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检索条件"任意字段=IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001"

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Finite elements, mass-spring-damper systems and haptic rendering

Finite elements, mass-spring-damper systems and haptic rende...

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ieee international symposium on computational intelligence in robotics and automation

作者： Payandeh, S Azouz, N Simon Fraser Univ Sch Engn Sci Expt Robot Lab Burnaby BC V5A 1S6 Canada

ISBN: (纸本)0780372034

Haptic feedback can be classified as a branch of robotic force (compliant) control (computation) area. In the traditional force control areas, the objective is to regulate the desired contact force between a robotic agent an environment through design of a control law which has some model of the compliance embedded into it. For the haptic feedback environment, the user interacts with the graphical environment through a robotic device (force-feedback mechanism). The feedback force at the hand of the user is generated through computational model of how the virtual object reacts to the input from the user when it is penetrating the model of an environment. There are a number of computational elements involve in creating a haptic environment. This paper concerns with haptic rendering which Is a complementary module to the graphical rendering of the virtual scene. Haptic rendering Is the computation of the reaction forces and deformation as a function of the geometrical interaction of the user with the environment. This paper presents an overview of a number of approaches, which has been used to model the environment and presents a new computationally efficient approach for modeling compliance of the environment.

关键词： computational mechanics Finite elements Haptic feedback Haptic rendering Mass-spring-damper systems

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A robot in a cage: Exploring interactions between animals and robots 3

A robot in a cage: Exploring interactions between animals an...

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3rd ieee international symposium on computational intelligence in robotics and automation, cira 1999

作者： Böhlen, Marc School of Art The Robotics Institute Carnegie Mellon University PittsburghPA United States

ISBN: (纸本)0780358066

Typically, the animal world has been used conceptually by roboticists as a source of inspiration for finding new approaches to efficient locomotion, perception and intelligent control [Brooks91], [Hallam, Walker93], [Aloimonos97]. This paper explores the question of designing a robot to share a space with a simple animal. A series of experiments between a mobile robot and three chickens in a cage are described. Techniques are described to mechanically reduce chickens' anxiety towards moving machinery. A model of interaction between animals and machines is proposed. These insights are then placed into a wider context of robot design. © 1999 ieee.

关键词： Animals

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An approach for generating high velocity and high acceleration trajectories of industrial robots

An approach for generating high velocity and high accelerati...

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2005 ieee international symposium on computational intelligence in robotics and automation cira 2005

作者： Liu, Yanjie Sun, Lining An, Zhenwei Robotics Institute Harbin Institute of Technology 92 West Da-Zhi Street Harbin 150001 China

For fast-motion industrial robots, the limits of the velocity and the acceleration vary over the whole work-space. To make industrial robots move with fully high velocity and high acceleration along the specified trajectory in the entire workspace, a trajectory generation technique for fast-motion industrial robots is presented in this paper. The maximum possible values of the velocity and the acceleration along the specified trajectory are firstly investigated, in consideration of the speed and torque limits of the actuators. Then, based on these maximum velocity and maximum acceleration, the proposed technique generates various motion profiles by using coefficients which are determined by the acceleration and deceleration characteristics. Finally, the experiment is conducted to confirm the proposed technique by commanding a two-degree-of- freedom (2-DOF) direct-drive planar parallel robot to move along the trajectories with the unsymmetrical smooth motion profile generated by the proposed technique. © 2005 ieee.

关键词： Industrial robots

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A study on EMG-Based human motion prediction for power assist exoskeletons

A study on EMG-Based human motion prediction for power assis...

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international symposium on computational intelligence in robotics and automation

作者： Kiguchi, Kazuo Saga Univ Saga 8408502 Japan

ISBN: (纸本)9781424407897

A power-assist exoskeleton robot, which is directly attached to the user's body and assist the motion in accordance with the user's intension, is one of the most effective human assist robots for the physically weak persons. Many studies on power-assist robots have been carried out to help the motion of physically weak persons such as disabled, injured, and/or elderly persons. EMG-based control (i.e., control based on the skin surface electromyogram (EMG) signals of the user) is one of the most effective control methods for the power-assist robots, since EMG signals of user's muscles directly reflect the user's motion intension. However, the EMG-based control is not easy to be realized because of many reasons. The paper presents an effective human motion prediction method from the EMG signals using a neuro-fuzzy technique for the control of power-assist exoskeleton robots.

关键词： Humans Exoskeletons Electromyography Muscles Motion control Senior citizens Rehabilitation robotics Fuzzy control Service robots Control systems

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Evaluation of a parallel architecture and algorithm for mapping and localization

Evaluation of a parallel architecture and algorithm for mapp...

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international symposium on computational intelligence in robotics and automation

作者： Lyons, Damian M. Isner, Giselle R. Fordham Univ Dept Comp & Informat Sci Robot & Comp Vis Lab 340 JMH Bronx NY 10458 USA Fordham Univ Comp & Informat Sci Dept 340 JMH Bronx NY 10458 USA

ISBN: (纸本)9781424407897

The Beowulf cluster approach to parallel computation offers a potentially cheap and robust source of computational power for high complexity algorithms in robotics. The challenge is to integrate this approach with the mobility and time critical response constraints of many robotic algorithms. The key contributions of this paper are: (1) introduction of a computational architecture for integrating a cluster into the control architecture of one or more robots, (2) a cluster implementation of Thrun et al's Concurrent Localization and Mapping (CML) algorithm, and (3) presentation of results to illustrate the performance of the implemented CML algorithm and validate the architectural approach.

