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computational intelligence for robotic systems

Computational intelligence for robotic systems

引用

ieee international Conference on Fuzzy Systems (FUZZ-ieee)

作者： T. Fukuda N. Kubota

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/spl mu/NAV: a minimalist approach to navigation

/spl mu/NAV: a minimalist approach to navigation

引用

ieee international Conference on robotics and automation (ICRA)

作者： A. Scalzo A. Sgorbissa R. Zaccaria DIST-University of Genoa Genoa Italy

Psychologists' debates on the role of knowledge to control actions in living beings have strongly influenced the research in the field of artificial intelligence and, consequently, of robotics. In both fields a focus of the debate has been the relevance (or even the presence) of a mental/internal representation in driving the course of actions of biological/artificial beings. In this paper we show that even very complex navigation tasks within maze-like environments can be carried out by an agent which needs to store just 'a handful of bytes' of internal representation about the world in which it is moving. The approach is called micronavigation, since it aims to capture the problem of mobile robot navigation in its entirety but with a minimalist approach.

关键词： Navigation Robot sensing systems robotics and automation Motion planning Psychology Artificial intelligence Intelligent robots Mobile robots Path planning computational efficiency

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Proceedings. 2003 ieee international Conference on robotics, Intelligent Systems and Signal Processing (ieee Cat. No.03EX707)

Proceedings. 2003 IEEE International Conference on Robotics,...

引用

ieee international Conference on robotics, Intelligent Systems and Signal Processing

The following topics are dealt with: advanced robot control; multi-modal human-robot communication; humanoid robots; matching algorithms; robot motion planning; wavelet and its application; grasping and manipulation; intelligent motion control; advanced measurement technology; robot vision; virtual reality; advanced technology for intelligent systems; collective intelligence; bio-robotics; stereo vision; multi-robot systems; spectrum analysis; manufacturing technologies; mobile robots; microrobots and micromanipulators; tele-robotics; smart materials and structures; radar image processing; advanced signal processing; skill and learning; spectrum analysis; networked robotics; image processing; communication systems; nanotechnologies; image understanding; computational intelligence; information theory; advanced automation technology; and intelligent systems.

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2003 ieee international Conference on robotics and automation (Cat. No.03CH37422)

2003 IEEE International Conference on Robotics and Automatio...

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ieee international Conference on robotics and automation (ICRA)

The following topics are dealt with: mobile robot navigation; biped robot control; wheel mechanisms; agriculture and off-road robotics; 3D vision; computer-aided scheduling; actuator design; biorobotics; mobility and manipulation; microrobotics; human robot interaction; sensor localization and mapping (SLAM); omnidirectional vehicles; omnidirectional vision; helicopter/air vehicles; network manufacturing systems; medical diagnostic robotics; dexterous hand and control; distributed robotic system; parallel robots; computational intelligence; haptic interface; localization; vision-based navigation; multi mobile robot systems; underwater robotics; semiconductor factory automation; adaptive control; endoluminal surgery; grasping analysis; microsystems; vision based navigation; biped locomotion; multi-legged robots; visual sensing; automated system design; Petri nets; map building; humanoid robotics software platform; network robotics; stereo vision and visual tracking; robotic surgery; quadruped walking robots; snake-like robots; intelligent transport systems; rehabilitation robotics; mathematical optimization; sensor-based robotics; path planning; multivehicle systems; space robots; assembly systems planning; telerobotics; advanced industrial robot systems; motion planning; neurorobotics; teleoperation; visual tracking; computer aided production planning; impedance control; virtual reality; nonholonomic path planning; robot programming; visual servoing; intelligent environment; learning control; remote robotics; and probabilistic roadmap.

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Control of redundant 3D snake robot based on kinematic model

Control of redundant 3D snake robot based on kinematic model

引用

ieee international Conference on robotics and automation (ICRA)

作者： F. Matsuno K. Suenaga Department of Computational Intelligence and Systems Science Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Yokohama Japan

In this paper, we derive a kinematic model and a control law for 3D snake robots which have wheeled link mechanism. We define the redundancy controllable system and find that introduction of links without wheels makes the system redundancy controllable. Using redundancy, it becomes possible to accomplish both main objective of controlling the position and the posture of the snake robot head, and sub-objective of the singular configuration avoidance. Computer simulations demonstrate the effectiveness of the proposed control law.

关键词： Kinematics Mobile robots Intelligent robots Bridges Shape Redundancy Control systems Wheels Friction Gravity

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A strategy and a fast testing algorithm for object caging by multiple cooperative robots

A strategy and a fast testing algorithm for object caging by...

引用

ieee international Conference on robotics and automation (ICRA)

作者： ZhiDong Wang V. Kumar Y. Hirata K. Kosuge Intelligent Robotics Laboratory Graduate School of Eng. University of Tohoku Sendai Japan GRASP Laboratory CIS University of Pennsylvania Philadelphia PA USA

This paper addresses the problem of multi-robots object transportation by using the concept of object closure. Once object closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we address the concept CC-closure object used for efficient testing of object closure. Properties of the CC-closure object and testing algorithm are described. Finally, an example of object closure constructed from both bodies and hands of mobile-manipulators is discussed and an experiment is presented for illustrating the proposed concept.

