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Using Robotics to Equip K-12 Teachers: Silicon Prairie Initiative for Robotics in Information Technology (Spirit)
AC 2009-2198: USING ROBOTICS TO EQUIP K-12 TEACHERS: SILICON PRAIRIE INITIATIVE FOR ROBOTICS IN INFORMATION TECHNOLOGY (SPIRIT) Alisa Gilmore, University of Nebraska - Lincoln Alisa N. Gilmore, P.E. is a Senior Lecturer in the Department of Computer and Electronics Engineering at the University of Nebraska-Lincoln. She serves as senior technical staff for two NSF grants in the ITEST and Discovery K-12 programs associated with using robotics in the K-12 arena to motivate student achievement in STEM activities. She has been involved as a community outreach speaker, presenter, and collaborator with local schools, students, and teachers for over ten years, working to expose pre-college students to engineering. Ms. Gilmore has extensive industrial experience in the telecommunications and manufacturing areas, and since 2003 has used her industry background to foster industrial partnerships at the university and to develop and teach courses in circuits, telecommunications, and robotics. Bing Chen, UNL Dr. Bing Chen is chairman of the Department of Computer and Electronics Engineering on the Omaha campus of the College of Engineering, University of Nebraska - Lincoln at the Peter Kiewit Institute. He is the Principal Investigator on three NSF grants involving levels K-16 in educational robotics. His primary interest involves providing a continuous exposure to students with educational robotics both within a classroom environment and in after school settings year round to stimulate student creativity and possible pursuit of STEM careers in order to meet national long term needs and global challenges posed by competitive engineering programs overseas. His other long term research interest has been in the area of renewable energy. -
Kinematic Modeling of a Rhex-Type Robot Using a Neural Network
Kinematic Modeling of a RHex-type Robot Using a Neural Network Mario Harpera, James Paceb, Nikhil Guptab, Camilo Ordonezb, and Emmanuel G. Collins, Jr.b aDepartment of Scientific Computing, Florida State University, Tallahassee, FL, USA bDepartment of Mechanical Engineering, Florida A&M - Florida State University, College of Engineering, Tallahassee, FL, USA ABSTRACT Motion planning for legged machines such as RHex-type robots is far less developed than motion planning for wheeled vehicles. One of the main reasons for this is the lack of kinematic and dynamic models for such platforms. Physics based models are difficult to develop for legged robots due to the difficulty of modeling the robot-terrain interaction and their overall complexity. This paper presents a data driven approach in developing a kinematic model for the X-RHex Lite (XRL) platform. The methodology utilizes a feed-forward neural network to relate gait parameters to vehicle velocities. Keywords: Legged Robots, Kinematic Modeling, Neural Network 1. INTRODUCTION The motion of a legged vehicle is governed by the gait it uses to move. Stable gaits can provide significantly different speeds and types of motion. The goal of this paper is to use a neural network to relate the parameters that define the gait an X-RHex Lite (XRL) robot uses to move to angular, forward and lateral velocities. This is a critical step in developing a motion planner for a legged robot. The approach taken in this paper is very similar to approaches taken to learn forward predictive models for skid-steered robots. For example, this approach was used to learn a forward predictive model for the Crusher UGV (Unmanned Ground Vehicle).1 RHex-type robot may be viewed as a special case of skid-steered vehicle as their rotating C-legs are always pointed in the same direction. -
2011 Annual Report MESSAGE from AUVSI PRESIDENT & CEO, MICHAEL TOSCANO
2011 ANNUAL REPORT MESSAGE FROM AUVSI PRESIDENT & CEO, MICHAEL TOSCANO AUVSI and the unmanned systems community as a whole had another strong year in 2011 — capabilities increased across the board, as did interest in what unmanned systems can deliver. AUVSI is only as strong as its members, and our membership continued its upward climb throughout the year. There was also greater activity by local AUVSI chapters; we added several new chapters and many existing ones conducted successful events in 2011 that will help promote and field unmanned systems. Belonging to a chapter is an excellent way to get involved with unmanned systems at the local community level. We enjoyed record-breaking attendance at AUVSI’s Unmanned Systems Program Review 2011 and AUVSI’s Unmanned Systems North America 2011 and look forward to continued growth this year. We also stepped up our advo- cacy efforts, including hosting another successful AUVSI Day on Capitol Hill and forging more partnerships with other groups that have a stake in unmanned systems. Unmanned systems were frequently in the news during the year, and we helped put them there by hosting a National Press Club event in Washington to highlight the varied uses of unmanned systems and robotics. Unmanned systems helped monitor and clean up the Fukushima Dai-ichi nuclear plant in Japan in the wake of the devastating earthquake and tsunami. They also assisted in the attack on Osama bin Laden, performed unexploded ordnance range clearance at Camp Guernsey, provided assisting technology to the National Federation of the Blind’s Blind Driver Challenge and supported state and local law enforcement, among many other uses. -
