NDLI: Timed trajectory generation for a toy-like wheeled robot

Content Provider	IEEE Xplore Digital Library
Author	Silva, J.B. Matos, V. Santos, C.
Copyright Year	2010
Description	Author affiliation: University of Minho (Silva, J.B.; Matos, V.; Santos, C.)
Abstract	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.
Starting Page	1645
Ending Page	1650
File Size	675030
Page Count	6
File Format	PDF
ISBN	9781424452255
ISSN	1553572X
DOI	10.1109/IECON.2010.5676132
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-11-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Oscillators Robot kinematics Switches Timing Image color analysis Timing, Nonlinear dynamical systems, Vision
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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