In this paper we investigate how neural fields can produce an elegant solution for the problem of moving multiple robots in formation. The objective is to acquire a target, avoid obstacles and keep a geometric configu...
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ISBN:
(纸本)9781424407897
In this paper we investigate how neural fields can produce an elegant solution for the problem of moving multiple robots in formation. The objective is to acquire a target, avoid obstacles and keep a geometric configuration at the same time. Several formations for a team of three robots are considered.
In order to realize the dual arm mobile robot control and simulation, a distributed robotic system is presented. The system provides the robot's model building, path planning, robot task planning, simulation and a...
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Recently, various learning methods are adapted for experimental robot. We can make movement of a robot by giving teaching signals to a robot. But it is heavy for operator to define how to give teaching signals general...
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ISBN:
(纸本)9781424407897
Recently, various learning methods are adapted for experimental robot. We can make movement of a robot by giving teaching signals to a robot. But it is heavy for operator to define how to give teaching signals generally because operator must guess and think of a task and environment and define a function to do that. Here I aim to create teaching signals automatically for each task and environment. In this paper, I suggest a simple rule which is independent of information about any task and environment to create teaching signals for each task and environment. This rule is that a situation which is often happened is good situation. In this paper, I adopt reinforcement learning as learning method and a small-sized humanoid robot as application. I will show creating a reward by adapting a rule and show that a robot can learn and make movement.
Recently multi-agent systems have been discussed to realize a large size of distributed autonomous systems. This paper proposes an intelligent control of multiple partner robots as one of multi-agent systems. First of...
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ISBN:
(纸本)9781424407897
Recently multi-agent systems have been discussed to realize a large size of distributed autonomous systems. This paper proposes an intelligent control of multiple partner robots as one of multi-agent systems. First of all. we discuss the current state of researches on the multi-agent systems. Next, we propose a multi-objective behavior coordination to realize formation behaviors based on the integration of the intelligent control from the local viewpoint of individual intelligence and the spring model from the global viewpoint of collective intelligence. Finally, we discuss the effectiveness of the proposed method through several computer simulation results.
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this typ...
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ISBN:
(纸本)9781424407897
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy are optimized to effectively perform activities of daily living (ADLs) and overcome singularities, joint limits and some workspace limitations. The control system is designed for teleoperated or autonomous coordinated Cartesian control, and it offers expandability for future research, such as voice or sip and puff control operations and sensor assist functions.
This paper describes the development and testing of control of the OmniTread OT-4 robot by the Seventh Generation (7G) control System. control of OT-4 was developed in the Yobotics 3D simulator by an iterative process...
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ISBN:
(纸本)9781424407897
This paper describes the development and testing of control of the OmniTread OT-4 robot by the Seventh Generation (7G) control System. control of OT-4 was developed in the Yobotics 3D simulator by an iterative process combining genetic algorithm, learning and analytic programming techniques. The control system developed in simulation was tested by controlling the real OT-4 robot in the laboratory. The performance of the real OT4 robot under 7G control on stairs, parallel bars, a slalom course, and stairs with obstacles corresponded well to the simulated performance on which development of the control system was based.
This paper addresses the design method for robust PIID like controllers which guarantee the quadratic stability, performance in terms of H-2 and H-infinity specifications, pole locations and maximum output control. Th...
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ISBN:
(纸本)9781424407897
This paper addresses the design method for robust PIID like controllers which guarantee the quadratic stability, performance in terms of H-2 and H-infinity specifications, pole locations and maximum output control. The approach is based on the transformation of the PID controller design problem to that of state feedback controller design thereby the convex optimization approaches can be adapted. Real time experimental results on a double inverted pendulum system demonstrates the validity and applicability of the proposed approach.
This paper discusses utilizing genetic algorithms to automatically design a suitable sensor morphology and controller for a given task in categories of environments. The type of sensors, the heading angle and the rang...
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ISBN:
(纸本)9781424407897
This paper discusses utilizing genetic algorithms to automatically design a suitable sensor morphology and controller for a given task in categories of environments. The type of sensors, the heading angle and the range of the sensor, and the rules the controller, are co-evolved. The described method enables the system to decipher information from the environment to determine that is relevant to completing a given task while configuring a minimal controller and number of sensors, thus increasing the overall efficiency of the robot.
The Beowulf cluster approach to parallel computation offers a potentially cheap and robust source of computational power for high complexity algorithms in robotics. The challenge is to integrate this approach with the...
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ISBN:
(纸本)9781424407897
The Beowulf cluster approach to parallel computation offers a potentially cheap and robust source of computational power for high complexity algorithms in robotics. The challenge is to integrate this approach with the mobility and time critical response constraints of many robotic algorithms. The key contributions of this paper are: (1) introduction of a computational architecture for integrating a cluster into the control architecture of one or more robots, (2) a cluster implementation of Thrun et al's Concurrent Localization and Mapping (CML) algorithm, and (3) presentation of results to illustrate the performance of the implemented CML algorithm and validate the architectural approach.
Parametric identification consists in estimating the values of physical parameters of robotic systems. The most popular methods consist in using the least squares regression because of their simplicity. However, we kn...
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ISBN:
(纸本)9781424407897
Parametric identification consists in estimating the values of physical parameters of robotic systems. The most popular methods consist in using the least squares regression because of their simplicity. However, we know that these techniques are not intrinsically robust. An alternative consists in justifying the use of the LS technique. This paper focuses on this issue and introduces a derivation of the CESTAC method which will be applied to a 6 degrees of freedom (DOF) serial robot.
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