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Programming and learning in real-world manipulation tasks

Programming and learning in real-world manipulation tasks

引用

ieee international Workshop on intelligent Robots and systems (IROS)

作者： E. Cenvera A.P. del Pobil Dept. of Comput. Sci. Jaume-I Univ. Castello Spain Department of Computer Science Jaume I University Castellon Spain

Robots are extremely difficult to program in uncertain environments. Sensors are required to get feedback and detect the actual world state. In order to adapt to new situations, robots must be able to learn from examples or from their own experience. Learning can be accelerated if the available a priori task knowledge is used. The proposed sensor-based architecture combines learning with programmed modules. The correspondence between qualitative states and actions is learnt. Programming is used to decrease the complexity of the learning task. Numerical and qualitative processing are integrated in a suitable scheme for a wide range of robot tasks. Examples for a real insertion task are provided, where force sensing and the relative position are sufficient to successfully learn the task. The solution is thus valid for any other target location.

关键词： Robot sensing systems Uncertainty Robot programming Biological system modeling signal processing Computer science State feedback Acceleration Biological systems Motion control

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Vision-based perception for an automated harvester

Vision-based perception for an automated harvester

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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： M. Ollis A. Stentz Robotics Institute Carnegie Mellon University Pittsburgh PA USA

This paper describes a vision-based perception system which has been used to guide an automated harvester cutting fields of alfalfa hay. The system tracks the boundary between cut and uncut crop; indicates when the end of a crop row has been reached; and identifies obstacles in the harvester's path. The system adapts to local variations in lighting and crop conditions, and explicitly models and removes noise due to shadow. In field tests, the machine has successfully operated in four different locations, at sites in Pennsylvania, Kansas, and California. Using the vision system as the sole means of guidance, over 60 acres have been cut at speeds of up to 4.5 mph (typical human operating speeds range from 3-6 mph). Future work largely centers around combining vision and GPS based navigation techniques to produce a commercially viable product for use either as a navigation aid or for a completely autonomous system.

关键词： Crops Vehicle detection Image edge detection Testing Machine vision Navigation Detectors Roads signal processing algorithms Vehicles

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Describing a modular motion system based on a real time process network model

Describing a modular motion system based on a real time proc...

引用

ieee international Workshop on intelligent Robots and systems (IROS)

作者： T. Oka M. Inaba H. Inoue Graduate School of Information Systems University of Electro-Communications Chofu Tokyo Japan Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

We present an approach to realizing a complex motion system by describing an asynchronous network of real time computational modules that represent dynamical systems with input, output and internal state completely. In our approach, the system is decomposed into parallel modules that calculate their assigned parts of the internal state at regular intervals. We stipulate the roles of the modules so that we can design each module independently and modify or extend the system easily. We have developed programming environments in which we can describe each module and the network briefly in programming languages and test it immediately in the real world. We describe how to design an understandable hierarchical network for desirable actions of an autonomous legged robot. The system has modules that run in parallel for generating motion patterns and actions. The described network was simulated in real time on a multiprocessor system and it generated desirable actions.

关键词： Real time systems Brain modeling Robot sensing systems Programming environments Proposals Information systems signal generators signal processing Computer networks Computer languages

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Micro positioning system with 3 DOF for a dynamic compensation of standard robots

Micro positioning system with 3 DOF for a dynamic compensati...

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ieee international Workshop on intelligent Robots and systems (IROS)

作者： C. Robl S. Petters B. Schafer U. Reilander A. Widl Realtime Syst. Tech. Univ. Munchen Germany

Presents our approach to upgrading standard robots in industrial use with a 3 DOF micro positioning system (MPS) to compete with expensive high precision robots in assembling tasks. The autonomous MPS consisting of different microsystems is placed between the robot's hand and the gripper. The static positioning and feeding displacements as well as the tolerances of the object's dimensions and the dynamic robot vibrations are sensed with the MPS's miniature sensor system. The correction movement is done by the MPS's micro piezo actuators. Thus reaching an accuracy of about 10 microns and a reduction of the mounting cycle time. The high precision can be reached because the MPS is focused on the movement of the object to be mounted and the position of the target. The MPS is a flexible system, that can be used with different kinds of robots, because neither the robot's control system nor the robot itself has to be changed.

关键词： Robotic assembly Service robots Robot sensing systems Assembly systems Actuators Grippers signal processing Laboratories Optical sensors Robot control

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A new framework of distributed multisensor fusion for intelligent systems

A new framework of distributed multisensor fusion for intell...

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ieee international conference on Industrial Technology (ICIT)

作者： Cheng-He Guo Xiao-Gang Wang Wen-Han Qian Cai-Xing Lin Research Institute of Robotics Shanghai Jiaotong University Shanghai China School of Mechatronic Engineering Shanghai University China

ISBN: (纸本)0780331044

To tackle the complexity of robotic multiple sensor fusion a suitable system structure is urgently required. Most structures at present have a fusion center to deal with information from various sensors located at different points, but unfortunately have no necessary connections between low-level sensors. Consequently the fusion center has more responsibility for communication and signal interpretation, which causes bottle-neck problem. Moreover sensors cannot help each other to improve the task environment recognition efficiency. To overcome the above drawbacks we define the concept of smart sensor at first. Each smart sensor should have five abilities, that is prediction, planning, updating, communication and assimilation. Then we discuss the algorithm of a perception system which consists of several smart sensors. At last we take two application case study as examples to illustrate our new idea.

