Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedGT8 Gemini 1 <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 17:30–18:30<br />
Control Design<br />
Chair Darwin G. Caldwell, Itituto Italiano di Tecnologia<br />
Co-Chair Carme Torras, CSIC - UPC<br />
17:30–17:45 WedGT8.1<br />
Redundant Inverse Kinematics:Experimental<br />
Comparative Review and Two Enhancements<br />
Adrià Colomé and Carme Torras<br />
Institut de Robòtica Industrial, UPC-CSIC, Barcelona, Spain<br />
• Review of Closed-Loop<br />
Inverse Kinematics<br />
algorithms (CLIK), pointing<br />
out their strengths and<br />
weaknesses.<br />
• New filtering of the Jacobian<br />
matrix that guarantees a<br />
good conditioning of the<br />
pseudoinverse.<br />
• New options to make CLIK algorithms smoother and robust, efficiently<br />
avoiding joint limits.<br />
18:00–18:15 WedGT8.3<br />
Internal Model Control for Improving the Gait<br />
tracking of a Compliant Humanoid Robot<br />
Luca Colasanto, Nikos G. Tsagarakis,<br />
Zhibin Li and Darwin G. Caldwell<br />
Department of Advanced Robotics,<br />
Istituto Italiano di Tecnologia, Italy<br />
• A 3-dimensional compliant model at<br />
the level of the Center of Mass of a<br />
compliant humanoid is presented and<br />
experimentally validated.<br />
• An Internal Model Controller is design<br />
and implemented on the COMAN<br />
robot.<br />
• Experimental results of dynamic<br />
walking performed using the control<br />
strategy are presented.<br />
COMAN robot<br />
17:45–18:00 WedGT8.2<br />
Hierarchical strategy for dynamic coverage<br />
C. Franco, G. Lopez-Nicolas and C. Sagues<br />
DIIS - I3A, Universidad de Zaragoza, Spain<br />
D. Paesa and S. Llorente<br />
BSH Electrodomésticos España, Spain<br />
• Hierarchical global strategy to perform<br />
dynamic coverage<br />
• Ordered coverage to reduce the path<br />
length<br />
• Combination of local gradient strategy with<br />
global hierarchical strategy to increase the<br />
efficiency avoiding local minima<br />
• Bounded actions imposed<br />
18:15–18:30 WedGT8.4<br />
Approximate Steering of a Plate-Ball System<br />
Under Bounded Model Perturbation Using<br />
Ensemble Control<br />
Aaron Becker 1 and Timothy Bretl 2<br />
University of Illinois at Urbana-Champaign, USA<br />
1 Electrical and Computer Engineering, 2 Aerospace Engineering<br />
• Revisit classical plate-ball system<br />
and prove still open-loop<br />
controllable when we do not know<br />
sphere radius<br />
• Algorithm for approximate<br />
steering to arbitrary orientations<br />
and positions<br />
• Hardware validation with new<br />
plate-ball system based on<br />
magnetic actuation---system is<br />
easy to implement<br />
• Enables simultaneous<br />
manipulation of multiple balls with<br />
different radii<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–190–<br />
(a) ensemble plate-ball system<br />
magnet array<br />
y−axis<br />
(b) underlying mechanism<br />
Hardware platform capable of rolling 15<br />
different-sized spheres to arbitrary orientations