Page 41 - ASME DSCC 2015 Program

Technical Program

THURSDAY, OCTOBER, 29 Probability Based optimal Path Planning for Two-Wheeled Mobile
Robots
ConTRIBuTED SESSIon Contributed regular paper. DSCC2015-9909
1-7-1 TA1 Path Planning and Motion Control
Jaeyeon lee, Wooram Park, University of Texas at Dallas, Richardson, TX,
George Bellows A 10:00am–12:00pm United States
Most dynamic systems show uncertainty in their behavior. Therefore, a de-
Session Chair: Vladimir Vantsevich, University of Alabama at Birmingham
terministic model is not sufficient to predict the stochastic behavior of such
Session Co-Chair: Cong Wang, New Jersey Institute of Technology
systems. Alternatively, a stochastic model can be used for better analysis
Complete Coverage Path Planning for flexible Parent-Child unit and simulation. By numerically integrating the stochastic differential equation
Robots or solving the Fokker-Planck equation, we can obtain a probability densi-
Contributed regular paper. DSCC2015-9822 ty function of the motion of the system. Based on this probability density
function, the path-of-probability(POP) method for path planning has been
Dare olaonipekun, Joshua Vaughan, University of Louisiana at Lafayette,
Lafayette, LA, United States developed and verified in simulation. However, there are rooms for more
improvements and its practical implementation has not been performed yet.
This paper presents a complete coverage algorithm for a flexible parent This paper concerns formulation, simulation and practical implementation
child unit robot by combining input shaping with the wavefront algorithm. of the path-of-probability for two-wheeled mobile robots. In this framework,
Input shaping was used to control the command-induced vibration in the we define a new cost function which measures the averaged targeting error
system, while the wavefront algorithm planned the complete coverage using root-mean-square (RMS), and iteratively minimize it to find an optimal
path for a given workspace. A model of the flexible robot was developed path with the lowest targeting error. The proposed algorithm is implemented
by treating the child units as inputs, replacing the link wire by springs and and tested with a two-wheeled mobile robot for performance verification.
dampers, and treating the parent unit as a point mass. Results showed
Speed Control of an Inertia load Connected to a Motor through a
significant improvement in the coverage process for the shaped coverage in
Compliant Mechanical Transmission System
comparison to the unshaped coverage.
Contributed regular paper. DSCC2015-9798
dynamic affection-Based Motion control of a humanoid robot to
Pramod Raul, Prabhakar Pagilla, Oklahoma State University, Stillwater, OK,
Collaborate With Human in flexible Assembly in Manufacturing
United States, Ramamurthy Dwivedula, Godavari Institute of Engineering
Contributed regular paper. DSCC2015-9841
and Technology, Rajahmundry, Andhra Pradesh, India
S.M. Mizanoor Rahman, Yue Wang, Clemson University, Clemson, SC, Speed Control of an Inertia Load Connected to a Motor through a Compliant
United States
Mechanical Transmission System
This article presents a hybrid cell for human-robot collaboration (HRC) in
Motion planning and differential flatness of Mechanical Systems on
flexible light assembly in manufacturing and investigates the effects of the
Principal Bundles
robot’s dynamic affections on human-robot interactions (HRI) and assem-
Contributed regular paper. DSCC2015-9660
bly performance. We develop a one human-one robot hybrid cell using a
humanoid robot with affection display ability where the human and the robot Tony Dear, Matthew Travers, Howie Choset, Carnegie Mellon University,
Pittsburgh, PA, United States, Scott Kelly, University of North Carolina At
collaborate to assemble few parts into a final product. Based on an optimi-
Charlotte, Charlotte, NC, United States
zation strategy, the assembly subtasks are optimally allocated between the
human and the robot. We determine a computational dynamics model of the Mechanical systems often exhibit physical symmetries in their configuration
robot’s affections for various situations associated with the assembly. Taking variables, allowing for significant reduction of their mathematical complex-
inspiration from the affection dynamics, we develop an affection-based ity arising from characteristics such as underactuation and nonlinearity. In
motion control strategy for the robot so that the robot can dynamically adjust this paper, we exploit the geometric structure of such systems to explore
its affective expressions with task situations. We develop a comprehensive the following motion planning problem: given a desired trajectory in the
evaluation scheme to evaluate HRI and assembly performance in two differ- workspace, can we explicitly solve for the appropriate inputs to follow
ent conditions of the robot: (i) the robot displays affections in its face dynami- it? We appeal to results on differential flatness from the nonlinear control
cally with assembly task situations, (ii) the robot does not display affection. literature to develop a general motion planning formulation for systems with
The results show that the motion control of the robot with dynamic affective symmetries and constraints, which also applies to both fully constrained
expressions produce significantly better HRI and assembly performance and unconstrained kinematic systems. We conclude by demonstrating the
than that produced by the motion control of the robot with no affective utility of our results on several canonical mechanical systems found in the
expression. locomotion literature.

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