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Intelligent Variable Joint Impedance control and Development of a New Whole-Sensitive Anthropomorphic Robot Arm

Intelligent Variable Joint Impedance Control and Development...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Dzmitry Tsetserukou Riichiro Tadakuma Hiroyuki Kajimoto Naoki Kawakami Susumu Tachi University of Tokyo Bunkyo Tokyo Japan University of Electro-Communications Chofu Tokyo Japan

The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. When the contact of the arm with an object occurs, local impedance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with unstructured environment. A novel variable control strategy was elaborated to increase the robot functionality and to achieve human-like dynamics of interaction. In the paper, we detail the design procedure of 4-DOF robot arm and optical torque sensors. The experimental results of variable joint impedance control show that proposed approach not only provides safe interaction of entire structure of robot arm with a person, but also improves the effectiveness of contact task performance, enables thus to contact with environment in a delicate manner.

关键词： Intelligent robots Impedance Anthropomorphism Robot sensing systems Human robot interaction Optical variables control Optical sensors Torque control Torque measurement Safety

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Simulation of Fine Gain Tuning Using Genetic Algorithms for Model-Based Robotic Servo controllers

Simulation of Fine Gain Tuning Using Genetic Algorithms for ...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Fusaomi Nagata Katsutoshi Kuribayashi Kazuo Kiguchi Keigo Watanabe Department of Electronics and Computer Science Tokyo University of Science Sanyo-Onoda Japan Graduate School of Science and Engineering Saga University Saga Japan

Resolved acceleration control method or computed torque method is used for nonlinear control of industrial manipulators, which is composed of a model base portion and a servo portion. The servo portion is a close loop with respect to the position and velocity. On the other hand, the model base portion has the inertia term, gravity term and centrifugal/Coriolis term, which work for canceling the nonlinearity of manipulator. In order to realize high control stability, the position and velocity gains used in the servo portion should be selected suitably. In this paper, a simple but effective fine tuning method after manual tuning is introduced for the position and velocity feedback gains in the servo portion. At the first step, base values of the gains are roughly selected by a controller designer, e.g., considering the critically damped condition. After that, the base values are finely tuned by genetic algorithms. Genetic algorithms search for the better combination of the position and velocity gains. Simulations are conducted using a dynamic model of PUMA560 manipulator to validate the effectiveness of the proposed method.

关键词： Genetic algorithms Servomechanisms Robot control Torque control Manipulator dynamics computational modeling Service robots Acceleration Computer industry Industrial control

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New Results in Understanding Performance and Vulnerability in Complex Networks

New Results in Understanding Performance and Vulnerability i...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Daniel W. Repperger Air Force Research Laboratory Dayton OH USA

New results can be obtained about performance and vulnerability of complex networks through the common intersection of the fields of graph theory, information theory, and optimization theory. Graph theory provides a basis of architecture and also constraint relationships for key flow variables. Information theory provides measures and metrics of flow performance. The optimization of complex networks is accomplished via genetic algorithms on the flow variables. By performing a minimum flow and maximum flow optimization, a sensitivity matrix of vulnerabilities of a network can be ascertained. Thus the most vulnerable set of nodes can be determined. This procedure is first applied to a logistics network. The generalization to communication's networks and other distributed complex systems is discussed.

关键词： Complex networks Biomedical engineering Laboratories Engineering in medicine and biology Graph theory Information theory Genetic communication Councils control theory Man machine systems

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Compliant Formation control of a Multi-Vehicle System

Compliant Formation Control of a Multi-Vehicle System

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Erica Z. MacArthur Carl D. Crane Innovative Automation Technologies Limited Liability Company Gainesville FL USA University of Florida Gainesville FL USA

This research identifies a strategy called compliant formation control, which may be used to coordinate the navigational structure of a team of autonomous vehicles. This technique controls the team's motion based on a given, desired formation shape and a given, desired set of neighboring separation distances, wherein the formation shape is considered general two-dimensional. The strategy establishes how to select, place, and use virtual springs and dampers that conceptually "force" proper interspacing between neighboring team members. The objective is to continuously maintain, in the most optimal way, the desired formation as team motion proceeds. In practice, actual robot separation distances will be measured relative to smarter, leader robots that have known position and orientation information at all times (e.g., GPS or INS). The control strategy subsequently commands, in an optimal way, each vehicle by providing a heading and velocity necessary to maintain the desired formation. Such requisite commands result from modeling the compliant displacements of team members as they travel in a network of virtual springs and dampers. The equations used to achieve coordinated motion of the robot team will be discussed and specific case studies will be presented to demonstrate the effectiveness of the compliant formation control strategy.