Make Robots Be Bats: Specializing Robotic Swarms to the Bat Algorithm
© <2019>. This manuscript version is made available under the CC- BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc- nd/4.0/ Accepted Manuscript Make robots Be Bats: Specializing robotic swarms to the Bat algorithm Patricia Suárez, Andrés Iglesias, Akemi Gálvez PII: S2210-6502(17)30633-8 DOI: 10.1016/j.swevo.2018.01.005 Reference: SWEVO 346 To appear in: Swarm and Evolutionary Computation BASE DATA Received Date: 24 July 2017 Revised Date: 20 November 2017 Accepted Date: 9 January 2018 Please cite this article as: P. Suárez, André. Iglesias, A. Gálvez, Make robots Be Bats: Specializing robotic swarms to the Bat algorithm, Swarm and Evolutionary Computation BASE DATA (2018), doi: 10.1016/j.swevo.2018.01.005. This is a PDF file of an unedited manuscript that has been accepted for publication. As a service to our customers we are providing this early version of the manuscript. The manuscript will undergo copyediting, typesetting, and review of the resulting proof before it is published in its final form. Please note that during the production process errors may be discovered which could affect the content, and all legal disclaimers that apply to the journal pertain. ACCEPTED MANUSCRIPT Make Robots Be Bats: Specializing Robotic Swarms to the Bat Algorithm Patricia Su´arez1, Andr´esIglesias1;2;:, Akemi G´alvez1;2 1Department of Applied Mathematics and Computational Sciences E.T.S.I. Caminos, Canales y Puertos, University of Cantabria Avda. de los Castros, s/n, 39005, Santander, SPAIN 2Department of Information Science, Faculty of Sciences Toho University, 2-2-1 Miyama 274-8510, Funabashi, JAPAN :Corresponding author: [email protected] http://personales.unican.es/iglesias Abstract Bat algorithm is a powerful nature-inspired swarm intelligence method proposed by Prof. -
Towards Pronking with a Hexapod Robot
Towards pronking with a hexapod robot Dave McMordie Department of Electrical Engineering McGill University, Montreal, Canada July, 2002 A thesis submitted to the Faculty of Graduate 5tudies and Research in partial fulfillment of the requirements of the degree Master of Engineering © Dave McMordie, 2002 National Library Bibliothèque nationale 1+1 of Canada du Canada Acquisitions and Acquisisitons et Bibliographie Services services bibliographiques 395 Wellington Street 395, rue Wellington Ottawa ON K1A DN4 Ottawa ON K1A DN4 Canada Canada Your file Votre référence ISBN: 0-612-85890-1 Our file Notre référence ISBN: 0-612-85890-1 The author has granted a non L'auteur a accordé une licence non exclusive licence allowing the exclusive permettant à la National Library of Canada to Bibliothèque nationale du Canada de reproduce, loan, distribute or sell reproduire, prêter, distribuer ou copies of this thesis in microform, vendre des copies de cette thèse sous paper or electronic formats. la forme de microfiche/film, de reproduction sur papier ou sur format électronique. The author retains ownership of the L'auteur conserve la propriété du copyright in this thesis. Neither the droit d'auteur qui protège cette thèse. thesis nor substantial extracts from it Ni la thèse ni des extraits substantiels may be printed or otherwise de celle-ci ne doivent être imprimés reproduced without the author's ou aturement reproduits sans son permission. autorisation. Canada Abstract RHex is a robotic hexapod with springy legs and just six actuated degrees of freedom. This work presents the development of a pronking gait for RHex, extending its efficiency and speed by exploiting its springy legs for hopping. -
An Introduction to the NASA Robotics Alliance Cadets Program
Session F An Introduction to the NASA Robotics Alliance Cadets Program David R. Schneider, Clare van den Blink NASA, DAVANNE, & Cornell University / Cornell University CIT [email protected], [email protected] Abstract The 2006 report National Defense Education and Innovation Initiative highlighted this nation’s growing need to revitalize undergraduate STEM education. In response, NASA has partnered with the DAVANNE Corporation to create the NASA Robotics Alliance Cadets Program to develop innovative, highly integrated and interactive curriculum to redesign the first two years of Mechanical Engineering, Electrical Engineering and Computer Science. This paper introduces the NASA Cadets Program and provides insight into the skill areas targeted by the program as well as the assessment methodology for determining the program’s effectiveness. The paper also offers a brief discussion on the capabilities of the program’s robotic platform and a justification for its design into the program. As an example of the integration of the robotic platform with the program’s methodologies, this paper concludes by outlining one of the first educational experiments of NASA Cadets Program at Cornell University to be implemented in the Spring 2007 semester. I. Introduction To be an engineer is to be a designer, a creator of new technology, and the everyday hero that solves society’s problems through innovative methods and products by making ideas become a reality. However, the opportunity to truly explore these key concepts of being an engineer are often withheld from most incoming engineering students until at least their junior year causing many new students to lose motivation and potentially leave the program. -
