Authors: Gagne, J.; Piccin, O.; Laroche, E.; Gangloff, J.

Abstract: The difficulties encountered in preventing the cardiac motion is a hindrance to the development of recent less invasive techniques in the field of beating heart surgery. Some solutions were developed already in order to solve this problem, inducing specific and cumbersome equipment. The alternative described herein is based on a compact simple device using gyroscopic effect, intended to be adaptable to existing equipment and which is nongrounded. The presented work is a preliminary study of such a system. After exposing the principle and dynamical equations we present the device design process which was carried out and finally discuss the control strategy based on Linear Quadratic Regulator (LQR) synthesis and its simulation results.

Keywords: surgical robotics,beating heart surgery,gyroscopic effect,LQR synthesis

Identifier: 10.3182/20090909-4-JP-2010.00086

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Ito, Satoshi; Furuta, Shinya; Sasaki, Minoru; Kulvanit, Pasan

Abstract: In this paper, an method for biped lateral motion control is discussed, taking into consideration that the main purpose of frontal-plane is the stabilization of the inverted pendulum. Usually, the ZMP criterion is adopted to the biped control. However, the joint or the CoG reference trajectories generated based on the ZMP criterion sometimes have to be modified in relation to environmental changes. From this point of view, a control method without their reference trajectories is proposed for the biped frontal-plane motion. This control method using ground reaction force information is equivalent to the ZMP feedback control. The experiments of a biped robot whose degrees of freedom of motion is limited in the frontal plane demonstrate the effectiveness of this control method.

Keywords: biped robot,motion planning,zero moment point,ground reaction force,center of pressure

Identifier: 10.3182/20090909-4-JP-2010.00077

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Olmi, Roberto; Secchi, Cristian; Fantuzzi, Cesare

Abstract: In this paper we propose a methodology for coordinating a group of mobile robots that go through predefined paths in a dynamic industrial environment. The technique is developed to be implemented into a real industrial framework. Coordination diagrams are used for representing the possible collisions among the vehicles. We exploit this information for developing a centralized and incremental planning algorithm that allows to coordinate the vehicles and to take into account unexpected events that can occur in an industrial environment. Simulation tests considering a real plant have been executed in order to compare the performance of our technique with the one currently implemented by the company.

Keywords: coordination,autonomous vehicles,multi robots,material handling

Identifier: 10.3182/20090909-4-JP-2010.00062

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: El Kamel, M. A.; Beji, L.; Abichou, A.

Abstract: This paper presents a new strategy for formation control of multiple mobile robots to capture a target including self organization. A decentralized formation control is proposed to make the system more reliable and fault-tolerant. Acting on a hostile environnement, each robot of the formation has to avoid an obstacle. For that, we propose a new technique that modifies the trajectory behavior while preserving the formation convergence. LaSalle's theorem is applied to construct the proposed smooth continuous feedback control, to surround the target. The validity of convergence and obstacle avoidance is supported by computer simulation.

Keywords: formation control,decentralized control,obstacle avoidance,target surrounding

Identifier: 10.3182/20090909-4-JP-2010.00061

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Wagenpfeil, Jay; Trachte, Adrian; Hatanaka, Takeshi; Fujita, Masayuki; Sawodny, Oliver

Abstract: The dynamic character of autonomous mobile multi-agent networks makes the control of the individual agent's movement a challenging task when certain properties or conditions concerning the global network state must be fulfilled. Many distributed algorithms require that the communication topology of the regarded multi-agent network is connected at all times to execute properly. Since particularly motion control algorithms directly influence the connectivity itself, the fundamental question how connectivity of the network can be maintained is raised. As an additional difficulty, individual agents often have only access to local information, whereas connectivity is a property of the global network. In this work, a distributed hybrid connectivity maintenance algorithm is proposed, which guarantees global connectivity of the network based on local information. The algorithm is divided in two components: First, a discrete topology control algorithm determines periodically the structure of a minimum cost spanning tree on the network communication graph. Second, a continuous connectivity motion control algorithm constrains the location of each individual agent such that the determined spanning tree is preserved. This combined algorithm effectively maintains connectivity under the presence of any finite-valued primary motion control law.

