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检索条件"任意字段=Conference on Next-Generation Robots and Systems"

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Autonomously generating operations sequences for a mars rover using AI-based planning

Autonomously generating operations sequences for a mars rove...

引用

IEEE conference on Intelligent robots and systems (IROS 2001)

作者： Sherwood, R Mishkin, A Estlin, T Chien, S Backes, P Norris, J Cooper, B Maxwell, S Rabideau, G CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)0780366123

This paper discusses a proof-of-concept prototype for ground-based automatic generation of validated rover command sequences from high-level science and engineering activities. This prototype is based on ASPEN, the Automated Scheduling and Planning Environment This Artificial Intelligence (AI) based planning and scheduling system will automatically generate a command sequence that will execute within resource constraints and satisfy flight rules. An automated planning and scheduling system encodes rover design knowledge and uses search and reasoning techniques to automatically generate low-level command sequences while respecting rover operability constraints, science and engineering preferences, environmental predictions, and also adhering to hard temporal constraints. This prototype planning system has been field-tested using the Rocky-7 rover at JPL, and will be field-tested on more complex rovers to prove its effectiveness before transferring the technology to flight operations for an upcoming NASA mission. Enabling goal-driven commanding of planetary rovers greatly reduces the requirements for highly skilled rover engineering personnel. This in turn greatly reduces mission operations costs. In addition, goal-driven commanding permits a faster response to changes in rover state (e.g., faults) or science discoveries by removing the time consuming manual sequence validation process, allowing rapid "what-if' analyses, and thus reducing overall cycle times.

关键词： Mobile robots

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Semi-degeneracy in stiffness generation of an anthropomorphic robot

Semi-degeneracy in stiffness generation of an anthropomorphi...

引用

IEEE International Workshop on Intelligent robots and systems (IROS)

作者： Sungbok Kim Department of Digital and Information Engineering Hankuk University of Foreign Studies South Korea

This paper presents the analysis of an anthropomorphic robot as an active variable stiffness generator, with emphasis on the degeneracy in stiffness generation. First, the attachment of mono-/bi-articular muscles are optimized to maximize the dynamic ranges of the self and the coupling joint stiffness. Based on the geometric interpretation of the joint stiffness, a simple and effective way of determining the optimal muscle attachment is presented. next, the cause of the semi-degeneracy in stiffness generation is identified as the sign inconsistency of the actual and the desired coupling joint stiffness. Using the configurational dependency of the actual coupling joint stiffness, the semi-degeneracy map over the entire joint space is obtained. Simulation results are also given.

关键词： Anthropomorphism Muscles Orbital robotics Service robots Dynamic range Humans Character generation Musculoskeletal system Buildings Shoulder

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Multi-robot simulation with 3D image generation

Multi-robot simulation with 3D image generation

引用

IEEE International Workshop on Intelligent robots and systems (IROS)

作者： T. Braunl Centre for Intelligent Information Processing Systems University of Western Australia Australia

EyeSim is a simulation system for multiple interacting mobile robots. Environment modeling is 2 1/2 D, while 3D images are generated matching each robots camera view of the scene. The simulation system is implemented as a library, which is being linked to the robot application program. The system integrates the robot console with text and graphics I/O, sensors, and actuators at the level of a velocity/position-control driving interface.

关键词： Image generation Robot sensing systems Mobile robots Robot vision systems Cameras Layout Libraries Graphics Sensor systems Actuators

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Image feature generation by visio-motor map learning towards selective attention

Image feature generation by visio-motor map learning towards...

引用

IEEE International Workshop on Intelligent robots and systems (IROS)

作者： T. Minato M. Asada Department of Adaptive Machine Systems Graduate School of Engineering Osaka University Suita Osaka Japan

Visual attention is one of the key issues for robots to accomplish the given tasks, and the existing methods specify the image features and attention control scheme in advance according to the task and the robot. However, in order to cope with environmental changes and/or task variations, the robot should construct its own attention mechanism. As the first step towards selective attention, this paper presents a method for image feature generation by visio-motor map learning for a mobile robot. The teaching data construct the visio-motor mapping that constrains the image feature generation and state vector estimation as well. The resultant image feature and state vector are nothing but task-oriented. The method is applied to indoor navigation and soccer shooting tasks, and a discussion is given.

关键词： Image generation Mobile robots Education State estimation Navigation Data mining Humans AC generators Machine learning Adaptive systems

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Multi-modal human robot interaction for map generation

Multi-modal human robot interaction for map generation

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Proceedings 2001 IEEE/RSJ International conference on Intelligent robots and systems. Expanding the Societal Role of Robotics in the the next Millennium (Cat. No.01CH37180)

作者： S.S. Ghidary Y. Nakata H. Saito M. Hattori T. Takamori Department of computer system Engineering faculty Kobe University Japan

Describes an interface for multi modal human robot interaction, which enables people to introduce a newcomer robot to different attributes of objects and places in the room through speech commands and hand gestures. The robot makes an environment map of the room based on knowledge learned through communication with human and uses this map for navigation. The developed system consists of several sections including: natural language processing, posture recognition, object localization and map generation. This system uses a combination of multiple sources of information and model matching to detect and track a human hand so that the user can point toward an object of interest and guide the robot to go near to it or locate that object's position in the room. The position of objects in the room is located by a monocular camera vision and depth from focus method.

