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Kang, Sung-Chul,Komoriya, Kiyoshi,Yokoi, Kazuhito,Koutoku, Tetsuo,Kim, Byung-Chan,Park, Shin-Suk 한국정밀공학회 2010 International Journal of Precision Engineering and Vol.11 No.5
Recently, mobile manipulators are being widely employed for various service robots in human environments. Safety is the most important requirement for the operation of mobile robot in a human-populated environment. Indeed, safe human-machine interaction is one of grand challenges in robotics research. This paper proposes a novel control method to reduce impulsive compact force between a mobile manipulator and its environment by using optimized manipulator inertia and damping-based motion control. To find the optimized configuration through null space motion, the combined potential function method is proposed considering both the minimum effective mass and joint limit constraints. The results of this study show that the inertia optimization along with a damping controller significantly reduces the impulsive force upon collision and the contact force after collision.
Result Representation of Rao-Blackwellized Particle Filtering for SLAM
Nosan Kwak,Beom-Hee Lee,Kazuhito Yokoi 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Recently, particle filters have been applying to many robotic problems including he simultaneous localization and mapping (SLAM). Specifically, SLAM approaches employing Rao-Blackwellized particle filter (RBPF) have shown good results. However, no research is conducted to analyze representation of the results of particle filtering. After finishing the particle filtering, the results such as a map and a path are stored in the separate particles. In most cases, the result of the particle that has the highest importance weight is represented as the result. However, this approach does not give the best result all the time. Thus, We provide the analysis of final representation of particle filtering. In this paper, we compares several methods to derive the final representation of the result after finishing RBPF-SLAM. According to the result, combining data of each particle provides the better result with high probability than using just data of a particle such as the highest weighted particle representation.