Keywords: connectivity maintenance,distributed algorithm,local information,dynamic shortest path search,multi-agent networks,motion coordination

Identifier: 10.3182/20090909-4-JP-2010.00063

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Schmidt, Günther; Nitzsche, Norbert

Abstract: This paper gives an overview of control issues of a force-reflecting mobile telepresence system, comprising a mobile haptic user interface and a mobile teleoperator. The system enables a user to walk about freely while interacting intuitively with a spacious but inaccessible remote environment. While the mobile user interface closely follows the user, the motion of the teleoperator is replicating the user's locomotion. Thus an unrestricted workspace for remote haptic interaction is achieved. Besides introducing the basic features of the mobile telepresence system, this article focuses the three level control architecture chosen and a novel scheme for position control of the nonholonomic wheel-based platforms, forming the base of both, the user interface and the teleoperator. Results of an experimental evaluation demonstrate merits and current limitations of the proposed force-reflecting telepresence approach.

Keywords: force-reflection,haptic user interface,Kalman filter,localization,mobile platform,nonholonomic system,position control,telemanipulation,telepresence

Identifier: 10.3182/20090909-4-JP-2010.00070

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Ito, Satoshi; Ishigure, Yasuhiko; Ueki, Satoshi; Mizumoto, Jun; Nishimoto, Yutaka; Abe, Motoyuki; Kawasaki, Haruhisa

Abstract: We are aiming at developing a hand rehabilitation support system that provides a rehabilitation environment where patients can conduct enjoyable trainings by themselves as much as they want. First of all, the feature of this rehabilitation support system is explained with its design concept. Next, problems that came into the open by the verification test in the clinical practice are described. Two main problems are: (1) the structure of the thumb opposability assistance mechanism sometimes avoids patients from safely attaching their affected hand to the motion assistance device, (2) the connection between the affected hand and the motion assistance device requires much time and often disconnected. For the first point, we improved it by designing new thumb motion assistance mechanism with the double parallel-link structure. For the second one, the attaching method using magnetic force is introduced. The effects of these improvements are reported with experimental results.

Keywords: rehabilitation,motion assistance,master-slave control,mechanical design

Identifier: 10.3182/20090909-4-JP-2010.00113

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Vassileva, D.; Boiadjiev, G.

Abstract: A novel approach for learning control for robot-manipulators has been proposed. Real-time implementation on a five-degree of freedom chopsticks robot has been conducted to evaluate the performance of the repetitive controller. The repetitive controller is recommended when the desired trajectory is periodic. In such applications the proposed repetitive control scheme provides a very simple adaptation algorithm and is effective in removing any periodic tracking errors.

Keywords: learning control,stability,monotonic convergence,chopsticks robot

Identifier: 10.3182/20090909-4-JP-2010.00034

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Dalte, Marcos Rosendo; Lages, Walter Fetter; Alves, Jorge Augusto Vasconcelos

Abstract: This paper presents a software library developed to implement model predictive control (MPC) strategies in real-time. By using MPC, an appropriate optimal control law is implicitly obtained. Furthermore, the system physical constraints on state and inputs are dealt with in a straightforward way. The library supports MPC for linear, nonlinear and linearized systems. For linear systems, the optimization problem is solved by using quadratic programming, while for the nonlinear case, sequential quadratic programming (SQP) is used. The linearized version enables the use of the faster quadratic programming algorithm for the nonlinear case. Experimental results show that the control signal computation can effectively be performed under the real-time requirements.

