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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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Design limitations of PD versus fuzzy controllers for the Acrobot

Design limitations of PD versus fuzzy controllers for the Ac...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： M.H. Smith M.A. Lee M. Ulieru W.A. Gruver Department of Electrical Engineering and Computer Science University of California Berkeley CA USA School of Engineering Science Simon Fraser University Burnaby BC Canada

This paper discusses the swing-up control of a two link robot mechanism known as the Acrobot. First a PD controller is investigated and then a fuzzy controller is implemented by a combination of genetic algorithms, dynamic switching fuzzy systems, and meta-rule techniques. Limitations of the PD controller and the fuzzy controller are shown by investigating the effect of external random disturbances on the Acrobot using simulation. Design considerations are discussed. This study illustrates how intelligent control methods can reduce development effort and system complexity while achieving better performance.

关键词： PD control Fuzzy control Fuzzy systems control systems Genetic algorithms automatic control Motion control intelligent robots Motor drives Shoulder

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Evolving an intelligent vehicle for tactical reasoning in traffic

Evolving an intelligent vehicle for tactical reasoning in tr...

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IEEE international conference on robotics and Automation (ICRA)

作者： R. Sukthankar S. Baluja J. Hancock The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Recent research in automated highway systems has ranged from low-level vision-based controllers to high-level route-guidance software. However there is currently no system for tactical-level reasoning. Such a system should address tasks such as passing cars, making exits on time, and merging into a traffic stream. Our approach to this intermediate-level planning combines a distributed reasoning system (PolySAPIENT) with a novel evolutionary optimization strategy (PBIL). PBIL automatically tunes PolySAPIENT module parameters in simulation by evaluating candidate modules on various traffic scenarios. Since the control interface to the simulated vehicles is identical to that on the Carnegie Mellon Navlab vehicles, modules developed using this process can be directly ported to existing hardware. This method is currently being applied to the automated highway system domain; it also generalizes to many complex robotics tasks where multiple interacting modules must simultaneously be configured without individual module feedback.

关键词： intelligent vehicles Automated highways automatic control Traffic control control systems Merging Strategic planning Hardware robotics and automation Feedback

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Integration and demonstration of a distributed computer for vehicle control

Integration and demonstration of a distributed computer for ...

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international conference on intelligent Transportation

作者： J.M. Iaconis J.N. Callen RedZone Robotics Inc. Pittsburgh PA USA RedZone Robotics Inc. Pittsburgh PA USA

Under a Phase II SBIR program sponsored by the US Army Tank-Automotive and Armaments Research, Development and Engineering Center (TARDEC), RedZone robotics built and demonstrated a distributed computing and control system (DCS) for vehicle applications. A distributed network of small, intelligent local controller nodes, a central communications gateway card, and a power/signal bus, the DCS reduces vehicle controller development, installation, and maintenance costs and enhances adaptability to other platforms or applications. The DCS is of interest to vehicle developers needing robust, capable, plug and play components to enable vehicle automation. This paper overviews the motivations for the RedZone DCS project, discusses the installation and demonstration of the technology, and discusses the testing results.

关键词： Distributed computing Vehicles Distributed control Communication system control Centralized control automatic control Military computing Automotive engineering Power engineering and energy Robots

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A six legged robot controlled by ARS

A six legged robot controlled by ARS

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IEEE international conference on Fuzzy Systems (FUZZ-IEEE)

作者： A. Sanz Department of Electronic and Comunications Engineering University of Zaragoza Spain

This paper gives a short description of a walking robot called PILAR (programmable intelligent legged autonomous robot) and the method used for control. For this problem we used a hierarchical structure of a fuzzy log... 详细信息

关键词： Legged locomotion Robot control control systems automatic control Leg Fuzzy logic intelligent robots robotics and automation Neural networks Servomotors

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Autonomous navigation in ill-structured outdoor environment

Autonomous navigation in ill-structured outdoor environment

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IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： J. Fernandez A. Casals Automatic Control and Computer Engineering Department Universitat Politecnica de Catalunya Barcelona Spain

Presents a methodology for autonomous navigation in weakly structured outdoor environments such as dirt roads or mountain ways. The main problem to solve is the detection of an ill-defined structure-the way-and the obstacles in the scene, when working in variable lighting conditions. First, we discuss the road description requirements to perform autonomous navigation in this kind of environment and propose a simple sensors configuration based on vision. A simplified road description is generated from the analysis of a sequence of color images, considering the constraints imposed by the model of ill-structured roads. This environment description is done in three steps: region segmentation, obstacle detection and coherence evaluation.

