Autonomous Robotic Systems - Anibal T de Almeida and Oussama Khatib (Eds) Part 9 docx

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 9 docx

... smooth transfer of system set points between the automatic system and the operator. The servoed operator controls also restrict the control computer to the same safety interlocks and limits ... terrain model. The gait planner determines the "leg states" (support or transfer), and the phases and state periods (time lengths of the support or transfer states) according to the ... reckoning part and K 2 the part coming from the DGPS part. K z is non-zero only in the time window mentioned above and thus contributes to the correction part of the filter. For actual results...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 12 docx

... structure of an assistant robot One of these robots is Tou, developed at the Universitat Polit~cnica de Catalunya from 198 9 to 199 2. It is characterized by its soft structure, to guaranty the ... pathology of the patient in order to improve his efficiency and reduce intervention time. Orthodoc [9] is one of the first robotic prototypes that work from the CT images to pre-plan a robotic ... the robot arm to visualize the objects the user wants to manipulate. This prototype has been used to experiment and to demonstrate the capabilities of a mobile robot with these characteristics...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 8 doc

... production-opt denotes total output of the network type II, while the others are results in case of type I. Both systems of 135 evolution in the context of the environment. The component unit ... will find that the answer is situation dependent. This section discusses the relation between diversity and optimality. To show this, let us consider a network structure where the site R is disconnected ... robots do nothing. The only thing what robots do is to reduce the difference between the current state and desired state. Task selection of the robot depends on the site where the robot is...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 10 pot

... during the late spring of 198 8 and taken to the Robots 12 exhibition in Cobo Hall in Detroit. Time ran short, and the first time the shells were attached to the robot and buttoned up was on the ... person if they stood still. The first field test, at the end of 198 7, was from the Dietary department to the elevator bank in the next building. We arrived at about 9 AM and had the system programmed ... openings that lead to the final destination either directly or by deviating around an obstacle. One opening is selected using path heuristics, and position commands that direct the robot towards this...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 11 pot

... to the robot. Note that this is the only site specific information used by the HelpMate to generate the menu driven user interface tailored to the site, to generate the routes to travel between ... movements (head, face or mouth movements) constitutes the means of communication with the computer in order to control the movements of the arm until the desired actuation is attained. Apart of the ... Krishnamurthy, B., et.al. "HelpMate: A Robotic Materials Transport System." Robotics and Autonomous Systems, 5, 251. 198 9. [31 Robertson, Gordon I., "HelpMate TM Delivery Robot Operates...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 14 pot

... tangential friction torques that act against the direction of the rotation. To include sticking without load (effects like No-Load Start- ing Torque and No-Load Back Driving Torque) an initial tension ... marks the return movement of the leg to the next ground point and PROTRACT and RETRACT/RESWING denote the high acceleration transition areas from status STANCE to SWING or vice versa, respectively. ... in mobile robotics vehicles are invited to play an active part in taking the technology to its next logical stage - whatever this may be! To do this simply contact the author so that you may...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 15 pps

... Orbital Transfer: Guidance and Control Strategies 192 pp. 199 3 [ 3-5 4 0-1 98 1 9- 9 ] Vol. 1 89: Ilchmann, A. Non-Identifier-Based High-Gain Adaptive Control 220 pp. 199 3 [ 3-5 4 0-1 98 4 5-8 ] Vol. 190 : ... Systems with Saturation Nonlinearities: Analysis and Design 212 pp. 199 4 [ 3-5 4 0-1 98 8 8-1 ] Vol. 196 : Battilotti, S. Noninteracting Control with Stability for Nonlinear Systems 196 pp. 199 4 ... Stabilization of Linear Systems 212 pp. 199 3 [ 3-5 4 0-1 98 6 2-8 ] Vol. 192 : Smith, R.S.; Dahleh, M. (Eds) The Modeling of Uncertainty in Control Systems 412 pp. 199 3 [ 3-5 4 0-1 98 7 0 -9 ] Vol. 193 :...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 1 doc

... University of Coimbra and the Department of Electrical Engineering for hosting the workshop. Our special thanks go to the researchers, staff, and students of the Institute of Systems and Robotics, ... contributions represent a wide coverage of the state-of-the-art and the emerging research directions in autonomous robotic systems. The material was developed in an advanced tutorial style making ... and the motion mode to apply: it selects and controls the trajectory planner; trajectory planning which determines the trajectory to execute (in one of the above-mentioned three motion modes)...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 2 potx

... maintain the relative distance and orientation to the target. Essentially the system must control the position of each actuator to maintain this goal. This implies to control the actuators of the ... with the ability to react to the movements of the object's and with the ability to keep the distance and attitude between the two bodies, it is necessary to evaluate the distance of the ... possibility is explored in our system to correct the path during the movement execution. The commands sent to the mobile robot reflect the position that the robot must reach to maintain the distance...

Autonomous Robotic Systems - Anibal T. de Almeida and Oussama Khatib (Eds) Part 4 ppsx

... Inertial System based on Solid-State Devices To study the integration of the inertial information in artificial autonomous systems that include active vision systems it was decided to develop ... sensor with parallel emitter and detector optical axes, the detected intensity varies approximately with the bi-quadratic inverse of the distance [32]. Because the reflected intensity depends ... range to the object. The maximum detection range depends on the emitted power, on the target cross-sectional area, reflectivity and orientation. Although these sensors are very independent from...

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