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IEEE-RAS international conference on Humanoid Robots

作者： J.-C. Baillie Laboratory of Electrical and Computer Engineering ENSTA Paris France

the recent development of cheap and powerful humanoid and animal-like robots has been accompanied by the development of a variety of softwares, libraries and other interfaces to control the robots. the diversity and complexity of these interfaces slow down the development of robotics and we believe that there is a need for a standard which could be universal, powerful and easy to implement. URBI, a universal robotic body interface, aims at providing the ground for such a standard. It is based on a client/server architecture. the server is running on the robot and accessed by the client, typically via TCP/IP. URBI includes a scripted language used from the client and capable of controlling the joints of the robot or access its sensors, camera, speakers or any accessible part of the machine. We describe here how URBI differs from currently existing solutions, and present its specifications and capabilities using practical examples. We also introduce the URBI C++ library which provides a simple and yet powerful way to program a client and to make a full use of the functionalities of URBI. We also give examples of URBI running on an Aibo ERS7 and analyse the performances of this implementation over the wireless connection.

关键词： Humanoid robots Robot sensing systems Software libraries Robot control Standards development TCPIP Natural languages Robot vision systems Cameras Performance analysis

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Imitation of human demonstration using a biologically inspired modular optimal control scheme

Imitation of human demonstration using a biologically inspir...

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IEEE-RAS international conference on Humanoid Robots

作者： G. Simmons Y. Demiris Department of Electrical and Electronic Engineering Imperial College London London UK

Progress in the field of humanoid robotics and the need to find simpler ways to program such robots has prompted research into computational models for robotic learning from human demonstration. To further investigate biologically inspired human-like robotic movement and imitation, we have constructed a framework based on three key features of human movement and planning: optimality, modularity and learning. In this paper we describe a computational motor system, based on the minimum variance model of human movement, that uses optimality principles to produce human-like movement in a robot arm. Within this motor system different movements are represented in a modular structure. When the system observes a demonstrated movement, the motor system uses these modules to produce motor commands which are used to update an internal state representation. this is used so that the system can recognize known movements and move the robot arm accordingly, or extract key features from the demonstrated movement and use them to learn a new module. the active involvement of the motor system in the recognition and learning of observed movements has its theoretical basis in the direct matching hypothesis and the use of a model for human-like movement allows the system to learn from human demonstration.

关键词： Optimal control Humanoid robots Biological system modeling Computational modeling Human robot interaction Biology computing Feature extraction Neurons Muscles Educational institutions

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An architecture to coordinate fuzzy behaviors to control an autonomous robot

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FUZZY SETS AND SYSTEMS 2003年第1期134卷 101-115页

作者： Bonarini, A Invernizzi, G Labella, th Matteucci, M Politecn Milan AI Dipartimento Elettron & Informaz I-20133 Milan Italy Politecn Milan Robot Project I-20133 Milan Italy

We propose an architecture to implement coordination among fuzzy behavior modules for autonomous agents, in real-time tasks. Behavior coordination is obtained by fuzzy conditions and motivations evaluated on information provided by intelligent sensors and a world modeler. We also discuss the compatibility of our architecture with cognitive models. We present the application of this architecture in one of the domains we have faced with it: service and edutainment robotics. (C) 2002 Elsevier Science B.V. All rights reserved.

关键词： behavior-based robotics cognitive robotics fuzzy systems robotic architecture agent architecture

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An activation-based behavior control architecture for walking machines

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international JOURNAL OF robotics RESEARCH 2003年第3-4期22卷 203-211页

作者： Albiez, J Luksch, T Berns, K Dillmann, R Univ Karlsruhe FZI Forschungszentrum Informat D-76131 Karlsruhe Germany

the high complexity of the mechanical system and the challenging task of walking itself makes the task of designing the control for legged robots a difficult one. Even if the implementation of parts of the desired functionality, such as Posture control or basic swing/stance movement, can be solved by the use of classical engineering approaches, the control of the overall system tends to be very inflexible. In this paper we introduce a new method to combine aspects of classical robot control and behavior-based control. Inspired by the activation patterns in the brain and the spinal cord of animals, we propose a behavior network architecture using special signals such as activity or target rating to influence and coordinate the behaviors. We, describe the general concept of a single behavior as well as their interaction within the network. this architecture is tested on the four-legged walking machine, BISAM, and experimental results are presented.

