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ieee international symposium on computational intelligence in robotics and automation

作者： Yoshida, E Murata, S Kamimura, A Tomita, K Kurokawa, H Kokaji, S AIST Intelligent Syst Inst Tsukuba Ibaraki 3058564 Japan

ISBN: (纸本)0780378660

In this paper we present a couple of evolutionary motion generation methods using genetic algorithms (GA) for self-reconfigurable modular robot M-TRAN and demonstrate their effectiveness through hardware experiments. Using these methods, feasible solutions with sufficient performance can be derived for a motion generation problem with high complexity coming from huge configuration and motion possibilities of the robot. The first method called ERSS (Evolutionary Reconfiguration Sequence Synthesis) applies GA (Genetic Algorithm) to evolution of motion sequence including configuration changes though natural genetic representation. The effectiveness of the generated full-body dynamic motions are verified through hardware experiments. The second method called ALPG (Automatic Locomotion Pattern Generation) Method seeks locomotion pattern using a neural oscillator as a CPG (Central Pattern Generator) model and GA to optimize the parameters for locomotion. A number of efficient locomotion patterns has been derived, which are also experimentally verified.

关键词： modular robotics self-reconfiguration evolutionary computation motion generation genetic algorithms CPG

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An incremental learning using schema extraction mechanism for autonomous mobile robot

An incremental learning using schema extraction mechanism fo...

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ieee international symposium on computational intelligence in robotics and automation

作者： Kondo, T Ito, N Ito, K Tokyo Inst Technol Dept Computat Intelligence & Syst Sci Interdisciplinary Grad Sch Sci & Engn Tokyo 152 Japan

ISBN: (纸本)0780378660

Recently, a number of skillful robots have been developed. One of them can walk and move upstairs just Eke human beings. However it can so far only demonstrate preprogrammed motions according to the external commands/situations. Therefore an autonomous adaptation ability has been highly anticipated. Meanwhile, humans can learn new motions such as catching/kicking a ball, in spite of his/her high dimensional sensorimotor DOF (degree of freedom). In this learning process, it can be hypothesized that the learner actively constrains the DOF by him/her-self using learning skills, in this paper referred to as schema. In this study, a learning method for autonomous mobile robots operating in unknown environments is proposed, where not only a learning mechanism for sensorimotor mappings but also an extraction/re-use mechanism of the schemata (i.e. constraint rules for learning) is implemented. Through the results of simulations and real experiments of mobile robot navigation, the validity of the proposed method is clarified.

关键词： Extraction

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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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Genetic algorithm-based stereo vision with no block-partitioning of input images

Genetic algorithm-based stereo vision with no block-partitio...

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2003 ieee international symposium on computational intelligence in robotics and automation, CIRA 2003

作者： Wang, Biao Chung, Ronald Shen, Chun-Iin College of Automation Engr. Nanjing Univ. of Aero. and Astro. Nanjing China Dept. of Automation and CAE Chinese University of HK Hong Kong Hong Kong

ISBN: (纸本)0780378660

Stereo correspondence could be formulated as an optimization problem. Most of the existing solutions, however, adopt the gradient-based approaches, requiring an initialization close to the correct solution. This paper presents an alternative approach, which is genetic algorithm based, that has larger tolerance toward the quality of the initialization. Each candidate for the three-dimensional description of the imaged scene is encoded as an individual that embraces thousands or even millions of chromosomes, and a population of such individuals are allowed to evolve to reach a globally optimal or near-optimal solution. Our solution framework also includes a coarse-to-fine matching strategy to reduce the matching ambiguity and the computations needed. Experimental results on synthetic and real images are shown to illustrate the performance of the approach. © 2003 ieee.

关键词： Genetic algorithms

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computational intelligence in autonomous mobile robotics - A review 13

Computational intelligence in autonomous mobile robotics - A...

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international symposium on Micromechatronics and Human Science

作者： Wang, L Natl Univ Singapore Dept Elect & Comp Engn Singapore 119260 Singapore

ISBN: (纸本)0780376110

In the recent decades the application of artificial evolution to autonomous mobile robots to enable them to adapt their behaviors to changes of the environments has attracted much attention. For example, the robots in next generation should be able to carry out work in unstructured dynamic human environments. As a result, an infant research field called evolutionary robotics (ER) has been quickly developed that is primarily concerned with the use of computation intelligence techniques for the automatic design of adaptive robots. The paper intends to discuss the applications of computational intelligence in the field of autonomous robotics. As an innovative and effective solution to autonomous robot controller design, it can derive adaptive robotic controllers capable of elegantly dealing with continuous changes in unstructured environments in an efficient manner. In the paper, the basic concepts regarding computational intelligence and evolutionary robotics are introduced, and then a variety of successful applications of computational intelligence in autonomous robotics along the dimension of computation intelligence adopted are surveyed and discussed. Future research in this field is also suggested. Finally, conclusions are drawn.

