54,819 research outputs found
Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators
This paper presents a solution based on dual quaternion algebra to the
general problem of pose (i.e., position and orientation) consensus for systems
composed of multiple rigid-bodies. The dual quaternion algebra is used to model
the agents' poses and also in the distributed control laws, making the proposed
technique easily applicable to time-varying formation control of general
robotic systems. The proposed pose consensus protocol has guaranteed
convergence when the interaction among the agents is represented by directed
graphs with directed spanning trees, which is a more general result when
compared to the literature on formation control. In order to illustrate the
proposed pose consensus protocol and its extension to the problem of formation
control, we present a numerical simulation with a large number of free-flying
agents and also an application of cooperative manipulation by using real mobile
manipulators
Prediction of stable walking for a toy that cannot stand
Previous experiments [M. J. Coleman and A. Ruina, Phys. Rev. Lett. 80, 3658
(1998)] showed that a gravity-powered toy with no control and which has no
statically stable near-standing configurations can walk stably. We show here
that a simple rigid-body statically-unstable mathematical model based loosely
on the physical toy can predict stable limit-cycle walking motions. These
calculations add to the repertoire of rigid-body mechanism behaviors as well as
further implicating passive-dynamics as a possible contributor to stability of
animal motions.Comment: Note: only corrections so far have been fixing typo's in these
comments. 3 pages, 2 eps figures, uses epsf.tex, revtex.sty, amsfonts.sty,
aps.sty, aps10.sty, prabib.sty; Accepted for publication in Phys. Rev. E.
4/9/2001 ; information about Andy Ruina's lab (including Coleman's, Garcia's
and Ruina's other publications and associated video clips) can be found at:
http://www.tam.cornell.edu/~ruina/hplab/index.html and more about Georg
Bock's Simulation Group with whom Katja Mombaur is affiliated can be found at
http://www.iwr.uni-heidelberg.de/~agboc
Quantifying the Evolutionary Self Structuring of Embodied Cognitive Networks
We outline a possible theoretical framework for the quantitative modeling of
networked embodied cognitive systems. We notice that: 1) information self
structuring through sensory-motor coordination does not deterministically occur
in Rn vector space, a generic multivariable space, but in SE(3), the group
structure of the possible motions of a body in space; 2) it happens in a
stochastic open ended environment. These observations may simplify, at the
price of a certain abstraction, the modeling and the design of self
organization processes based on the maximization of some informational
measures, such as mutual information. Furthermore, by providing closed form or
computationally lighter algorithms, it may significantly reduce the
computational burden of their implementation. We propose a modeling framework
which aims to give new tools for the design of networks of new artificial self
organizing, embodied and intelligent agents and the reverse engineering of
natural ones. At this point, it represents much a theoretical conjecture and it
has still to be experimentally verified whether this model will be useful in
practice.
Towards a Domain Specific Language for a Scene Graph based Robotic World Model
Robot world model representations are a vital part of robotic applications.
However, there is no support for such representations in model-driven
engineering tool chains. This work proposes a novel Domain Specific Language
(DSL) for robotic world models that are based on the Robot Scene Graph (RSG)
approach. The RSG-DSL can express (a) application specific scene
configurations, (b) semantic scene structures and (c) inputs and outputs for
the computational entities that are loaded into an instance of a world model.Comment: Presented at DSLRob 2013 (arXiv:cs/1312.5952
Synchronization of multiple rigid body systems: a survey
The multi-agent system has been a hot topic in the past few decades owing to
its lower cost, higher robustness, and higher flexibility. As a particular
multi-agent system, the multiple rigid body system received a growing interest
since its wide applications in transportation, aerospace, and ocean
exploration. Due to the non-Euclidean configuration space of attitudes and the
inherent nonlinearity of the dynamics of rigid body systems, synchronization of
multiple rigid body systems is quite challenging. This paper aims to present an
overview of the recent progress in synchronization of multiple rigid body
systems from the view of two fundamental problems. The first problem focuses on
attitude synchronization, while the second one focuses on cooperative motion
control in that rotation and translation dynamics are coupled. Finally, a
summary and future directions are given in the conclusion
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