关键词： behavior-based control four-legged walking machine biological-inspired robotics

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A fuzzy temporal rule-based velocity controller for mobile robotics

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FUZZY SETS AND SYSTEMS 2003年第1期134卷 83-99页

作者： Mucientes, M Iglesias, R Regueiro, CV Bugarín, A Barro, S Univ Santiago de Compostela Dept Elect & Comp Sci Santiago De Compostela 15782 Spain Univ A Coruna Dept Elect & Syst La Coruna 15071 Spain

this paper describes a velocity controller implemented on a Nomad 200 mobile robot. the controller has been developed for wall-following behaviour, and its design is modularized into two blocks: angular and linear velocity control. A simple design and implementation was made for the former, with the aim of focusing the design efforts on the linear velocity control block, in order to remark the usefulness of this task. the latter has been implemented using an explicit model for knowledge representation and reasoning called fuzzy temporal rules (FTRs). this model enables to explicitly incorporate time as a variable, due to which the evolution of variables in a temporal reference can be described. Using this mechanism we obtain linear velocity values that are adapted to each different circumstance, and thus a higher average velocity as well as smoother and more robust behaviours are achieved. (C) 2002 Elsevier Science B.V. All rights reserved.

关键词： mobile robotics wall-following behaviour fuzzy temporal rules velocity control

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An architecture to coordinate fuzzy behaviors to control an autonomous robot

An architecture to coordinate fuzzy behaviors to control an ...

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4th international FLINS conference on Intelligent Techniques and Soft Computing in Nuclear Science and engineering

作者： Bonarini, A Invernizzi, G Labella, th Matteucci, M Politecn Milan AI Dipartimento Elettron & Informaz I-20133 Milan Italy Politecn Milan Robot Project I-20133 Milan Italy

关键词： behavior-based robotics cognitive robotics fuzzy systems robotic architecture agent architecture

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An activation-based behavior control architecture for walking machines

An activation-based behavior control architecture for walkin...

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4th international conference on Climbing and Walking Robots (CLAWAR 2001)

作者： Albiez, J Luksch, T Berns, K Dillmann, R Univ Karlsruhe FZI Forschungszentrum Informat D-76131 Karlsruhe Germany

关键词： behavior-based control four-legged walking machine biological-inspired robotics

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A fuzzy temporal rule-based velocity controller for mobile robotics

A fuzzy temporal rule-based velocity controller for mobile r...

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4th international FLINS conference on Intelligent Techniques and Soft Computing in Nuclear Science and engineering

关键词： mobile robotics wall-following behaviour fuzzy temporal rules velocity control

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Dynamic balance of a biped robot using fuzzy reinforcement learning agents

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FUZZY SETS AND SYSTEMS 2003年第1期134卷 169-187页

作者： Zhou, CJ Meng, QC Singapore Polytech Sch Elect & Elect Engn Singapore 139651 Singapore Ocean Univ Qingdao Dept Elect Engn Qingdao Peoples R China

this paper presents a general fuzzy reinforcement learning (FRL) method for biped dynamic balance control. Based on a neuro-fuzzy network architecture, different kinds of expert knowledge and measurement-based information can be incorporated into the FRL agent to initialise its action network, critic network and/or evaluation feedback module so as to accelerate its learning. the proposed FRL agent is constructed and verified using the simulation model of a physical biped robot., the simulation analysis shows that by incorporation of the human intuitive balancing knowledge and walking evaluation knowledge, the FRL agent's learning rate for side-to-side and front-to-back balance of the simulated biped can be improved. We also demonstrate that it is possible for a biped robot to start its walking with a priori knowledge and then learn to improve its behaviour with the FRL agents. (C) 2002 Elsevier Science B.V. All rights reserved.

关键词： robotics reinforcement learning fuzzy control neuro-fuzzy systems biped locomotion

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Approximate reasoning for safety and survivability of planetary rovers

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FUZZY SETS AND SYSTEMS 2003年第1期134卷 27-46页

作者： Tunstel, E Howard, A CALTECH NASA Jet Propuls Lab Pasadena CA 91109 USA

Operational safety and health monitoring are critical matters for autonomous planetary rovers operating on remote and challenging terrain. this paper describes rover safety issues and presents an approximate reasoning approach to maintaining vehicle safety in a navigational context. the proposed rover safety module is composed of two distinct behaviors: safe attitude (pitch and roll) management and safe traction management. Fuzzy logic implementations of these behaviors on outdoor terrain are presented. Sensing of vehicle safety coupled with visual neural network-based perception of terrain quality are used to infer safe speeds during rover traversal. In addition, approximate reasoning for self-regulation of internal operating conditions is briefly discussed. the core theoretical foundations of the applied soft computing techniques are presented and supported by descriptions of field tests and laboratory experimental results. For autonomous rovers, the approach provides intrinsic safety cognizance and a capacity for reactive mitigation of navigation risks. (C) 2002 Elsevier Science B.V. All rights reserved.

关键词： approximate reasoning fuzzy inference systems robotics planetary rovers neural networks vision-based control off-road mobility

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