关键词： Navigation Roads Sensor phenomena and characterization Sensor systems Layout Image analysis automatic control control engineering computing Image sequence analysis Image segmentation

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Simulation of fuzzy motion controlled four-wheel steered mobile robot

Simulation of fuzzy motion controlled four-wheel steered mob...

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IEEE international conference on intelligent Engineering Systems (INES)

作者： G. Schuster Kandó Kálmán Clollge of Engineering Institute of Instrumentation and Automation Budapest Hungary

This paper contains a description of simulation software, which has two parts. The first part is about the simulation of physical object such as the four-wheel steered mobile robot. The second part is about the control algorithms. It also contains some results of the simulation and some developing consideration related to the software and positioning.

关键词： Fuzzy control Motion control Mobile robots Open loop systems automatic control control systems Mathematical model Wheels robotics and automation Vehicles

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Cooperative control of a two-manipulator system handling a general flexible object

Cooperative control of a two-manipulator system handling a g...

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IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： Dong Sun Yunhui Liu J.K. Mills Department of Mechanical and Industrial Engineering University of Toronto Canada Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong China

Robotic manipulation of a general flexible object is an extremely difficult and challenging control problem. This paper shows that under a simple PD position feedback, the position/orientation of a general flexible object handled by two manipulators is able to approach the desired one and at the same time the vibration of each contact is suppressed. We use the "clamped-free" model to decompose the motion of the object into two components, a rigid and a flexible one, which allows us to treat them separately and achieve desired motions with a simple PD scheme. This is proved to work theoretically.

关键词： control systems Robotic assembly automatic control Sun Milling machines robotics and automation Feedback Manipulators Vibrations Vehicle dynamics

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Cooperative transport system with regrasping car-like mobile robots

Cooperative transport system with regrasping car-like mobile...

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Proceedings of the 1997 IEEE/RSJ international conference on intelligent Robot and Systems. Innovative robotics for Real-World Applications. IROS '97

作者： N. Miyata J. Ota Y. Aiyama J. Sasaki T. Arai Department of Precision Machinery Engineering Graduate School of Engineering University of Tokyo Tokyo Japan

This paper deals with motion planning of cooperative transfer with regrasping by a group of car-like mobile robots. In order to realize this transfer task by actual car-like robots, three aspects should be considered: the nonholonomic characteristic of car-like robots, how to control the force and avoid too large a force by position-controlled robots, and control cycle of the system. Based on algorithms from previous works, the authors propose the following approach: 1) designing robot hand mechanism; 2) constructing hybrid planning architecture composed of centralized and decentralized system including an object motion observer. A simple transport experiment by an actual robot system is made to show the effectiveness of this mechanism. Validity of the proposed method is verified by a transport simulation.

关键词： Mobile robots Robot sensing systems Robot control control systems Motion planning Force control Manipulator dynamics robotics and automation Machinery automatic control

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Bio-micromanipulation (new direction for operation improvement)

Bio-micromanipulation (new direction for operation improveme...

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Proceedings of the 1997 IEEE/RSJ international conference on intelligent Robot and Systems. Innovative robotics for Real-World Applications. IROS '97

作者： F. Arai K. Morishima T. Kasugai T. Fukuda Department of Micro System Engineering University of Nagoya Nagoya Japan

Micromanipulation is important in bio-science and bio-engineering field. In this paper, we propose a new micromanipulation system using a micro bio-jig and electrorheological (ER) joint. First, we propose a micro-fixture device for bio-micromanipulation (bio-jig). Property of the bio-jig is also shown based on the FEM analysis of the electric field. Next, we propose a joint containing the ER fluid (ER joint). We show its application examples to a safety mechanism and variable stiffness type microgripper. We made a prototype of the microgripper with the ER joint. The stiffness of the flexible finger is adjusted by the ER joint. We succeeded in accurate force sensing and fast motion control by controlling the applied voltage to the ER joint.

关键词： Force control Automation Force measurement Microscopy Humans Frequency automatic control Surface resistance Fluid flow control Biological control systems

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A scheduling approach for decentralized mobile robot control system

A scheduling approach for decentralized mobile robot control...

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IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： M. Wargui M. Tadjine A. Rachid Laboratoire des Systemes Automatiques Universite de Picardie Jules Verne Amiens France

Most existing studies dealing with the scheduling of real-time control systems had neglected time variation in the perception, decision and actions loops of the controlled system, especially when this system is distributed over a broadcast network. In this paper, a distributed mobile robot architecture which takes into account the previous problem is proposed. To this end, a scheduling algorithm which allows one to determine accurately the message interarrival time at each node is developed. An application on a multiplexed field bus, named the controller area network (CAN), is also discussed.

关键词： Mobile robots Robot control control systems Communication system control Delay automatic control Mobile communication Actuators Scheduling algorithm Time factors

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