Radio Frequency Identification Based Smart
ISSN (Online) 2394-6849 International Journal of Engineering Research in Electronics and Communication Engineering (IJERECE) Vol 4, Issue 6, June 2017 Nanorobots – Th Future of Medicine [1] Mokshith.B.R, [2]Tripti Kulkarni [1] [2] Dept of ECE, DSATM , Associate Professor, Dept of ECE,DSATM Abstract: Nanoscale devices are able to perform better with reduced time researches in nanotechnology brought newer approaches in the field of medicine. This context focuses on the components of the nanorobots and the employment of nanorobots for removing the heart blocks, cancer treatment and many more health care applications in more effective and accurate manner. Current diagnostic measures include painful processes like the angiogram. The treatment for the block is also extremely dangerous, time consumin g and painful. Angioplasty, although having the higher success rate, is old fashioned. Today’s technology promises a lot more than the insertion of a thin tube into the blood vessels. This context focuses the brief study on nanorobots and its benefits, the current process of diagnostics and therapy. Later t he idea of curing these heart blocks, cancer tumours and brain aneurysm using nanorobots is discussed in a theoretical and imaginative a pproach. I. INTRODUCTION II. NANOROBOTS AND KEY COMPONENTS Nanorobotics is an emerging technology field Nanorobots are of special interest to researchers in the medical creating machines or robots which components are at or near industry. This has given rise to the field of nanomedicine. It the scale of a nanometre (10−9 meters). More specifically, has been suggested that a fleet of nanorobots might serve as nanorobotics (as opposed to microbotics) refers to the antibodies or antiviral agents in patients with compromised nanotechnology engineering discipline of designing and immune systems, or in diseases that do not respond to more building nanorobots, with devices ranging in size from 0.1-10 conventional measures. -
Swarm Robotics”
applied sciences Editorial Editorial: Special Issue “Swarm Robotics” Giandomenico Spezzano Institute for High Performance Computing and Networking (ICAR), National Research Council of Italy (CNR), Via Pietro Bucci, 8-9C, 87036 Rende (CS), Italy; [email protected] Received: 1 April 2019; Accepted: 2 April 2019; Published: 9 April 2019 Swarm robotics is the study of how to coordinate large groups of relatively simple robots through the use of local rules so that a desired collective behavior emerges from their interaction. The group behavior emerging in the swarms takes its inspiration from societies of insects that can perform tasks that are beyond the capabilities of the individuals. The swarm robotics inspired from nature is a combination of swarm intelligence and robotics [1], which shows a great potential in several aspects. The activities of social insects are often based on a self-organizing process that relies on the combination of the following four basic rules: Positive feedback, negative feedback, randomness, and multiple interactions [2,3]. Collectively working robot teams can solve a problem more efficiently than a single robot while also providing robustness and flexibility to the group. The swarm robotics model is a key component of a cooperative algorithm that controls the behaviors and interactions of all individuals. In the model, the robots in the swarm should have some basic functions, such as sensing, communicating, motioning, and satisfy the following properties: 1. Autonomy—individuals that create the swarm-robotic system are autonomous robots. They are independent and can interact with each other and the environment. 2. Large number—they are in large number so they can cooperate with each other. -
Design and Control of a Large Modular Robot Hexapod
Design and Control of a Large Modular Robot Hexapod Matt Martone CMU-RI-TR-19-79 November 22, 2019 The Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh, PA Thesis Committee: Howie Choset, chair Matt Travers Aaron Johnson Julian Whitman Submitted in partial fulfillment of the requirements for the degree of Master of Science in Robotics. Copyright © 2019 Matt Martone. All rights reserved. To all my mentors: past and future iv Abstract Legged robotic systems have made great strides in recent years, but unlike wheeled robots, limbed locomotion does not scale well. Long legs demand huge torques, driving up actuator size and onboard battery mass. This relationship results in massive structures that lack the safety, portabil- ity, and controllability of their smaller limbed counterparts. Innovative transmission design paired with unconventional controller paradigms are the keys to breaking this trend. The Titan 6 project endeavors to build a set of self-sufficient modular joints unified by a novel control architecture to create a spiderlike robot with two-meter legs that is robust, field- repairable, and an order of magnitude lighter than similarly sized systems. This thesis explores how we transformed desired behaviors into a set of workable design constraints, discusses our prototypes in the context of the project and the field, describes how our controller leverages compliance to improve stability, and delves into the electromechanical designs for these modular actuators that enable Titan 6 to be both light and strong. v vi Acknowledgments This work was made possible by a huge group of people who taught and supported me throughout my graduate studies and my time at Carnegie Mellon as a whole. -
