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检索条件"任意字段=2024 International Conference on Intelligent Robotics and Automatic Control"

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Optimal walking trajectory generation for a biped robot using genetic algorithm

Optimal walking trajectory generation for a biped robot usin...

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Proceedings 1999 IEEE/RSJ international conference on intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

作者： Sang-Ho Choi Young-Ha Choi Jin-Geol Kim Automatic Control Laboratory Department of Industrial Automation Engineering Inha University Incheon South Korea

Information of suitable additive via-points, which determine the shapes of trajectories, such as velocities and accelerations at the via-points, are needed for smooth biped walking. Also, incorrect information can cause indifferentiability on the trajectory and result in discontinuous walking motion. In the paper optimal via-points data are found using a genetic algorithm which minimizes the sum of deviation of velocities and accelerations as well as a jerk. As a result, we obtain the continuity on the whole trajectory interval, the energy distribution through optimum velocities and accelerations. Smooth and stable walking with the leg trajectory optimized by genetic algorithm is shown by walking experiments.

关键词： Legged locomotion Genetic algorithms Acceleration Trajectory Kinematics robotics and automation automatic control Shape control Leg Force control

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Development of a VRML/Java unmanned airship simulating environment

Development of a VRML/Java unmanned airship simulating envir...

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Proceedings 1999 IEEE/RSJ international conference on intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

作者： J.J.G. Ramos S.M. Maeta M. Bergerman S.S. Bueno L.G.B. Mirisola A. Bruciapaglia System and Automation Department UFSC-DAS-Federal University of Santa Catarina Santa Catarina Brazil CTI-Techriological Center For Informatics Foundation Automation Institute Campinas Brazil

We present one of the first Internet-accessible airship simulators, based on a comprehensive airship dynamic model. The simulator is meant to be used as a tool for the development of control and navigation methods for autonomous and semi-autonomous robotic airships and as testbed for airship pilot training. Realistic views of both the airship in flight and that of a virtual pilot are provided, as are commands to apply thrust to the engines, swivel them up and down, and deflect the control surfaces. This work is significant for providing robotics researchers with means to safely experiment with airship control.

关键词： Java Aerodynamics Vehicle dynamics Computational modeling Internet Navigation robotics and automation automatic control Helicopters Propulsion

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Modeling human strategy in controlling a dynamically stabilized robot

Modeling human strategy in controlling a dynamically stabili...

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IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： Yangsheng Xu Wai-Kuen Yu Kwok-Wai Au Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong China

We present a method to model human operator's strategy in controlling a dynamically stabilized robot, Gyrover, which is a single-wheel gyroscopically stabilized robot. We first select the relevant state variables for training from kinematic and dynamic equations. Then, we defined a measure of the sensitivity of each of the state variables with respect to operator's control input by a sensitivity function in order to reduce the number of the state variables required in the model. We experimentally implemented the method and demonstrated that the robot can be automatically controlled using the learned human control model. The work is of significance in abstracting operator's skill for controlling a dynamically stabilized system in generating an automatic control input.

关键词： Humans Wheels automatic control robotics and automation Robot sensing systems Mobile robots control systems Spinning Torque Equations

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The study on position control of a flexible robot manipulator using fuzzy neural networks

The study on position control of a flexible robot manipulato...

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international conference on Knowledge-Based intelligent Information Engineering Systems (KES)

作者： Yeon Gyu Choo Han Ho Tack Chang Geun Kim Department of Electronic Engineering Chinju National University of Education Kyungnam South Korea Department of Computer Science Chinju National University of Education Kyungnam South Korea

This paper presents position control of flexible robot manipulator system by fuzzy neural networks. The proposed fuzzy neural network models embody the fuzzy model of which fuzzy rules have fuzzy sets in the antecedent part and consequent part. It also provides the fuzzy inferencing. A dynamic model for a flexible robot manipulator is derived, and then a comparative analysis was made with a PID controller through simulation. The results are presented to illustrate the advantages and improved performance of the proposed controller over the PID controller.

关键词： Position control Fuzzy neural networks Fuzzy control Neural networks Manipulator dynamics Fuzzy sets Service robots robotics and automation Three-term control automatic control

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Utilizing sensor data redundancy to gain robustness in the control of calibration-free robots

Utilizing sensor data redundancy to gain robustness in the c...

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IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： A. Maryniak V. Graefe The Institute of Measurement Science Bundeswehr University of Munich Neubiberg Germany

In vision-based robot control typically more sensor data are available than the minimum necessary for computing robot control commands. We propose an approach for utilizing the redundant sensor data to improve the robustness of robot control. It is based on a novel method for taking into account all available measurements in solving the resulting over-determined system of equations for the robot control commands. The approach has been evaluated in computer simulations and in real-world manipulation experiments with a calibration-free robot. It has proven to be suitable for a real-time implementation and to lead to a more robust control than conventional methods.

关键词： Robust control Robot control Robot sensing systems Robot kinematics Robot vision systems Equations Sensor systems robotics and automation Grippers automatic control

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The role of sensing in motion stability of mobile robots

The role of sensing in motion stability of mobile robots

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international conference on Multisensor Fusion and Integration for intelligent Systems (MFI)

作者： Jindong Tan Ning Xi Wei Kang Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA Mathematics Department Naval Postgraduate School Monterrey CA USA

Generally, mobile robots are equipped with several kinds of sensors for locomotion environmental detection, etc. This paper presents a hybrid control system framework which considers a non-time based mobile robot controller and a discrete event controller combined with sensor fusion. The non-time based mobile robot controller supervised by the discrete event controller can track desired path while detecting and avoiding obstacles. This system structure has been implemented on a mobile robot. Experimental results demonstrate advantages of the proposed method.

