|Address||Kaiwu Bldg. of Mechanical Engineering, Tongji Univ., No. 4800 Cao An Rd., Shanghai 201804, P. R. China|
|Application of Featherstone Algorithm in Robotics Dynamic Modeling and Control;|
|Study on Cooperative Handling Strategy by Swarm Mobile Manipulators|
About Featherstone Algorithm
Featherstone algorithm is an efficient dynamics algorithm based on six-dimensional space vectors. Roy Featherstone proposed the concept that using six-dimensional space vectors and matrices to represent the dynamics of the robots. The six-dimensional space vector is composed of two three-dimensional Vectors, that is linear vector and angular vector, so it can be more convenient and concise to describe the robotics dynamices model by using the six-dimensional space vectors. Using this algorithm to analyze the dynamics of the robots and design the robotics control system, which can greatly shorten the calculation time, speed up the response speed of the robots and improve the running accuracy.
Study on Cooperative Handling Strategy by Swarm Mobile Manipulators
Mobile manipulator system is composed by one or several manipulators and a mobile platform, and we use swarm mobile manipulators to handling objects in a colleborative way. The task involves in path planning, task assignment, obstacle avoidance, formation and other issues, which are the classic problems in swarm robotics. What's more, it is an important and innovative application in swarm robotics and mobile manipulators to integrate these problems into the collaborative handling task.
Practical Experimemt on Cooperative Handling Task by Swarm Mobile Manipulators
Based on the omni-directional mobile robot designed and manufactored independently by RMB, an experimental platform for mobile manipulator is going to be set up, and the practical experiment on cooperative handling by swarm mobile manipulators will be taken on the platform.
|||2017.12.24||Tracking Control of Mobile Manipulator Based on Featherstone Algorithm and Obstacle Avoidance Strategy in Cooperative Handling Task. Tongji University. Shanghai, China.|
|||2017.11.30||Research on Cooperative Handling by Swarm Mobile Manipulators. Presentation as part of the denfense of graduate student thesis proposal. Tongji University. Shanghai, China.|
|||2017.7.28||A Fast Video Vehicle Detection Approach Based on Improved Adaboost Classifier. Fukuoka. Japan.|
|||2016.12.30||Related Algorithms on Target Searching by Swarm Robots. Tongji University. Shanghai, China|
|||Qirong Tang*, Lu Ding, Jiaying Li, Yuan Zhang, and Fangchao Yu*. A Stigmergy Based Aggregation Method for Swarm Robotic System. IEEE SSCI 2017.|
|||Qirong Tang*, Fangchao Yu, Yuan Zhang, Lu Ding, and Peter Eberhard. A Stigmergy Based Search Method for Swarm Robots. ICSI'2017.|
|||Qirong Tang*, Lu Ding, Fangchao Yu, Yuan Zhang, Yinghao Li, and Haibo Tu. Swarm Robots Search for Multiple Targets Based on an Improved Grouping Strategy. IEEE/ACM Transactions on Computational Biology and Bioinformatics. 7pages.|
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