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Distributed computation of dynamics in reconfigurable robotics

Distributed computation of dynamics in reconfigurable roboti...

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： Lee, Woo Ho Sanderson, Arthur C. Rensselaer Polytechnic Inst Troy United States

A new distributed computation algorithm based on the virtual force method supports the computation of dynamic redundancy resolution for modular reconfigurable robotic systems. Such systems have many redundant degrees of freedom in order to meet the combined demands of strength, rigidity, workspace kinematics, reconfigurability, and fault tolerance. An efficient distributed computational scheme computes the kinematics, dynamics, and redundancy resolution for real-time application to the control of these systems. A potential function which depends only on the local information of adjacent nodes of the structure is introduced and applied to the Tetrobot modular reconfigurable system. Simulation results are provided to demonstrate the feasibility of the proposed distributed algorithms, and these results are compared to the centralized Jacobian method which required global information.

关键词： robotics

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Advanced control techniques based in artificial intelligence for robotics manipulators

Advanced control techniques based in artificial intelligence...

引用

Proceedings of the 1999 7th ieee international Conference on Emerging Technologies and Factory automation (ETFA'99)

作者： Almansa, A. De la Sen, M. ROBOTIKER Bizkaia Spain

The performance quality in non-linear model based control of mechanical manipulators is conditioned to the reliability of the mathematical model and precision in the knowledge of all the involved parameters. Control methods based on artificial intelligence techniques (learning algorithms, system identification and neural networks) can be applied to improve its performance. A neural control scheme will be proposed, consisting basically of a neural network for learning the robot's inverse dynamics and on-line generating the control signal. Also on-line supervision based in optimization techniques will be designed and implemented for such neural control. Simulation results are provided to evaluate the alternative variations to the proposed control scheme.

关键词： Manipulators

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AI-CART: an algorithm to incrementally calculate artificial potential fields in real-time

AI-CART: an algorithm to incrementally calculate artificial ...

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： M. Piaggio A. Sgorbissa D.I.S.T. University of Genoa Genoa Italy

Potential fields have been widely used for mobile robot navigation and obstacle avoidance. Their success is due to two main reasons: the simplicity with which a path planning problem can be represented and solved and, most of all, the computational efficiency that allows its real-time applicability. In this paper we analyze the complexity of calculating the artificial potential field and propose a novel algorithm that statistically reduces it.

关键词： Navigation Mobile robots Path planning Robot sensing systems computational efficiency Sonar Force sensors Algorithm design and analysis Motion control Bismuth

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Optimal selection of uncertain actions by maximizing expected utility

Optimal selection of uncertain actions by maximizing expecte...

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： J.K. Rosenblatt Australian Centre for Field Robotics Department of Mechanical & Mechatronic Engineering University of Sydney NSW Australia

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 to verify that this approach improves performance.

关键词： Utility theory Uncertainty Mobile robots Voting Australia Sensor fusion Navigation Context modeling Robot sensing systems Mechatronics

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A method for on-line trajectory planning of robot manipulators in Cartesian space

A method for on-line trajectory planning of robot manipulato...

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： Xiang-Rong Xu Won-Jee Chung Young-Hyu Choi Department of Mechanical Design and Manufacturing Changwon NatE28099l University Changwon South Korea

ISBN: (纸本)0780358066

This paper presents a technique for robot continuous-path motion trajectories planning. The Cartesian path is specified by a group of parameter equations in Cartesian coordinates. The time interval [0, T] is divided into m segments, and the coefficients of polynomial at each segment can be obtained in recurrence form. The problem of minimum-time trajectories planning and the determination of m are also studied in the paper.

关键词： Trajectory Orbital robotics Manipulators Motion planning Robot kinematics Path planning Acceleration Equations Polynomials History

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A fuzzy control for cooperative tentacle robot system

A fuzzy control for cooperative tentacle robot system

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： M. Ivanescu N. Bizdoaca Automatic and Computer Department University of Craiova Romania

A robust control system is proposed to solve the local control for a multi-chain robotic system formed by tentacle manipulators grasping a common object with hard point contacts. The two-level hierarchical control is adopted. The upper level coordinator gathers all the necessary information to resolve the distribution force. Then, the lower-level local control problem is treated as an open-chain redundant manipulator control problem. The stability and robustness of a class of the fuzzy logic control (FLC) are investigated and a robust FLC is proposed with uncertainties of the load. The fuzzy rules are established. Simulation results are presented and discussed.