关键词： Stability Mobile robots Robot control Robot sensing systems automatic control control systems Robot kinematics Sensor fusion Shape measurement robotics and automation

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Transfer of human control strategy based on similarity measure

Transfer of human control strategy based on similarity measu...

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IEEE international conference on robotics and Automation (ICRA)

作者： Jinyan Song Yangsheng Xu M.C. Nechyba Y. Yam Chinese University of Hong Kong New Territories HK The Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Mechanical and Automation Engineering Chinese University of Hong Kong New Territories Hong Kong China Department of Electrical and Computer Engineering University of Florida Gainesville FL USA

We address the problem of transferring human control strategies (HCS) from an expert model to an apprentice model. The proposed algorithm allows us to develop useful apprentice models that incorporate some of the robust aspects of the expert HCS models. We first describe our experimental platform, a real-time graphic driving simulator, for collecting and modeling human control strategies. Then, we discuss an adaptive neural network learning architecture for abstracting HCS models. Next, we define a hidden Markov model (HMM) based similarity measure which allows us to compare different human control strategies. This similarity measure is combined subsequently with simultaneously perturbed stochastic approximation to develop our proposed transfer learning algorithm. In this algorithm, an expert HCS model influences both the structure and the parametric representation of the eventual apprentice HCS model. Finally, we describe some experimental results of the proposed algorithm.

关键词： Humans Hidden Markov models Stochastic processes automatic control robotics and automation Neural networks Approximation algorithms intelligent robots Systems engineering and theory Research and development management

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Smart reconfigurable miniature vision system for mobile robots

Smart reconfigurable miniature vision system for mobile robo...

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international conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.B. Martinez E.X. Martin C. Torrens J.M. Ibanez Department of Automatic Control and Computer Engineering Universitat Poliltècnica de Catalunya Barcelona Spain Institute of Industrial Robotics Universitat Poliltècnica de Catalunya Barcelona Spain

The robot vision system presented consists of a PCB with a hardware-reconfigurable image processor, and a PCB with a standard commercial microprocessor. The microprocessor board interfaces with the host robot, configures the hardware of the image processor and runs the high-level image algorithms. Both boards occupy a volume of 10/spl times/10/spl times/3 cm/sup 3/ and consume less than 1A.

关键词： Machine vision Mobile robots intelligent sensors Service robots Robot vision systems Computer vision Microprocessors Hardware Robot sensing systems robotics and automation

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The path planning of mobile manipulator with genetic-fuzzy controller in flexible manufacturing cell

The path planning of mobile manipulator with genetic-fuzzy c...

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IEEE international conference on robotics and Automation (ICRA)

作者： Ma Xiaowei Yili Fu Yufei Yuan Wang Wei Ma Yulin Cai Hegao Robot Research Institute Harbin Institute of Technology Harbin China DeGroote School of bus. Mcmaster University Michael G. ONT Canada

This paper presents a new intelligent path planning method for motions of the mobile manipulator in flexible manufacturing cell. It simulates the way of human actions to control the mobile manipulator according to a master-slave hierarchical control strategy. The method can find path using the genetic fuzzy controller (GFC) while in moving, and switch to the collision-free path planner based on the critical collision joint angle (CCJA) and DA* algorithms when in requirement of performing the tasks such as load or unload. In this paper, the GFC is developed to automatically generate the fuzzy if-then rules from samples. In addition, a new modeling approach for manipulator is presented. It is called the c-space modeling based on CCJA. Using this technique, the computation time and memory space are greatly reduced. Moreover, a modified DA* algorithm with dynamic step-changeable and goal-visible-test is also used to accelerate the search process. Simulation results of the mobile manipulator performing object transporting task show the method presented is feasible.

关键词： Path planning Switches Manipulator dynamics Flexible manufacturing systems Pulp manufacturing Humans Master-slave Genetics Fuzzy control automatic control

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control of a multi-fingered robotic hand using a method of blocks

Control of a multi-fingered robotic hand using a method of b...

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international conference on Information Intelligence and Systems

作者： S.M. Spano N. Bourbakis Department Electrical Engineering Intelligent Robotic & Applied AI Research Laboratory Binghamton University Binghamton NY USA

The control of a mechanical robotic hand is plagued by an inability to derive accurate dynamic models of such a mechanism. The aspects of static and kinetic friction are major obstacles in the control of a mechanical hand. This paper presents a fuzzy-based controller which has the ability to automatically regenerate the member set during the translation of any arbitrary joint in such a mechanism. A series of simulations has been conducted which illustrate the effectiveness of this controller for providing smooth translation, independent of frictional forces. This controller is applied to a custom-designed hand mechanism and is capable of operating via an IBM compatible computer. A hand with a progressively linked finger structure is used for simplicity. An acquisition system has also been designed which allows bi-directional communication with the sensors and actuators of the hand.

关键词： Robots automatic control Communication system control robotics and automation Kinetic theory Friction Computational modeling Force control Fingers Bidirectional control

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