By Munsang Kim (auth.), Sukhan Lee, Il Hong Suh, Mun Sang Kim (eds.)
th This quantity is an variation of the papers chosen from the thirteen foreign convention on complicated Robotics, ICAR 2007, held in Jeju, Korea, August 22-25, 2007, with the topic: “Viable Robotics provider to Human. ” it truly is meant to carry readers the latest technical growth in robotics, specifically, towards the development of robot provider to human. to make sure its caliber, this quantity took basically 28 papers out of the 214 papers authorised for e-book for ICAR 2007. the choice used to be established regularly at the technical advantage, but in addition took under consideration even if the topic represents a subject of present curiosity. For the ultimate inclusion, authors of the chosen papers have been asked for an additional around of revision and enlargement. during this quantity, we set up the 28 contributions into 3 chapters. bankruptcy 1 covers Novel Mechanisms, bankruptcy 2 bargains with belief guided navigation and manipulation, and bankruptcy three addresses human-robot interplay and intelligence. Chapters 1, 2 and three encompass 7, thirteen and eight contributions, respectively. For the sake of readability, bankruptcy 2 is split extra into elements with half 1 for conception Guided Navigation and half 2 for belief Guided Manipulation. bankruptcy three is usually divided into components with half 1 for Human- robotic interplay and half 2 for Intelligence. For the benefit of readers, a ch- ter precis is brought as an outline at first of every bankruptcy. The bankruptcy summaries have been ready via Dr. Munsang Kim for bankruptcy 1, Prof.
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Additional info for Recent Progress in Robotics: Viable Robotic Service to Human: An Edition of the Selected Papers from the 13th International Conference on Advanced Robotics
Example text
A continuous (leader-based) formation controller has been complemented with an orientation controller for each follower, allowing a considerable reduction of formation errors during leader manoeuvres. The good performance of this approach has been shown through experimental results. Acknowledgments The authors gratefully acknowledge SEPCIT (FONCYT) and CONICET of Argentina for partially funding this research. References 1. : Switching in Systems and Control. Birkhauser (2003) 2. : Applied Non Linear Control.
6. 1 Follower Robots: Heading Control In this section it is introduced a proportional only-bearing controller that allows the follower robots to set their headings to desired computed values that will provide good initial heading conditions for the future formation evolution. The position of each follower robot in the formation is defined by its coordinates (L xid ,L yid ) regardless of its orientation. g. the robots are transporting an object, they must be able to turn freely over its own centers without changing the transported object orientation.
In Fig. 6 we present a hybrid formation control strategy where it can be appreciated the inclusion of a supervisor which generates switching signals at both levels: leader (σL ) and followers (σF i ) based on: i) the follower posture, ii) the leader absolute posture and iii) the leader control actions. ) The main idea is to detect leader movements that will immediately produce formation errors. ) Hence, the headings of the followers are set to values that prevent these initial errors and only after this correction is done, the leader is allowed to continue with its planned movement.