The artificial potential field methods provide simple and effective motion planners for practical purposes. However, there is a major problem with the artificial potential field approach. It is the formation of local ...
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ISBN:
(纸本)0780370902
The artificial potential field methods provide simple and effective motion planners for practical purposes. However, there is a major problem with the artificial potential field approach. It is the formation of local minima that can trap the robot before reaching its goal. The avoidance of local minima has been an active research topic in potential field path planning. As one of the powerful techniques for escaping local minima, simulated annealing has been applied to local and global path planning. In this paper, the authors present and apply the mobile robot path planning technique which integrate the artificial potential field approach with simulated annealing to mobile robots.
Live-line maintenance of high-voltage overhead electrical lines is extremely difficult but of utmost importance particularly for the rapidly changing society caused by the development of information technology. The ro...
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ISBN:
(纸本)078037004X
Live-line maintenance of high-voltage overhead electrical lines is extremely difficult but of utmost importance particularly for the rapidly changing society caused by the development of information technology. The robot is indispensable for this job with high safety and efficiency. The paper offers first the background of the system development of Phase I and Phase II that are already put into operation for executing standard jobs automatically and non-standard jobs manually. It continues to describe the third generation robot system (fully automatic live-line maintenance robot-Phase III) that is at the research and development stage. In particular, Phase III explains the concept that improves robot intelligence using vision sensor and compliance control.
The proceedings contains 59 papers from the 1997 ieee international symposium on computational intelligence in robotics and automation. Topics discussed include: robot learning;motion control;navigational map construc...
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The proceedings contains 59 papers from the 1997 ieee international symposium on computational intelligence in robotics and automation. Topics discussed include: robot learning;motion control;navigational map construction and localization;sensor-based manipulation;intelligent control;path planning;learning and control for locomotion;sonar;Q-learning;neural networks;sequential decision-making;sensor data fusion;behavioral synthesis;evolutionary computation;robot dynamics;robot vision;robot skills;and vision-based tracking.
We consider a class of the 3-state and 2-input affine nonholonomic systems with a drift term. First, we propose an expanded chained form which is expressed as the simulation of the drift term and the chained form, and...
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We consider a class of the 3-state and 2-input affine nonholonomic systems with a drift term. First, we propose an expanded chained form which is expressed as the simulation of the drift term and the chained form, and the controller design method based on it. Next, we propose the coordinate and input transformation algorithm which converts an affine system with a drift term into the time-state control form, and propose the controller design method using the exact linearization. Finally, an asteroid sample-return robot with non-zero initial angular momentum is considered as an example. By using the transformation algorithm, we obtain the time-state control form for the robot. The attitude controller of the robot is designed on the basis of the time-state control form, and simulation has been carried out.
Discusses an approach to combining human and machine intelligence in teleoperation of 6 degree of freedom (DOF) arm manipulators. Two algorithms are presented that can operate in near real time and can deal with an un...
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Discusses an approach to combining human and machine intelligence in teleoperation of 6 degree of freedom (DOF) arm manipulators. Two algorithms are presented that can operate in near real time and can deal with an unknown environment. We capitalize on the fact that the operator needs help primarily in the areas where the arm is near the obstacles; this lowers the computational costs. The main, major linkage algorithm operates on the principle of a greedy search. Perception of the hints provided by the operator is used in a few basic rules that limit the directions of the search. Overall, the intention is to allow the operator to concentrate on "global" motion planning tasks and leave collision detection and local path finding to the machine intelligence. An experimental study in progress is presented that is expected to demonstrate the algorithms' performance and to suggest the types of situations where it will be the most effective.
We present the design, modeling and preliminary control of RHex, an autonomous dynamically stable hexapod possessing merely six actuated degrees of freedom (at the hip attachment of each leg). Our design emphasizes me...
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We present the design, modeling and preliminary control of RHex, an autonomous dynamically stable hexapod possessing merely six actuated degrees of freedom (at the hip attachment of each leg). Our design emphasizes mechanical simplicity as well as power and computational autonomy, critical components for legged robotics applications. A compliant hexapod model, used to build a simulation environment closely informed the design and construction of the physical machine and promises to inform, similarly, our future analysis as well. Simulations and experiments show that RHex can achieve dynamically stable walking, running and turning with very simple clock driven open-loop control strategies.
There are many engineering challenges that must be addressed in order to successfully integrate haptics with the environmental characteristics found in surgery. The most fundamental of these challenges is to achieve u...
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There are many engineering challenges that must be addressed in order to successfully integrate haptics with the environmental characteristics found in surgery. The most fundamental of these challenges is to achieve update rates of solid nonlinear deformable objects that are acceptable to the human haptic system. The paper presents a software architecture that is designed to meet these challenges by analysing the task, the haptic, and the hardware constraints of surgery simulation.
An important aim of robotics is to design and build machines that can recognize and exploit opportunities afforded by new situations. Traditionally in artificial intelligence, this task has fallen on abstract represen...
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An important aim of robotics is to design and build machines that can recognize and exploit opportunities afforded by new situations. Traditionally in artificial intelligence, this task has fallen on abstract representations, but that has left the problem of how to ground the representations in sensorimotor activity. The paper proposes a computational architecture whereby a mobile robot internalizes representations based on its experience. The paper examines a fast online learning algorithm that allows the robot to build up a mapping of how its motor signals transform sensory data. The author also proposes a way of categorizing object affordances according to their internal effects. Based on these effects, wavelet analysis is applied to sensory data to uncover invariance, thus abstracting a representation of goals. Finally, heuristics are explored for projecting a learned sensorimotor mapping into the future to attain these goals.
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