Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

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