588 research outputs found
Cooperative Adaptive Control for Cloud-Based Robotics
This paper studies collaboration through the cloud in the context of
cooperative adaptive control for robot manipulators. We first consider the case
of multiple robots manipulating a common object through synchronous centralized
update laws to identify unknown inertial parameters. Through this development,
we introduce a notion of Collective Sufficient Richness, wherein parameter
convergence can be enabled through teamwork in the group. The introduction of
this property and the analysis of stable adaptive controllers that benefit from
it constitute the main new contributions of this work. Building on this
original example, we then consider decentralized update laws, time-varying
network topologies, and the influence of communication delays on this process.
Perhaps surprisingly, these nonidealized networked conditions inherit the same
benefits of convergence being determined through collective effects for the
group. Simple simulations of a planar manipulator identifying an unknown load
are provided to illustrate the central idea and benefits of Collective
Sufficient Richness.Comment: ICRA 201
A framework for robotized teleoperated tasks
"Premio al mejor artĂculo presentado en ROBOT 2011" atorgat pel Grupo de RobĂłtica, VisiĂłn y Control de la Universidad de Sevilla, la Universidad Pablo Olavide i el Centro Avanzado de TecnologĂas Aeroespaciales.Teleoperation systems allow the extension of the
human operator’s sensing and manipulative capability into a
remote environment to perform tasks at a distance, but the
time-delays in the communications affect the stability and
transparency of such systems. This work presents a teleoperation
framework in which some novel tools, such as nonlinear
controllers, relational positioning techniques, haptic guiding
and augmented reality, are used to increase the sensation
of immersion of the human operator in the remote site.
Experimental evidence supports the advantages of the proposed
framework.Award-winningPostprint (published version
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