关键词： computational methods

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The "What" problem: The emergence of new goals in a robot

The "What" problem: The emergence of new goals in a robot

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2005 ieee international symposium on computational intelligence in robotics and automation cira 2005

作者： Manzotti, Riccardo Villamira, Marco Alessandro KTEL Institute of Environmental and Human Sciences IULM University Via Carlo Bo 8 20143 Milan

Biological and cognitive systems have the capability of developing new goals during phylogenesis of species or during ontogenesis of single individuals. On the other hand, current artificial cognitive systems focus on how achieving a given fixed set of hard-wired goals. They search an optimal solution of a problem, given a set of goals and a set of optimization criteria. They look for "how" to achieve a given goal. Natural agents develop new goals in order to cope with partially unknown and ever changing environment. They must find "what" they want to achieve and not only "how". The development of new goals on the basis of the interaction with the environment is here defined the "what" problem. The development of a collection of goals permits to redefine the concept of Umwelt in what could be considered the teleological Umwelt of an agent. The objective of this paper is twofold: i) to outline the "what" problem and ii) to describe a robotic architecture capable of addressing it. © 2005 ieee.

关键词： robotics

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Genetic algorithm for a fuzzy spiking neural network of a mobile robot

Genetic algorithm for a fuzzy spiking neural network of a mo...

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2005 ieee international symposium on computational intelligence in robotics and automation cira 2005

作者： Kubota, Naoyuki Sasaki, Hironobu Dept. of System Design Tokyo Metropolitan University 1-1 Minami-Ohsawa Hachioji Tokyo 192-0397 Japan PRESTO Japan Science and Technology Agency Dept. of Artificial Intelligence Systems University of Fukui 3-9-1 Bunkyo Fukui 810-8507 Japan

It is very difficult to design the learning structure of a robot beforehand in an unknown and dynamic environment, because the dynamics of the environment is unknown. Therefore, this paper proposes a fuzzy spiking neural network (FSNN) for behavior learning of a mobile robot. Furthermore, the network structure of the FSNN should be adaptive to the environmental condition. In this paper, we apply a steady-state genetic algorithm for acquiring the suitable network structure through the interaction with the environment. The simulation results show the robot can update the network structure and learn the weights of FSNN according to the spatio-temporal context of the facing environment. © 2005 ieee.

关键词： Mobile robots

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Ambient intelligence as paradigm of a full automation process at home in a real application

Ambient intelligence as paradigm of a full automation proces...

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2005 ieee international symposium on computational intelligence in robotics and automation cira 2005

作者： Gárate, Alfonso Lucas, Imanol Herrasti, Nati López, Antonio Fagor Electrodomésticos Barrio San Andrés n 18 Mondragón 20500 Spain Ikerlan P. de Arizmendiarrieta n 2 Mondragón 20500 Spain

As a result of the increasing miniaturization of electronic circuitry and the corresponding increase in computational power of embedded systems, the point has been reached where it is possible to integrate electronics into the day to day elements of people's lives. The types of relationship man-machine-product currently found based on pushbuttons, keys and menus will disappear, to be replaced by intelligent systems with which we will interact through natural speech, movements, gestures, etc. The environments, by means of the systems, products and machines of which they are made, will respond, and will even anticipate, the orders given by the user's voice, gestures or hands, facial expressions, etc. This challenge has been reached by the project called GENIO: to get a multimodal user interface to control any kind of domestic devices, mainly the household appliances and the entertainment systems, in other to obtain a first product based on the precepts of Ambient intelligence. ©2005 ieee.

关键词： Artificial intelligence

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Incremental mapping of large cyclic environments 3

Incremental mapping of large cyclic environments

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3rd ieee international symposium on computational intelligence in robotics and automation, cira 1999

作者： Gutmann, Jens-Steffen Konolige, Kurt Institut für Informatik Universität Freiburg FreiburgD-79110 Germany SRI International 333 Ravenswood Avenue Menlo ParkCA94025 United States

ISBN: (纸本)0780358066

Mobile robots can use geometric or topological maps of their environment to navigate reliably. Automatic creation of such maps is still an unrealized goal, especially in environments that have large cyclical structures. Drawing on recent techniques of global registration and correlation, we present a method, called Local Registration and Global Correlation (LRGC), for reliable reconstruction of consistent global maps from dense range data. The method is attractive because it is incremental, producing an updated map with every new sensor input;and runs in constant time independent of the size of the map (except when closing large cycles). A real-time implementation and results are presented for several indoor environments. © 1999 ieee.

关键词： Real time control

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Mobile robot control based on fuzzy behavior and robot safety body in unknown environment

Mobile robot control based on fuzzy behavior and robot safet...

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2005 ieee international symposium on computational intelligence in robotics and automation cira 2005

作者： Yili, Fu Hongyan, Xu Shuguo, Wang Jianguo, Liu He, Xu Han, Li Robotics Institute Department of Mechanical Engineering Harbin Institute of Technology Heilongjiang Province 150001 China

Based on the analysis of unknown environment for mobile robot, a robot safety body, sensing body and logic body are put forward with the robot physical body together. An open fuzzy behavior-based control architecture is then proposed on the basis of robot safety body for mobile robots in complex and unstructured environments. Many sensors in various kinds are used to localize and navigate with fuzzification on target information, obstacle information and local terrain. Finally lots experiments of our mobile robot are carried out in many kinds of man-made complex environments, and the control architecture and the robot safety body with our robot is proved valid, which give a solid support for our further research for mobile robot in unknown environments. ©2005 ieee.

关键词： Mobile robots

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