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 neu...
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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 traj...
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Information theoretic methods are used to characterise and identify robot-environment interactions, with a view to using these to build an embodied interaction history from the robot's perspective. A bottom-up app...
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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 ...
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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...
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In this paper, we propose a novel approach to behavior-based control, which combines fuzzy logic with multiple objective decision theory. Fuzzy logic provides powerful tools for formulating sophisticated behavior-base...
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This paper discusses the computational efficiency of some procedures for solving the inverse kinematics problem of serial-link manipulators with redundant DOF. Two procedures that the author has newly developed, are c...
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ISBN:
(纸本)0780372034
This paper discusses the computational efficiency of some procedures for solving the inverse kinematics problem of serial-link manipulators with redundant DOF. Two procedures that the author has newly developed, are compared to the most widely used SVD methods. One is called the fast similarity factorization (FSF) method, in which the symmetric matrix JJ(T) (J is the Jacobian of the manipulator) is factorized to GDG(T) (G is the orthogomal matrix and D is the diagonal matrix). Another procedure, that the author also developed, is a recursive formulation, in which the joint-variable variations are obtained n (the number of DOF of the manipulator) times recursive calculations. Both methods are fast and robust. The computer simulation for a seven DOF anthropomorphic type manipulator reveales the proposed methods are several times faster than the conventional algorithms based on the SVD.
This paper presents a human localization system for beaconless indoor positioning. The system is based on traditional dead-reckoning sensors including a compass, a gyro, and accelerometers. Due to the difficult kinema...
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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 structure...
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As the beginning of the 3D soccer simulation competitions the simulated humanoid robots were used to play soccer in simulated games, this event shifted the aim of the soccer simulation from the design of strategic beh...
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ISBN:
(纸本)9781424448081
As the beginning of the 3D soccer simulation competitions the simulated humanoid robots were used to play soccer in simulated games, this event shifted the aim of the soccer simulation from the design of strategic behaviors into the low level skills like walking and kicking in soccer player itself at first, but by the improvement of these skills new challenge of how to play soccer has been engendered, so having a framework for agents that supports a hierarchy of behaviors is inevitable, in this paper we proposed a behavior structure for agents which consists of low level skills such as kicking and walking and high level skills like ball-handled and go to ball which uses a combination of low level skills, and also a simple method of opponent modeling called Harmonic opponent modeling which model the walking speed of opponent agent.
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