Keywords: model predictive control,mobile robot,brachiating robot,software library,nonlinear control

Identifier: 10.3182/20090909-4-JP-2010.00057

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Wang, Hesheng; Liu, Yun-Hui

Abstract: This paper presents a new controller for locking a moving object in 3-D space at a particular position (for example the center) on the image plane of a camera mounted on a robot by actively moving the camera. The controller is designed to cope with both the highly nonlinear robot dynamics and unknown motion of the object. Based on the fact that the unknown position of the moving object appears linearly in the closed-loop dynamics of the system if the depth-independent image Jacobian is used, we developed a nonlinear observer to estimate the 3-D motion of the object on-line. With a full consideration of dynamic responses of the robot manipulator, we employed the Lyapunov method to prove asymptotic convergence of the image errors. Experimental results are presented to support the approach in this paper.

Keywords: visual tracking,eye-in-hand,nonlinear observer

Identifier: 10.3182/20090909-4-JP-2010.00120

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Masui, Yoji; Miyoshi, Takanori; Terashima, Kazuhiko

Abstract: In this paper, a novel measurement method to obtain three-dimensional shapes is proposed based on use of a bilateral vibration touch probe that outputs feedback voltage in accordance with its position. Measurement with high precision and rapid speed is realized by the probe. The probe has high rigidity with a simple structure. It can therefore move with high acceleration. In addition, a dimensional inspection can be performed by measuring several characteristic points, and a measurement of the characteristic points is used to shorten the measurement time, where it is assumed that rough positions of the characteristic points are provided. A new method using the probe of dimensional inspection is proposed, and the effects are shown based on experimental results.

Keywords: dimensional inspection,vibration touch probe,short time measurement,piezoelectric device

Identifier: 10.3182/20090909-4-JP-2010.00050

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Si, Mingbo; Naniwa, Tomohide

Abstract: This paper describes a new Adaptation Dominant-Type Adaptive Learning Controller (ADTALC) for trajectory tracking of robot manipulators. In this method, the torque of adaptive controller becomes much larger than the torque of learning controller when the joint angle trajectories converge to the desired ones. In this proposed controller, a forgetting factor is introduced, so that the torque of learning controller approaches zero. The stability of this proposed controller is proved by Lyapunov stability analysis, and its effectiveness is demonstrated by the computer simulation results of a 2-link robot manipulator. This proposed controller provides a novel approach for robot control system to achieve a high-speed and high-precision trajectory tracking.

Keywords: adaptation dominant-type adaptive learning controller,learning controller,adaptive controller,forgetting factor,robot manipulator

Identifier: 10.3182/20090909-4-JP-2010.00035

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Ozawa, Ryuta; Oobayashi, Yujiro

Abstract: Visual feedback is very useful when the precise kinematics of the manipulator are not available. However, visual information may be lost during manipulation, which may make the system unstable. This paper proposes an adaptive task space PD feedback control method for setpoint positioning of robotic manipulators that is robust in the case of a lack of visual information and kinematic uncertainty. The key idea of this approach is that visual information is not used directly in the feedback loop, but only for adaptation of kinematic parameters. This paper describes the design of a controller and parameter update laws, and proves the stability of the system with and without visual information. Selected simulations are executed to validate the proposed controller.

Keywords: setpoint control,manipulator,adaptive control

Identifier: 10.3182/20090909-4-JP-2010.00021

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Uemura, Mitsunori; Kawamura, Sadao

Abstract: This paper proposes a new controller that adaptively tunes joint stiffness and motions of multi-joint robots to reduce actuator torque while generating periodic motions. This controller is composed of delayed feedback control, a stiffness adaptation technique, and positive linear state feedback of angular velocity. Advantages of the proposed controller are to work without exact parameter values of the robots nor huge numerical calculations. We analyzed stability of the closed loop systems. Simulation results show that the proposed controller generate energy saving periodic motions. Additionally, we discuss energy saving effect of linear state feedback of the proposed controller.

