Autonomous Motion Adaptation Against Structure Changes Without Model Identification

Funabora, Yuki; Yano, Yoshikazu; Doki, Shinji; Okuma, Shigeru

doi:10.5772/27166

Cited by 1 publication

(1 citation statement)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Even in that case, it is expected that the robots should provide services to help human daily life as much as possible. In [25], the authors developed an approach to adapt designed motions to a changed structure without model identification. Even if the robot has unobservable changes in mechanical structure, the robot generates new motions, which achieve the trajectories matching to the desired ones as much as possible.…”

Section: Concepts and Solutionsmentioning

confidence: 99%

Synergistic Sensory Platform: Robotic Nurse

Peshko

Pawluczyk²,

Wick

2013

JLPEA

View full text Add to dashboard Cite

This paper presents the concept, structural design and implementation of components of a multifunctional sensory network, consisting of a Mobile Robotic Platform (MRP) and stationary multifunctional sensors, which are wirelessly communicating with the MRP. Each section provides the review of the principles of operation and the network components’ practical implementation. The analysis is focused on the structure of the robotic platform, sensory network and electronics and on the methods of the environment monitoring and data processing algorithms that provide maximal reliability, flexibility and stable operability of the system. The main aim of this project is the development of the Robotic Nurse (RN)—a 24/7 robotic helper for the hospital nurse personnel. To support long-lasting autonomic operation of the platform, all mechanical, electronic and photonic components were designed to provide minimal weight, size and power consumption, while still providing high operational efficiency, accuracy of measurements and adequateness of the sensor response. The stationary sensors serve as the remote “eyes, ears and noses” of the main MRP. After data acquisition, processing and analysing, the robot activates the mobile platform or specific sensors and cameras. The cross-use of data received from sensors of different types provides high reliability of the system. The key RN capabilities are simultaneous monitoring of physical conditions of a large number of patients and alarming in case of an emergency. The robotic platform Nav-2 exploits innovative principles of any-direction motion with omni-wheels, navigation and environment analysis. It includes an innovative mini-laser, the absorption spectrum analyser and a portable, extremely high signal-to-noise ratio spectrometer with two-dimensional detector array

show abstract

Section: Concepts and Solutionsmentioning

confidence: 99%