关键词： Human robot interaction Mobile robots Rehabilitation robotics Intelligent robots Orbital robotics Educational robots Robot vision systems Navigation Robot sensing systems Speech

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Motion generation of the autonomous robot based on body structure

Motion generation of the autonomous robot based on body stru...

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Proceedings 2001 IEEE/RSJ International conference on Intelligent robots and systems. Expanding the Societal Role of Robotics in the the next Millennium (Cat. No.01CH37180)

作者： T. Ogata T. Komiya S. Sugano Brain Science Institute RIKEN Saitama Japan Humanoid Robotics Institute Waseda University Saitama Japan

Aims to investigate the intelligence which can make robots adapt to the human environment. The paper points out the problems of the behavior-based robot, and proposes the methods which can generate whole body motions based on body structure and integrates the reflection motions to make the behaviors continuous. The motion performances are compared in two kinds of environments, such as a dynamic environment and a static environment, by using a simulator of the autonomous robot WAMOEBA-2Ri developed in this research. Finally, we show that the integration parameters of the proposed method reflect the body structure of the robot and environmental structures.

关键词： Robot sensing systems Reflection Mobile robots Intelligent robots Humans Hardware Humanoid robots Biological system modeling Proposals Design methodology

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Control of robots with elastic joints based on automatic generation of inverse dynamics models

Control of robots with elastic joints based on automatic gen...

引用

IEEE International Workshop on Intelligent robots and systems (IROS)

作者： M. Thummel M. Otter J. Bals Institut für Robotik und Mechatronik DLR-Oberpfaffenhofen Wessling Germany

The paper shows how the tool vibrations of elastic joint robots can be reduced significantly by feedforward control based on inverse dynamics models. The key ideas are: (1) to use available algorithms for differential-algebraic equation systems to derive inverse plant models automatically and reliably, (2) to automatically construct the high-order differentiability of the inverse plant model inputs by prefilters, and (3) to use a controller with two structural degrees of freedom. The technique is demonstrated with a 6 axes elastic joint robot model and with the experimental results from our laboratory robot.

关键词： Automatic generation control Robot control Robotics and automation Inverse problems Gears Elasticity Vibration measurement Vibration control Differential equations Automatic control

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Software architecture for modular self-reconfigurable robots

Software architecture for modular self-reconfigurable robots

引用

Proceedings 2001 IEEE/RSJ International conference on Intelligent robots and systems. Expanding the Societal Role of Robotics in the the next Millennium (Cat. No.01CH37180)

作者： Y. Zhang K.D. Roufas M. Yim Xerox Palo Alto Research Center Palo Alto CA USA

Modular, self-reconfigurable robots show the promise of great versatility, robustness and low cost. However, programming such robots for specific tasks, with hundreds of modules and each of which with multiple actuators and sensors, can be tedious and error-prone. The extreme versatility of the modular systems requires a new paradigm in programming. We present a software architecture for this type of robot, in particular the PolyBot, which has been developed through its third generation. The architecture, based on the properties of the PolyBot electro-mechanical design, features a multi-master/multi-slave structure in a multi-threaded environment, with three layers of communication protocols. The architecture is currently being implemented for Motorola PowerPC using vxWorks.

关键词： Software architecture Robot sensing systems Computer architecture Robot kinematics Robot programming Robustness Costs Actuators Protocols Application software

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Development on face robot for real facial expressions

Development on face robot for real facial expressions

引用

Proceedings 2001 IEEE/RSJ International conference on Intelligent robots and systems. Expanding the Societal Role of Robotics in the the next Millennium (Cat. No.01CH37180)

作者： H. Kobayashi Y. Ichikawa T. Tsuji K. Kikuchi Department of Mechanical Engineering Science University of Tokyo Shinjuku Tokyo Japan

The goal of this study is to investigate the intelligence necessary for a machine such as a human-friendly robot working in an environment where humans and robots coexist. It seems to be required to manufacture a human-friendly robot that can communicate with human beings as a test bed or platform. Since face and facial expressions are crucial factors for communication, we have been developing a face robot which has a human-like face and can express facial expressions similar to human being. The important factors of the face robot for coexistence and communication with humans are: 1. human size and compactness; and 2. ease of control. While we have used air cylinders with pressurized air for the first-generation of face robot, to accomplish these two factors, we decided to use a SMA (shaped memory alloy) actuator driven by electricity and built the second-generation of face robot. Although we succeeded in making a human size face robot, it came to clear that the SMA does not have enough power and speed. To overcome these issues, we developed an air-tube-actuator driven by pressurized air and manufactured the third-generation of face robot. In the paper, we show how to build the third-generation of face robot and its basic ability.

关键词： Humans Face Intelligent robots Manufacturing Machine intelligence Testing Humanoid robots Communication system control Shape memory alloys Actuators

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The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation

The 3D linear inverted pendulum mode: a simple modeling for ...

引用

IEEE International Workshop on Intelligent robots and systems (IROS)

作者： S. Kajita F. Kanehiro K. Kaneko K. Yokoi H. Hirukawa National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

For 3D walking control of a biped robot we analyze the dynamics of a 3D inverted pendulum in which motion is constrained to move along an arbitrarily defined plane. This analysis yields a simple linear dynamics, the 3D linear inverted pendulum mode (3D-LIPM). Geometric nature of trajectories under the 3D-LIPM and a method for walking pattern generation are discussed. A simulation result of a walking control using a 12-DOF biped robot model is also shown.

关键词： Legged locomotion Equations Humanoid robots Robot kinematics Jacobian matrices Motion control Leg Industrial control Electronic mail Service robots

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