关键词： intelligent systems intelligent sensors Sensor fusion intelligent robots Mobile robots Central processing Unit Sensor systems Robot sensing systems Level control Sensor phenomena and characterization

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Proceedings of the 1st IEE/ieee international conference on Genetic Algorithms in Engineering systems: Innovations and Applications GALESIA '95

Proceedings of the 1st IEE/IEEE International Conference on ...

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Proceedings of the 1st IEE/ieee international conference on Genetic Algorithms in Engineering systems: Innovations and Applications GALESIA '95

The proceedings contains 91 papers from the first IEE/ieee international conference on Genetic Algorithms in Engineering systems. Topics discussed include: aerospace and automotive applications;optimization;scheduling;system identification;applications in electric power systems;control systems design;neural networks;digital filter design;intelligent machines and robotics;signal processing;mathematical techniques and models;manufacturing;genetic programming;parallel genetic algorithms;and fault detection.

关键词： Genetic algorithms

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DSP-based fuzzy control of a multifingered robot hand

DSP-based fuzzy control of a multifingered robot hand

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ieee international conference on systems, Man and Cybernetics

作者： Li-Ren Lin Han-Pang Huang Robotics Laboratory Department of Mechanical Engineering National Taiwan University Taipei Taiwan

ISBN: (纸本)0780325591

This paper presents the fuzzy control of a multifingered robot hand by using the digital signal processor (DSP). Since there are five fingers and seventeen joints to be controlled simultaneously, a special designed control system with fuzzy controller is developed to deal with the nonlinear behavior and large computation load of the multifingered robot hand. The fuzzy controller dealing with the level of finger control, is a multiple-input-multiple-output (MIMO) fuzzy learning controller and is implemented in DSP chip. Furthermore, the communication function of the control system is designed so that the knowledge bases can be loaded for high level computation and modified during run time.

关键词： Fuzzy control Robots Communication system control Control systems Nonlinear control systems Fingers MIMO Digital signal processors Digital signal processing Fuzzy systems

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Object classification from analysis of impact acoustics

Object classification from analysis of impact acoustics

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ieee international Workshop on intelligent Robots and systems (IROS)

作者： R.S. Durst E.P. Krotkov Robotics Institute Carnegie Mellon University Pittsburgh PA USA

We address the problem of autonomously classifying objects from the sounds they make when struck, and present results from different attempts to classify various items. We extract the two most significant spikes in the frequency domain as features, and show that accurate object classification based on these features is possible. Two techniques are discussed: a minimum-distance classifier and a hybrid minimum-distance/decision-tree classifier. Results from classifier trials show that object classification using the hybrid classifier can be done as accurately as using the minimum-distance classifier, but at lower computational expense.

关键词： Prototypes Circuit testing Acoustic testing Classification tree analysis signal processing algorithms Feature extraction Decision trees Robots Frequency domain analysis Composite materials

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Genetic algorithms in learning fuzzy hierarchical control of distributed parameter systems

Genetic algorithms in learning fuzzy hierarchical control of...

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ieee international conference on systems, Man and Cybernetics

作者： M.-R. Akbarzadeh-T. K.K. Kumbla M. Jamshidi CAD Lab. for Intelligent & Robotics Syst. New Mexico Univ. Albuquerque NM USA

A GA-optimized, two-level, fuzzy hierarchical controller which utilizes both spatial and temporal measured data for control of distributed parameter systems is discussed in this paper. A distributed model of a single uniformly flexible link illustrates a possible control configuration. A Dynamic Fuzzy package is developed in C for interfacing with the simple genetic algorithm (SGA) which is a C translation of Goldberg's SGA in Pascal. Dynamic Fuzzy allows for creating new rules, disposing of old undesirable rules and tuning of the membership functions. Dynamic Fuzzy's memory management and data handling is also designed to reduce memory access time for real-time applications. Specifically, the real time hardware aspects of such a hybrid control is discussed using the Texas Instrument's TMS320C30 DSP chip and the DSP Research's TIGER 30 board.

关键词： Genetic algorithms Fuzzy control Control systems Memory management Digital signal processing chips Fuzzy systems Distributed control Distributed parameter systems Packaging Data handling

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Correlation techniques for digital time-of-flight measurement by airborne ultrasonic rangefinders

Correlation techniques for digital time-of-flight measuremen...

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Proceedings of the ieee/RSJ/GI international conference on intelligent Robots and systems. Part 3 (of 3)

作者： Sabatini, Angelo M. Spinielli, Enrico ARTS Lab Pisa Italy

A simple pulse-echo ranging system whose receiver signal processing is completely digital is described in this paper: the use of appropriate sampling techniques and signal processing algorithms allow one to benefit from the advantages of correlation-based detection methods for accurate ranging of multiple objects, without compromising the most prominent features of pulse-echo sonar systems, namely their relatively low cost and simplicity of operation. The experimental results presented concern the use of relatively high-frequency ultrasonic transducers.

关键词： Digital signal processing

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