关键词： Robot control Intelligent robots Transportation Mobile robots System testing Shape computational intelligence Society Grasping Resists Gravity

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Frequency domain singleton fuzzification in the design of fuzzy logic controllers

Frequency domain singleton fuzzification in the design of fu...

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ieee international symposium on Intelligent Control (ISIC)

作者： S.A. Lopez M. Villabona U.A. Betancourt M.A. Melgarejo Department of Electronics Universidad Distrital FJDC Colombia Department of Electronics Engineering Universidad Distrital FJC Laboratory for Automation Microelectronics and Computational Intelligence Universidad Distrital FJDC Colombia Laboratory for Automation Microelectronics and Computational Intelligence Universidad Distrital FJC

In this paper, an alternative approach for implementing singleton fuzzification in fuzzy controllers is presented. Fuzzification is translated to the frequency domain by means of a frequency-modulated-sinusoid signal, whose spectral representation is a Dirac's delta function (singleton fuzzifier). This sinusoid is applied to a non recursive filter which is considered as a membership function generator. This approach facilitates the on line reconfiguration of membership functions in hardware based fuzzy controllers. Two control problems are presented where frequency domain singleton fuzzification has been used.

关键词： Frequency domain analysis Fuzzy logic Finite impulse response filter Fuzzy control Signal generators Hardware Polynomials Signal design Laboratories Design automation

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Extended QDSEGA for controlling real robots - acquisition of locomotion patterns for snake-like robot

Extended QDSEGA for controlling real robots - acquisition of...

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ieee international Conference on robotics and automation (ICRA)

作者： K. Ito T. Kamegawa F. Matsuno Department of Systems Engineering Okayama University Okayama Japan Department of Computational Intelligence and Systems Science Tokyo Institute of Technology Yokohama Japan

Reinforcement learning is very effective for robot learning. It is because it does not need prior knowledge and has higher capability of reactive and adaptive behaviors. In our previous works, we proposed new reinforce learning algorithm: "Q-learning with dynamic structuring of exploration space based on genetic algorithm (QDSEGA)". It is designed for complicated systems with large action-state space like a robot with many redundant degrees of freedom. However the application of QDSEGA is restricted to static systems. A snake-like robot has many redundant degrees of freedom and the dynamics of the system are very important to complete the locomotion task. So application of usual reinforcement learning is very difficult. In this paper, we extend layered structure of QDSEGA so that it becomes possible to apply it to real robots that have complexities and dynamics. We apply it to acquisition of locomotion pattern of the snake-like robot and demonstrate the effectiveness and the validity of QDSEGA with the extended layered structure by simulation and experiment.

关键词： Robot control Space exploration Orbital robotics Learning robotics and automation Heuristic algorithms Adaptive systems State-space methods Control systems Indium tin oxide

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Motor learning model using reinforcement learning with neural internal model

Motor learning model using reinforcement learning with neura...

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ieee international Conference on robotics and automation (ICRA)

作者： J. Izawa T. Kondo K. Ito Department of Computational Intelligence and Systems Tokyo Institute of Technology Yokohama Kanagawa Japan

The present paper proposes a learning control method for the musculoskeletal system of arm based on reinforcement learning. An optimization for the hand trajectory and muscle's force distribution is needed to acquire the reaching motion. The proposed architecture can acquire an optimized motion through learning the task. However, the biological control system composed of musculoskeletal system is not able to sense the state without time delay. The time delay causes instability of learning. The proposed scheme consists of the reinforcement learning part and neural internal model. Neural internal model is employed to compensate for the time delay by estimating the state of musculoskeletal system. Then, there must be a modeling error if some noise is included. Thus we introduce the minimum modeling error criterion for reinforcement learning, which gives not only the reduction of total muscle level but also the smoothness of the hand trajectory. The effectiveness and the biological plausibility of the present model is demonstrated by several simulations.

关键词： Muscles Biological system modeling Delay effects Musculoskeletal system Learning systems Biological control systems Elasticity Viscosity Jacobian matrices Indium tin oxide

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Study on motion control algorithms for a free-swimming biomimetic robot fish

Study on motion control algorithms for a free-swimming biomi...

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ieee international symposium on Intelligent Control (ISIC)

作者： Junzhi Yu Erkui Chen Shuo Wang Min Tan Laboratory for complex system and intelligence science Institute of Automation Chinese Chinese Academy and Sciences Beijing China College of Information and Electrics China University of Mining and Technology Xuzhou China

We develop a practical motion control strategy for a radio-controlled, 4-link and free-swimming biomimetic robot fish that uses a flexible posterior body and an oscillating foil as propulsor. Because motion control of robot fish involves hydrodynamics of the fluid environment and dynamics of the robot, it is very difficult to establish a mathematic model employing purely analytical methods. The fish's motion control task, based on control performance of the fish, is decomposed into on-line speed control and orientation control. The speed control algorithm is then implemented by using step control, and orientation control is realized by utilizing fuzzy logic. Combining with step control and fuzzy control, a point-to-point control algorithm is implemented and applied to the closed-loop experimental system that using a vision-based position sensing subsystem to provide feedback. The running experiments confirm the reliability and effectiveness of the presented algorithms.

关键词： Motion control Marine animals Robot kinematics Intelligent robots robotics and automation Position control Biomimetics Electronic mail Hydrodynamics Mathematics

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