost function of the localization module. The algorithm has been tested in different situations and the most important improvement is the ability to cope with different types of occlusions.
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, 2011
There are many applications for which a patient needs functional compensation due to motor disord... more There are many applications for which a patient needs functional compensation due to motor disorders in daily activities. Classic research has focused on robotics solutions in terms of actuators or motors, but the point of this paper is to analyze new solutions combining both biological and artificial structures, in order to improve standard developments. Nowadays wearable Robots are taking an important role in rehabilitation purposes, due to this issue lots of new designs are emerging, but most of them are not still prepared to be used in terms of autonomy, weight, etc. Under the Hybrid Neuropros-thetic and Neurorobotic devices for Functional Compensation and Rehabilitation (HYPER) project, new actuator technologies have been developed in order to improve the adaptability and portability of rehabilitation devices. The designed device is based on a lightweight magnetorheological (MR) clutch which is able to transmit torque from a motor to the injured joint. Though it is intended to ...
Mobile Robotics - Solutions and Challenges - Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2009
IEEE/RSJ International Conference on Intelligent Robots and System
Simultaneous localization and mapping (SLAM) is one of the fundamental problems in mobile robots.... more Simultaneous localization and mapping (SLAM) is one of the fundamental problems in mobile robots. In this paper we present a new SLAM algorithm in an unknown indoor environment. A local Voronoi diagram (LVD) is built from a laser scanner measurements, in order to estimate the robot position using its topological and geometrical characteristics. The proposed algorithm introduces a backward step,
2007 IEEE/ASME international conference on advanced intelligent mechatronics, 2007
ABSTRACT Path planning for autonomous robots is an essential capacity for these systems. One clas... more ABSTRACT Path planning for autonomous robots is an essential capacity for these systems. One class of path planning algorithms use potential fields. However, some problems associated with these algorithms include (1) Trapping due to local minima, (2) No passage between closely spaced obstacles, and (3) Limit cycles. This paper presents a potential-field-based algorithm that does not exhibit the mentioned problems. The algorithm uses a two- part approach. The first part of the approach generates a "velocity map" of the environment that represents the admissible velocity at discrete cells in the workspace. This velocity map of the environment gives a grey scale that is darker near the obstacles and walls (black means zero speed) and more clear far from them (white means a predefined maximum robot speed). This velocity map imitates the repulsive electric potential from walls and obstacles, but with a limited maximum value. In the second step, the application of the Fast Marching method on the velocity map, represents and gives a potential map of the wave propagation with time as last axis. The propagation of this wave uses the previous velocity map. In this potential surface it is calculated the shortest time trajectory, by using the gradient method. The second part of the approach uses concepts of wave propagation to construct a smooth, safe, and time efficient path in the velocity map. This method is very fast, and can be used on line.
2009 35th Annual Conference of IEEE Industrial Electronics, 2009
This paper presents the applications of the Fast Marching and the Buffered Fast Marching Methods ... more This paper presents the applications of the Fast Marching and the Buffered Fast Marching Methods to solve typical control problems. Calculus of Variations and Optimal Control problems can be solved using the Euler-Lagrange or the Pontryagin equations and solving analytically or numerically the corresponding differential equations systems. The proposed method solves directly these control problems, calculating directly the control signal.
21st Mediterranean Conference on Control and Automation, 2013
ABSTRACT This paper presents a novel methodology for planning the movements of a robotic hand whe... more ABSTRACT This paper presents a novel methodology for planning the movements of a robotic hand when a precision grasp wants to be performed. This approach is based on the standard Fast Marching Square (FM2) path planning method recently introduced for robot ormations. A three-finger kinematic chain is consider as a robot formation to perform simulations. In order to achieve a precision grasp, the task is divided into two phases. In the first one, the hand has to move towards the object to be grasped and stops at a position from which the grasping points can be reached by the fingers of the hand. In the second one, given the contact points for a precision grasp, the movements of the fingers must be planned so that those points are reached by the corresponding fingertips. In both cases, the path planning method used is FM2, so smooth and fast paths are ensured due to the characteristics of FM2. In each phase, different control strategies for robot formations are used. The changes in the geometry of the formations are based on the velocities map calculated in FM2, ensuring collision avoidance and speeding up the grasping phase. Simulation results show the usefulness of this novel application of the method thanks to a good performance of the chosen planning strategy.
ABSTRACT The global localization problem for mobile robots is addressed in this paper. In this fi... more ABSTRACT The global localization problem for mobile robots is addressed in this paper. In this field, the most common approaches solve this problem based on the minimization of a quadratic loss function or the maximization of a probability distribution. The distances obtained from the perceptive sensors are used together with the predicted ones (from the estimates in the known map) to define a cost function or a probability to optimize. In our previous work, we developed an optimization-based global localization module that used evolutionary computation concepts. In particular, the algorithm engine was the Differential Evolution method. In this work, this algorithm has been modified including the minimization of the Kullback–Leibler divergence between true observations and estimates. This divergence is used to calculate the cost function of the localization module. The algorithm has been tested in different situations and the most important improvement is the ability to cope with different types of occlusions.
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, 2011
There are many applications for which a patient needs functional compensation due to motor disord... more There are many applications for which a patient needs functional compensation due to motor disorders in daily activities. Classic research has focused on robotics solutions in terms of actuators or motors, but the point of this paper is to analyze new solutions combining both biological and artificial structures, in order to improve standard developments. Nowadays wearable Robots are taking an important role in rehabilitation purposes, due to this issue lots of new designs are emerging, but most of them are not still prepared to be used in terms of autonomy, weight, etc. Under the Hybrid Neuropros-thetic and Neurorobotic devices for Functional Compensation and Rehabilitation (HYPER) project, new actuator technologies have been developed in order to improve the adaptability and portability of rehabilitation devices. The designed device is based on a lightweight magnetorheological (MR) clutch which is able to transmit torque from a motor to the injured joint. Though it is intended to ...
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