Keywords: resonance,adaptive control,optimal control,impedance control,energy control

Identifier: 10.3182/20090909-4-JP-2010.00081

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Ott, Christian; Nakamura, Yoshihiko

Abstract: In this paper we investigate on the use of a base force/torque sensor for implementing position based impedance control (i.e. admittance control). By utilizing measurements of the contact force at the base of a robot manipulator, it is possible to perceive forces acting all along the robot's structure. This can be used for implementing a compliant motion control algorithm which is not limited to physical interaction at the end-effector only. We show that the use of a base force sensor instead of a sensor mounted on the end-effector poses certain limitations on the achievable closed loop dynamics. The stability and passivity properties are exemplified by an analysis for the one-degree-of-freedom case. The control performance in the multi-degrees-of-freedom case is verified by a simulation study of a Cartesian admittance controller.

Keywords: robot control,admittance control,impedance control,compliance control,force feedback,base force/torque sensor

Identifier: 10.3182/20090909-4-JP-2010.00080

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Krohs, F.; Weigel-Jech, M.; Mick, U.; Isken, M.; Fatikow, S.

Abstract: Efficient and reliable handling and characterization of objects at the nanoscale is highly important for various types of application ranging from prototypical fabrication of nanoelectronical circuits to the investigation of mechanical or electrical properties of biological objects like bacteria. Theoretically, the atomic force microscope (AFM) constitutes an adequate instrument for performing such manipulations and characterizations. However, complex and automated tasks are dificult or even impossible to perform solely using the AFM. To compensate for the drawbacks of AFM-based manipulation, several advanced techniques are being developed. Current research work on some key components for the development of a modular and versatile AFM-based nanorobotic setup is presented here. This includes a flexible thermal drift measuring technique, the integration of an AFM to the vacuum chamber of a scanning electron microscope to provide additional visual feedback, and a novel manipulation mode using lateral cantilever vibrations and oscillations. Finally first experiments on handling DNA are presented.

Keywords: microscopes,robotic manipulators,nanomanipulation,AFM,SEM

Identifier: 10.3182/20090909-4-JP-2010.00104

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Monroy, Mary; García-Robledo, Pablo; Ferre, Manuel; Barrio, Jorge; Ortego, Javier

Abstract: This paper describes a multi-finger haptic interface called MasterFinger which is being developed by the Universidad Politécnica de Madrid, Spain. An index and thumb finger prototype has already been implemented. Details about this device and how it is integrated into haptic scenarios are hereby explained. The paper includes mechanical and control description of the device, as well as some examples of the developed scenarios.

Keywords: haptic device,cooperative manipulation,virtual manipulation,real-time control

Identifier: 10.3182/20090909-4-JP-2010.00005

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Potts, Alain Segundo; Da Cruz, José Jaime; De Bernardi, Reinaldo

Abstract: As a consequence of physical constraints and of dynamical nonlinearities of the limbs, optimal control problems involving mobile robots with legs are generally difficult ones. Minimum energy problems subject to both equality and inequality constraints are generally intricate ones to be solved using classical methods. In this paper we propose and prove the convergence of a new algorithm to solve a minimum energy problem in motion of mobile robots using a Quadratic Programming approach. The results of the application of the algorithm to a robotic platform are shown.

Keywords: robot control,quadratic programming,optimal control,convergence analysis,minimum energy

Identifier: 10.3182/20090909-4-JP-2010.00117

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Ueki, S.; Kawasaki, H.; Mouri, T.

Abstract: This paper presents a control method of object manipulation by a multi-fingered robot hand with hemispherical soft fingertips. Reflection force, which occurs between the soft fingertips and object, is composed of static elastic force, viscous damping force, and inertia force. The asymptotic convergence of the object position, object orientation and contact force was proven by the Lyapunov-like Lemma. An object-grasping experiment by the human-type robot hand using three fingers is shown.