关键词： Fuzzy control Robust stability Robot kinematics Manipulators Sliding mode control Robust control robotics and automation Automatic control Control systems Uncertainty

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A robot in a cage-exploring interactions between animals and robots

A robot in a cage-exploring interactions between animals and...

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： M. Bohlen School of Art The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Typically, the animal world has been used conceptually by roboticists as a source of inspiration for finding new approaches to efficient locomotion, perception and intelligent control [Brooks, 1991], [Hallam and Walker, 1993], [Aloimonos, 1997]. This paper explores the question of designing a robot to share a space with a simple animal. A series of experiments between a mobile robot and three chickens in a cage are described. Techniques are described to mechanically reduce chickens' anxiety towards moving machinery. A model of interaction between animals and machines is proposed. These insights are then placed into a wider context of robot design.

关键词： Animals Machinery Mobile robots Robot vision systems Cameras Legged locomotion Intelligent robots Orbital robotics Radio navigation Art

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A decision-theoretic approach to fuzzy behavior coordination

A decision-theoretic approach to fuzzy behavior coordination

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： P. Pirjanian M. Mataric USC Robotics Research Laboratory University of Southern California Los Angeles CA USA

We propose a novel approach to behavior-based control, which combines fuzzy logic with multiobjective decision theory. Fuzzy logic provides powerful tools for formulating sophisticated behavior-based systems for robot control. However, it suffers from problems associated with resolving behavioral conflicts, which are mainly due to the deficiencies of fuzzy inference techniques. Hence, we propose to formulate the inference mechanism using a multiobjective decision-theoretic approach, which provides formal tools for behavior coordination and resolving conflicts in a principled manner. Preliminary experimental results are reported.

关键词： Fuzzy logic Fuzzy control Decision theory Fuzzy reasoning Fuzzy systems Control systems Robot kinematics Robot control Laboratories Noise robustness

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Learning discrete Bayesian models for autonomous agent navigation

Learning discrete Bayesian models for autonomous agent navig...

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： D. Nikovski I. Nourbakhsh The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Partially observable Markov decision processes (POMDPs) are a convenient representation for reasoning and planning in mobile robot applications. We investigate two algorithms for learning POMDPs from series of observation/action pairs by comparing their performance in fourteen synthetic worlds in conjunction with four planning algorithms. Experimental results suggest that the traditional Baum-Welch algorithm learns better the structure of worlds specifically designed to impede the agent, while a best-first model merging algorithm originally due to Stolcke and Omohundro (1993) performs better in more benign worlds, including such model of typical real-world robot fetching tasks.

关键词： Bayesian methods Autonomous agents Navigation Mobile robots Robot sensing systems Probability distribution Merging Algorithm design and analysis Impedance Strips

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Moore automata for flexible routing and flow control in manufacturing workcells

Moore automata for flexible routing and flow control in manu...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： A. Ramirez S.C. Zhu B. Benhabib Computer Integrated Manufacturing Laboratory Department of Mechanical and Industrial Engineering University of Toronto Toronto ONT Canada

The potential of flexible-manufacturing workcells (FMCs) to produce a family of parts in many possible orders of operations and choices of different machines is advantageous. Despite intensive research on the theoretical control of discrete-event systems, however, current techniques can still only be used for the supervisory control of simple cells. In this article, a novel modeling and control synthesis technique is presented for FMCs that allow part-routing flexibility. Our proposed methodology combines extended Moore automata and controlled-automata theories to synthesize supervisors for such FMCs.

关键词： Automata Routing Automatic control Flexible manufacturing systems Manufacturing automation Control systems Control system synthesis System recovery Computer integrated manufacturing Laboratories

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