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Optimal selection of uncertain actions by maximizing expected utility 3

Optimal selection of uncertain actions by maximizing expecte...

引用

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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The body impedance control for walking stabilization of a quadrupedal robot 3

The body impedance control for walking stabilization of a qu...

引用

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

作者： Yi, Soo-Yeong Hong, Yeh-Sun Lee, Chong-Won School of Electrical Engineering Chonbuk National University Duckjin Chonju Korea Republic of Advanced Robotics Research Center Korea Institute of Science and Technology Cheongryang P.O. 131 Seoul Korea Republic of

ISBN: (纸本)0780358066

One of the basic assumptions in the static gait design for a walking robot is that the weight of a leg should be negligible compared to that of body, so that the total gravity center of the robot is not affected by the leg swing. Based on the assumption, the conventional static gait has been designed for the geometric body center of the robot to be inside of the support polygon which consists of each support leg's tip position. In case that the leg is relatively heavy, however, while the body center is kept inside the support polygon, the total gravity center of the robot can be out of the support polygon, which causes instability in walking. In this paper, a body impedance control is proposed to make the total gravity center of robot track the pre-designed trajectory of the body center, so that the walking stability is secured even in case that the leg weight has serious influence on the total gravity center of the robot. © 1999 ieee.

关键词： Geometry

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Target localization and identification using CTFM sonar imaging: The AURBIT method 3

Target localization and identification using CTFM sonar imag...

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

作者： Politis, Z. Probert, P.J. Robotics Research Group Department of Engineering Science University of Oxford Parks Road OxfordOX1 3PJ United Kingdom

ISBN: (纸本)0780358066

In this paper we introduce a new method for acquiring and processing ultrasound signals for the location and identification of the typical primitives for map building - planes, corners and edges. Models of the echo signals received allows the feature parameteri-sation of their range and amplitude values. Part of the pre-processing and the classification over their standard features was done by using neural networks. Receiver saturation due to the large dynamic range is included in the models. The combination of model based methods and learning provides an algorithm which requires only sparse measurements to locate and identify targets. The transducer is a continuous wave single frequency modulated (CFTM) transmitter/receiver, not original in terms of its hardware but with little reported application in this field. The method is applied to mobile robot exploration and demonstrated with the production of a sonar map. © 1999 ieee.

关键词： Sonar

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Reducing localization errors by scan-based multiple hypothesis tracking 3

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

引用

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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The co-evolution of model parameters and control programs in evolutionary robotics 3

The co-evolution of model parameters and control programs in...

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

作者： Parker, Gary B. Department of Computer Science Connecticut College New LondonCT06320 United States

ISBN: (纸本)0780358066

Evolutionary robotics is a research area that makes use of the various forms of evolutionary computation (EC) to provide a means of designing robot control systems. The use of EC can reduce development effort and allow the system to be adaptive to changes. However, it can be computationally expensive enough to preclude on-line learning since most forms of EC require that a population of possible solutions be tested over several iterations. Current research deals with to what extent these tests should be done on a model of the robot. Using the model is faster, but linking the model to the actual robot is a difficult task. In this paper, we introduce a new way of integrating the actual robot and its model during evolutionary computation. This method, which involves the co-evolution of model parameters, is applied to the problem of learning gaits for hexapod robots. The form of evolutionary computation used is the cyclic genetic algorithm (CGA), which was introduced in previous work to deal with the issue of evolving controllers for cyclic behaviors. Tests done in simulation show that the CGA operating on the co-evolving model of the robot can adapt to changes in the robot's capabilities to provide a system of anytime learning. © 1999 ieee.

关键词： Robots

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Goal tracking in a natural language interface: Towards achieving adjustable autonomy 3

Goal tracking in a natural language interface: Towards achie...

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

作者： Perzanowski, Dennis Schultz, Alan C. Adams, William Marsh, Elaine Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Codes 5512 and 5514 WashingtonDC20375-5337 United States

ISBN: (纸本)0780358066

Intelligent mobile robots that interact with humans must exhibit adjustable autonomy;that is, the ability to dynamically adjust the level of self-sufficiency of an agent depending on the situation. When intelligent robots require close interactions with humans, they will require modes of communication that enhance the ability for humans to communicate naturally and that allow greater interaction, as well as adapt as a team member or sole agent in achieving various goals. Our previous work examined the use of multiple modes of communication, specifically natural language and gestures, to disambiguate the communication between a human and a robot. In this paper, we propose using context predicates to keep track of various goals during human-robot interactions. These context predicates allow the robot to maintain multiple goals, each with possibly different levels of required autonomy. They permit direct human interruption of the robot, while allowing the robot to smoothly return to a high level of autonomy. © 1999 ieee.

