Timed trajectory generation for a toy-like wheeled robot

Detalhes bibliográficos
Autor(a) principal: Silva, Jorge Bruno
Data de Publicação: 2010
Outros Autores: Matos, Vítor, Santos, Cristina
Idioma: eng
Título da fonte: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Texto Completo: http://hdl.handle.net/1822/17798
Resumo: In this work, we address temporal stabilization of generated movements in autonomous robotics. We focus on generating movement for a mobile robot, that must reach a target location within a constant time. Target location is online calculated by using the robot visual system, such that action is steered by the sensory information. This is a very critical issue in several robotic tasks including: catching, hitting, and humanrobot scenarios. Robot velocity is controlled through an Hopf oscillator, adapted according to temporal feedback. Timing of the velocity profile is modulated according to an adaptive mechanism that enables setting different times for acceleration and deceleration. Results on a DRK8000 mobile robot confirm the system’s reliability with low-level sensors.
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spelling Timed trajectory generation for a toy-like wheeled robotTimingNonlinear dynamical systemsVisionScience & TechnologyIn this work, we address temporal stabilization of generated movements in autonomous robotics. We focus on generating movement for a mobile robot, that must reach a target location within a constant time. Target location is online calculated by using the robot visual system, such that action is steered by the sensory information. This is a very critical issue in several robotic tasks including: catching, hitting, and humanrobot scenarios. Robot velocity is controlled through an Hopf oscillator, adapted according to temporal feedback. Timing of the velocity profile is modulated according to an adaptive mechanism that enables setting different times for acceleration and deceleration. Results on a DRK8000 mobile robot confirm the system’s reliability with low-level sensors.IEEEUniversidade do MinhoSilva, Jorge BrunoMatos, VítorSantos, Cristina2010-112010-11-01T00:00:00Zconference paperinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/1822/17798eng97814244522621553-572X10.1109/IECON.2010.5676132http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5676132info:eu-repo/semantics/openAccessreponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2024-05-11T05:22:08Zoai:repositorium.sdum.uminho.pt:1822/17798Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-28T15:16:07.398237Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
dc.title.none.fl_str_mv Timed trajectory generation for a toy-like wheeled robot
title Timed trajectory generation for a toy-like wheeled robot
spellingShingle Timed trajectory generation for a toy-like wheeled robot
Silva, Jorge Bruno
Timing
Nonlinear dynamical systems
Vision
Science & Technology
title_short Timed trajectory generation for a toy-like wheeled robot
title_full Timed trajectory generation for a toy-like wheeled robot
title_fullStr Timed trajectory generation for a toy-like wheeled robot
title_full_unstemmed Timed trajectory generation for a toy-like wheeled robot
title_sort Timed trajectory generation for a toy-like wheeled robot
author Silva, Jorge Bruno
author_facet Silva, Jorge Bruno
Matos, Vítor
Santos, Cristina
author_role author
author2 Matos, Vítor
Santos, Cristina
author2_role author
author
dc.contributor.none.fl_str_mv Universidade do Minho
dc.contributor.author.fl_str_mv Silva, Jorge Bruno
Matos, Vítor
Santos, Cristina
dc.subject.por.fl_str_mv Timing
Nonlinear dynamical systems
Vision
Science & Technology
topic Timing
Nonlinear dynamical systems
Vision
Science & Technology
description In this work, we address temporal stabilization of generated movements in autonomous robotics. We focus on generating movement for a mobile robot, that must reach a target location within a constant time. Target location is online calculated by using the robot visual system, such that action is steered by the sensory information. This is a very critical issue in several robotic tasks including: catching, hitting, and humanrobot scenarios. Robot velocity is controlled through an Hopf oscillator, adapted according to temporal feedback. Timing of the velocity profile is modulated according to an adaptive mechanism that enables setting different times for acceleration and deceleration. Results on a DRK8000 mobile robot confirm the system’s reliability with low-level sensors.
publishDate 2010
dc.date.none.fl_str_mv 2010-11
2010-11-01T00:00:00Z
dc.type.driver.fl_str_mv conference paper
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/1822/17798
url http://hdl.handle.net/1822/17798
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 9781424452262
1553-572X
10.1109/IECON.2010.5676132
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5676132
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv reponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron:RCAAP
instname_str FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron_str RCAAP
institution RCAAP
reponame_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
collection Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository.name.fl_str_mv Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
repository.mail.fl_str_mv info@rcaap.pt
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