关键词： Automatic control Competitive intelligence computational intelligence Erbium Humans Intelligent robots Mobile computing Mobile robots Robot control robotics and automation

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An Anarchy of Methods: Current Trends in How intelligence Is Abstracted in AI

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ieee INTELLIGENT SYSTEMS 2014年第6期29卷 56-62页

作者： Lehman, Joel Clune, Jeff Risi, Sebastian Univ Texas Austin Austin TX 78712 USA Univ Wyoming Dept Comp Sci Laramie WY 82071 USA IT Univ Copenhagen Copenhagen Denmark

Artificial intelligence (AI) is a sprawling field encompassing a diversity of approaches to machine intelligence and disparate perspectives on how intelligence should be viewed. Because researchers often engage only within their own specialized area of AI, there are many interesting broad questions about AI as a whole that often go unanswered. How should intelligence be abstracted in AI research? Which subfields, techniques, and abstractions are most promising? Why do researchers bet their careers on the particular abstractions and techniques of their chosen subfield of AI? Should AI research be "bio-inspired" and remain faithful to the process that produced intelligence (evolution) or the biological substrate that enables it (networks of neurons)? Discussing these big-picture questions motivated us to organize an AAAI Fall symposium, which gathered participants across AI subfields to present and debate their views. This article distills the resulting insights.

关键词： artificial intelligence AI abstraction AI research AI subfields AI techniques artificial intelligence bio-inspired research machine intelligence Adaptive systems Artificial intelligence Biological system modeling Brain modeling computational modeling Design methodology Neural networks Neuroscience Robots AI adaptive systems artificial intelligence cognitive science computational neuroscience deep learning design automation developmental robotics evolving neural networks intelligent systems neuroevolution

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Optimal selection of uncertain actions by maximizing expected utility 3

Optimal selection of uncertain actions by maximizing expecte...

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

作者： Rosenblatt, Julio K. Australian Centre for Field Robotics Dept. of Mechanical and Mechatronic Engineering University of Sydney NSW2006 Australia

ISBN: (纸本)0780358066

A new means of action selection via utility fusion is introduced as an alternative to both sensor fusion and command fusion. Distributed asynchronous behaviors indicate the utility of various possible states and their associated uncertainty. A centralized arbiter then combines these utilities and probabilities to determine the optimal action based on the maximization of expected utility. The construction of a utility map allows the system being controlled to be modeled and compensated for;experimental results verify that this approach improves performance. © 1999 ieee.

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Trajectory reconstruction with NURBS curves for robot programming by demonstration

Trajectory reconstruction with NURBS curves for robot progra...

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

作者： Aleotti, Jacopo Caselli, Stefano Maccherozzi, Giuliano RIMLab. - Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dell'Informazione University of Parma Italy

Service robots require simple programming techniques allowing users with little or no technical expertise to integrate new tasks in a robotic platform. A promising solution for automatic acquisition of robot behaviors is the Programming by Demonstration (PbD) paradigm. Its aim is to let robot systems learn new behaviors from a human operator demonstration. This paper describes a virtual reality based PbD system for pick-and-place and manipulation tasks. The system re-covers smooth robot trajectories from single or multiple user demonstrations, thereby overcoming sensor noise and human inconsistency problems. More specifically, we investigate the benefits of the human hand trajectory reconstruction with NURBS curves by means of a best-fit data smoothing algorithm. Some experiments involving object transportation while avoiding obstacles in the workspace show the viability and effectiveness of the approach. © 2005 ieee.

关键词： Robot programming

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Reducing localization errors by scan-based multiple hypothesis tracking 3

Reducing localization errors by scan-based multiple hypothes...

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

作者： Reuter, J. TU-Berlin Dep. of Electrical Engineering Inst. f. Measurement and Automation Einsteinufer 17 BerlinD-10587 Germany

ISBN: (纸本)0780358066

The purpose of this approach is to significantly reduce the accumulation of odometric errors, while an autonomous robot moves through a completely unknown environment. The information of the displacement of the robot is obtained by analyzing the trajectories (tracks) of selected scan-points and Hessian parameters of line segments in the local coordinate frame. The origin of each track is transformed into the reference coordinate system and is regarded as a dynamic landmark, as long it is detected by the laser range-finder. While the robot moves, the algorithm tries to determine certain scan-points, line segment parameters respectively, as local representatives of this landmark. To handle the association ambiguity of scan data to tracks, a multiple hypotheses tracking (MHT) approach is used. Hypotheses for the global robot position are computed by using local tracks and their associated global landmarks. The fusion of these hypotheses is done by using a weighted sum fusion approach. In this paper, both simulation and real data results are presented. © 1999 ieee.

关键词： Robots

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Task-based configuration design for 3-legged modular parallel robots using simplex methods

Task-based configuration design for 3-legged modular paralle...

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2003 ieee international symposium on computational intelligence in robotics and automation, CIRA 2003

作者： Dash, Anjan Kumar Chen, I.-Ming Yeo, Song Huat Yang, Guilin School of Mechanical and Production Engineering Nanyang Technological University Singapore639798 Singapore Automation Technology Division Singapore Institute of Manufacturing Technology Singapore638075 Singapore

ISBN: (纸本)0780378660

This paper presents a methodology for optimal design of 6-DOF modular parallel manipulators. In type synthesis, a general methodology is presented to choose a type of configuration using a look-up table. This table, constructed based on the experience and knowledge in the database, gives suitable robot configurations for different types of tasks. In dimensional synthesis, actuation scheme along with the geometric parameters are considered as design variables. An appropriate objective function and constraints are selected;Simplex optimization algorithm is used. A light machining operation is chosen as the task. The experiment demonstrates that the global coordinates of the task points affects the actuation scheme for better performance. © 2003 ieee.

关键词： Table lookup

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