Dynamically Diverse Legged Locomotion for Rough Terrain
Dynamically diverse legged locomotion for rough terrain The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Citation Byl, Katie, and Russ Tedrake. “Dynamically Diverse Legged Locomotion for Rough Terrain.” Proceedings of the 2009 IEEE International Conference on Robotics and Automation, Kobe International Conference Center, Kobe, Japan, May 12-17, 2009 1607-1608. © Copyright 2009 IEEE. As Published http://dx.doi.org/10.1109/ROBOT.2009.5152757 Publisher Institute of Electrical and Electronics Engineers Version Final published version Citable link http://hdl.handle.net/1721.1/64752 Terms of Use Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. 2009 IEEE International Conference on Robotics and Automation Kobe International Conference Center Kobe, Japan, May 12-17, 2009 Dynamically Diverse Legged Locomotion for Rough Terrain Katie Byl and Russ Tedrake Abstract— In this video, we demonstrate the effectiveness of which aim toward precise foot placement often traverse a kinodynamic planning strategy that allows a high-impedance terrain by using relatively slow, deliberate gaits [3], [4], [10], quadruped to operate across a variety of rough terrain. At one [8], [6]. In this video we demonstrate a control approach extreme, the robot can achieve precise foothold selection on intermittent terrain. More surprisingly, the same inherently- which can achieve both precise foot placement, as illustrated stiff robot can also execute highly dynamic and underactuated in Figure 1, and highly dynamic and fast motions, such as motions with high repeatability. -
Design of a Multi-Directional Variable Stiffness Leg for Dynamic Running
University of Pennsylvania ScholarlyCommons Departmental Papers (ESE) Department of Electrical & Systems Engineering 2007 DESIGN OF A MULTI-DIRECTIONAL VARIABLE STIFFNESS LEG FOR DYNAMIC RUNNING Kevin C. Galloway University of Pennsylvania, [email protected] Jonathan E. Clark Florida State University, [email protected] Daniel E. Koditschek University of Pennsylvania, [email protected] Follow this and additional works at: https://repository.upenn.edu/ese_papers Part of the Engineering Commons Recommended Citation Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek, "DESIGN OF A MULTI-DIRECTIONAL VARIABLE STIFFNESS LEG FOR DYNAMIC RUNNING", . January 2007. @inproceedings{ Galloway.07, Author = {Galloway, K.C. and Clark, J.E. and Koditschek, D.E.}, Title = {Design of a Multi-Directional Variable Stiffness Leg for Dynamic Runnings}, BookTitle = {ASME Int. Mech. Eng. Congress and Exposition}, Year = {2007}} This paper is posted at ScholarlyCommons. https://repository.upenn.edu/ese_papers/508 For more information, please contact [email protected]. DESIGN OF A MULTI-DIRECTIONAL VARIABLE STIFFNESS LEG FOR DYNAMIC RUNNING Abstract Recent developments in dynamic legged locomotion have focused on encoding a substantial component of leg intelligence into passive compliant mechanisms. One of the limitations of this approach is reduced adaptability: the final leg mechanism usually performs optimally for a small range of conditions (i.e. a certain robot weight, terrain, speed, gait, and so forth). For many situations in which a small locomotion system experiences a change in any of these conditions, it is desirable to have a variable stiffness leg to tune the natural frequency of the system for effective gait control. In this paper, we present an overview of variable stiffness leg spring designs, and introduce a new approach specifically for autonomous dynamic legged locomotion. -
Humanoid Robots (Figures 41, 42)
A Roboethics Framework for the Development and Introduction of Social Assistive Robots in Elderly Care Antonio M. M. C. Espingardeiro Salford Business School University of Salford, Manchester, UK Submitted in Partial Fulfilment of the Requirements of the Degree of Doctor of Philosophy, September 2013 TABLE OF CONTENTS Chapter 1 - Introduction ......................................................................................................................................... 1 Chapter 2 - Literature review ................................................................................................................................. 9 2.1. Ethics in the digital world ................................................................................................................................ 9 2.2. Exploratory work in roboethics ..................................................................................................................... 14 2.2. Roboethics rules and guidance ...................................................................................................................... 18 2.3. “In-situ” practical workshops with SARs ........................................................................................................ 23 2.4. Summary ........................................................................................................................................................ 24 Chapter 3 - Human robotics interactions and ethical principles .........................................................................