Keywords: multi-fingered robot hand,soft fingertip,object manipulation

Identifier: 10.3182/20090909-4-JP-2010.00067

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Mahmood, Wan Nor Dalila binti Wan; Mehat, Siti Nur Ain Binti; Nishio, Kimihiro

Abstract: We proposed in this research novel analog motion detection circuits using previous proposed edge detection circuits based on the vertebrate retina, which is characterized by the wide dynamic range, low power consumption and compact structure. The structure of the proposed motion detection circuit becomes compact, which is designed mainly using 6 n-channel metal oxide semiconductor (nMOS) transistors and 2 capacitors. The simulation results with the simulation program with integrated circuit emphasis (SPICE) showed that the proposed circuit can generate the motion signal. By using this circuit, we can expect to realize the visual sensor in one chip, which is characterized by the high resolution, wide dynamic range and low power consumption.

Keywords: motion detection,edge detection,image processing,retina,analog circuit,vision chip

Identifier: 10.3182/20090909-4-JP-2010.00013

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Kanamori, Mitsuru

Abstract: A static anti-integrator-windup controller design method is proposed for anthropoid robot manipulators. The asymptotic stability is achieved using a simple static anti-windup gain matrix for set point position control with PI or PID controllers. The control performance is verified on a two-link robot arm with a gravity term by numerical simulations and experiments.

Keywords: anti-windup,actuator saturation,Lyapunov theory,asymptotic stability,passivity

Identifier: 10.3182/20090909-4-JP-2010.00093

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Saiki, H.; Fukao, T.; Kohno, T.

Abstract: A surveillance system is required to gather the suffering information in the stricken area safely after large-scale disasters. An autonomous blimp is the best option for this purpose. This paper proposes a control design method for automatic landing of outdoor blimp robots. The landing method consists of stabilizing control in horizontal plane and longitudinal control for letdown-velocity and pitching motion of the blimp. The states of the kinematic model are transformed to design a time-varying stabilizing controller in horizontal plane to constrain the blimp motion. Some simulations and experiments are performed to confirm the usefulness of the proposed method by using an outdoor blimp whose length is 12m.

Keywords: blimp robots,landing,stabilizing control of underactuated system,state transformation

Identifier: 10.3182/20090909-4-JP-2010.00008

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Utkin, A.; Krasnova, S.

Abstract: In this paper a decompose synthesis procedures are proposed for tracking problem of multilink robotic manipulator, functioning under uncertainties and external disturbances. On the assumption that external disturbances and control object components are belong to smooth functions, and only link positions are measured the complex solution of tracking and observation problems is presented using block approach.

Keywords: feedback synthesis,block approach,discontinuous control

Identifier: 10.3182/20090909-4-JP-2010.00059

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Sasaki, Takeshi; Hashimoto, Hideki

Abstract: In this research, we address the calibration of laser range finders distributed in Intelligent Space (iSpace) which is a space with multiple embedded and networked sensors and actuators. In order to realize automated calibration, we utilize moving objects that are not limited to mobile robots in the space. Moving objects can cover wide areas of the environment so there is no need to place many landmarks in exactly known positions beforehand. The calibration is performed based on the positions of moving objects in overlapping observable areas of different sensors. The relative position and orientation of sensors are first estimated from a set of corresponding points. The global poses of the sensors are then calculated from the relative pose estimations. Experimental results show the validity of the proposed method.

Keywords: intelligent space,distributed sensors,laser range finder,calibration,object tracking

Identifier: 10.3182/20090909-4-JP-2010.00042

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009

Authors: Osada, Thuginobu; Yano, Kenichi

Abstract: This paper proposes a novel collision avoidance method for meal-assist robot with a 3D range camera under a dynamic environment. In this system, the potential map using diffusion equation is employed to control the behavior of the manipulator to avoid collision between the manipulator and dishes or user. The potential map is built and updated to respond to changes in the environment observed with the 3D range camera. At the end of the paper, the efficiency and availability of this method are shown through simulations and experiments.

Keywords: range images,realtime task,safety analysis,velocity control,manipulators

Identifier: 10.3182/20090909-4-JP-2010.00099

Conference: 9th IFAC Symposium on Robot Control (2009)

Location: Nagaragawa Convention Center, Japan

Start Date: Wed Sep 09 2009 - End Date: Sat Sep 12 2009