关键词： Intelligent robots

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Intelligent learning for deformable object manipulation 3

Intelligent learning for deformable object manipulation

引用

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

作者： Howard, Ayanna M. Bekey, George A. Institute for Robotics and Intelligent Systems School of Engineering University of Southern California Los AngelesCA90089 United States

ISBN: (纸本)0780358066

The majority of manipulation systems are designed with the assumption that the objects being handled are rigid and do not deform when grasped. This paper addresses the problem of robotic grasping and manipulation of 3-D deformable objects, such as rubber balls or bags filled with sand. Specifically, we have developed a generalized learning algorithm for handling of 3-D deformable objects in which prior knowledge of object attributes is not required and thus it can be applied to a large class of object types. Our methodology relies on the implementation of two main tasks. Our first task is to calculate deformation characteristics for a non-rigid object represented by a physically-based model. Using nonlinear partial differential equations, we model the particle motion of the deformable object in order to calculate the deformation characteristics. For our second task, we must calculate the minimum force required to successfully lift the deformable object. This minimum lifting force can be learned using a technique called 'iterative lifting'. Once the deformation characteristics and the associated lifting force term are determined, they are used to train a neural network for extracting the minimum force required for subsequent deformable object manipulation tasks. Our developed algorithm is validated with two sets of experiments. The first experimental results are derived from the implementation of the algorithm in a simulated environment. The second set involves a physical implementation of the technique whose outcome is compared with the simulation results to test the real world validity of the developed methodology. © 1999 ieee.

关键词： Learning algorithms

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Emotion-based approach to robotics

Emotion-based approach to robotics

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1999 ieee/RSJ international Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High intelligence and Emotional Quotients'

作者： Velasquez, Juan D. MIT Artificial Intelligence Lab Cambridge United States

We describe a different approach to robotics in which emotions are at center-stage playing a much larger role than just that of facilitating emotional expression. Drawing inspiration from work in Psychology, Neuroscience, and Ethology, we have developed a computational framework that captures important aspects of emotional processing and integrates these with other models of perception, attention, motivation, behavior, and motor control. We have followed this approach to control several autonomous agents, including a physical robot that is capable of emotional expression while exhibiting robust and effective behavior.

关键词： robotics

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Approach to anthropomorphic robotics: guidelines and experiments

Approach to anthropomorphic robotics: guidelines and experim...

引用

1999 ieee/RSJ international Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High intelligence and Emotional Quotients'

作者： Taddeucci, D. Dario, P. Ansari, E. ARTS Lab - Scuola Superiore Sant'Anna Pisa Italy

If we could obtain robots which act as humans, does this imply that both have the same structure and are made of the same 'substance'? This paper addresses this open question by implementing a basic robotic motor task using anthropomorphic hardware and an anthropomorphic computational approach. Two different algorithms implementing reinforcement learning both at a psychological and bio-mimetic level techniques are presented and discussed. The performance achieved during the experimental trials suggests that similar performance can be achieved by the formal mathematical model of reinforcement learning and by the locally bio-mimetic architecture. This is very promising for the achievement of the adaptability, versatility and flexibility required of a humanoid, whilst still at acceptable levels of computational burden.

关键词： Anthropomorphic robots

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computational intelligence for the robotics and automation

Computational intelligence for the robotics and automation

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ieee international symposium on Industrial Electronics (ISIE)

作者： T. Fukuda N. Kubota Center for Cooperative Research in Advanced Science and Technology Department of Mechano-Informatics and Systems & Department of Micro System Engineering University of Nagoya Nagoya Japan

This tutorial presents the idea of computational intelligence and its application to robotics and automation. Firstly, the basics for computational intelligence are introduced, including neural networks, fuzzy systems and evolutionary computation, and advanced methodologies are then shown in detail. Next, application examples are given and shown how they can improve the conventional methods and how they can solve problems in the field of intelligent systems of robotics and automation.

关键词： computational intelligence robotics and automation Competitive intelligence Intelligent robots Humans Intelligent systems Artificial intelligence Information processing computational and artificial intelligence Evolution (biology)

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