Systems for ambient assisted living(AAL) that integrate service robots with sensor networks and user monitoring can help elderly people with their daily activities, allowing them to stay in their homes and live active...Systems for ambient assisted living(AAL) that integrate service robots with sensor networks and user monitoring can help elderly people with their daily activities, allowing them to stay in their homes and live active lives for as long as possible. In this paper, we outline the AAL system currently developed in the European project Robot-Era, and describe the engineering aspects and the serviceoriented software architecture of the domestic robot, a service robot with advanced manipulation capabilities. Based on the robot operating system(ROS) middleware, our software integrates a large set of advanced algorithms for navigation, perception, and manipulation. In tests with real end users, the performance and acceptability of the platform are evaluated.展开更多
In this paper,we consider an optimization problem of the grasping manipulation of multi-fingered hand-arm robots.We first formulate an optimization model for the problem,based on the dynamic equations of the object a...In this paper,we consider an optimization problem of the grasping manipulation of multi-fingered hand-arm robots.We first formulate an optimization model for the problem,based on the dynamic equations of the object and the friction constraints.Then,we reformulate the model as a convex quadratic programming over circular cones.Moreover,we propose a primal-dual interior-point algorithm based on the kernel function to solve this convex quadratic programming over circular cones.We derive both the convergence of the algorithm and the iteration bounds for largeand small-update methods,respectively.Finally,we carry out the numerical tests of 180◦and 90◦manipulations of the hand-arm robot to demonstrate the effectiveness of the proposed algorithm.展开更多
基金partially supported by the European Commission in project Robot-Era under contract FP7-288899
文摘Systems for ambient assisted living(AAL) that integrate service robots with sensor networks and user monitoring can help elderly people with their daily activities, allowing them to stay in their homes and live active lives for as long as possible. In this paper, we outline the AAL system currently developed in the European project Robot-Era, and describe the engineering aspects and the serviceoriented software architecture of the domestic robot, a service robot with advanced manipulation capabilities. Based on the robot operating system(ROS) middleware, our software integrates a large set of advanced algorithms for navigation, perception, and manipulation. In tests with real end users, the performance and acceptability of the platform are evaluated.
基金the National Natural Science Foundation of China(No.11371242)。
文摘In this paper,we consider an optimization problem of the grasping manipulation of multi-fingered hand-arm robots.We first formulate an optimization model for the problem,based on the dynamic equations of the object and the friction constraints.Then,we reformulate the model as a convex quadratic programming over circular cones.Moreover,we propose a primal-dual interior-point algorithm based on the kernel function to solve this convex quadratic programming over circular cones.We derive both the convergence of the algorithm and the iteration bounds for largeand small-update methods,respectively.Finally,we carry out the numerical tests of 180◦and 90◦manipulations of the hand-arm robot to demonstrate the effectiveness of the proposed algorithm.