关键词： control systems Shape control Robot kinematics Motion control Springs Intelligent robots Navigation Remotely operated vehicles Mobile robots Position measurement

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A Fast Learning Algorithm for Robotic Emotion Recognition

A Fast Learning Algorithm for Robotic Emotion Recognition

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Jung-Wei Hong Meng-Ju Han Kai-Tai Song Fuh-Yu Chang Department of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan Mechanical and Systems Research Laboratories Industrial Technology and Research Institute Hsinchu Taiwan

The capability of robotic emotion recognition is an important factor for human-robot interaction. In order to facilitate a robot to function in daily live environments, a emotion recognition system needs to accommodate itself to various persons. In this paper, an emotion recognition system that can adapt to new facial data is proposed. The main idea of the proposed learning algorithm is to adjust parameters of SVM hyperplane for learning emotional expressions of a new face. After mapping the input space to Gaussian-kernel space, support vector pursuit learning (SVPL) is applied to retrain the hyperplane in the new feature space. To expedite the retraining procedure, only samples classified incorrectly in previous iteration are combined with critical historical sets to restrain a new SVM classifier. After adjusting hyperplane parameters, the new classifier will recognize previous erroneous facial data. Experimental results show that the proposed system recognize new facial data with high correction rates after fast retraining the hyperplane. Moreover, the proposed method also keeps satisfactory recognition rate of old facial samples.

关键词： Emotion recognition Support vector machines Support vector machine classification Face recognition Robotics and automation Human robot interaction Intelligent robots control engineering Training data computational intelligence

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A Problem Solving Environment for Combinatorial Optimization Based on Parallel Meta-heuristics

A Problem Solving Environment for Combinatorial Optimization...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Rong Huang Shurong Tong Weihua Sheng Zhun Fan School of Management Northwestern Polytechnical University Xi'an China School of Electrical and Computer Engineering Oklahoma State University Stillwater USA Department of Mechanical Engineering Technical University of Denmark Lyngby Denmark

computational grid offers a great potential solution to parallel meta-heuristics toward combinatorial optimization. However, it is quite difficult for specialists in combinatorial optimization to develop parallel meta-heuristics in extremely heterogeneous computational environment, starting from scratch without any toolkit. This paper presents a problem solving environment for combinatorial optimization based on parallel meta-heuristics (PSEPMH) to help specialists to harness heterogeneous computational resources and handle dynamic granularity control. PSEPMH requires specialist to decompose one problem into two sub-problems with divide-and-conquer framework just as generic sequential algorithm. Then compiler of PSEPMH generates mobile agent code that automatically forms adaptive multi-granularity parallel computing at runtime by cloning himself and distributing along dynamic, complex grid environment with the support of PSEPMH. Not only can PSEPMH relieve specialists' burden, but also make use of the computational resources more efficiently.

关键词： Problem-solving Grid computing Distributed computing Parallel processing Concurrent computing Mobile agents Large-scale systems Pervasive computing Physics computing computational intelligence

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Robotic Self-Replication in a Structured Environment without Computer control

Robotic Self-Replication in a Structured Environment without...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Steven Eno Lauren Mace Jianyi Liu Brian Benson Kailash Raman Kiju Lee Matt Moses Gregory S. Chirikjian Johns Hopkins University Baltimore MD USA Department of Mechanical Engineering Johns Hopkins University Baltimore MD USA

The ability to self-replicate is one of the distinctive features of living organisms. Robots capable of self-replication would have a profound impact on the field of robotics by improving lifetime and robustness. In the past our lab has built several prototypes of self-replicating robotic systems including semi-autonomous and fully-autonomous robots with microprocessor-based control, and a self-replicating electromechanical circuit composed of basic electronic elements (transistors, resistors, etc.). These previous efforts demonstrated that man-made systems with simple behaviors are capable of self-replication. Extending our previous results, in this paper, we present an autonomous self-replicating robotic system with distributed electronic components in a structured environment. Using simple discrete electronic components allows for a more uniform decomposition of each robot into simpler parts than for microprocessor-controlled systems. Ultimately, we would like to demonstrate robots that replicate from the most basic parts, and this paper represents one more step toward achieving this goal.

关键词： Robots Robotics and automation Orbital robotics Prototypes Robotic assembly Circuits Electronic components Self-assembly Automata Space exploration

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Neural network based modeling of a piezodisk dynamics

Neural network based modeling of a piezodisk dynamics

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Petri Hanninen Quan Zhou Heikki N. Koivo Control Engineering Laboratory Helsinki University of Technology Finland School of Mechatronics Northwestern Polytechnical University Xi'an China

Piezoelectric phenomenon is commonly used in microsystems. Many sensors as well as actuators are based on this phenomenon. Because of the nonlinear character of the piezo phenomenon, exact measuring of fast dynamic systems is difficult with piezoelectric sensors. Piezo-based actuators on the other hand need feedback for the exact motion. This has increased the size of the system as well as the power consumption, which are undesirable characteristics in microworld. In this paper a solution for the problem is determined by modeling. First, a third order transfer function is generated to model the piezoactuator at the operating point. The parameters of a grey box-model are implemented as dynamic, because of the nonlinearity of the piezo actuator. This is the way to capture the characters of the transfer function to fit the real actuator at each operating point. A multilayer perception neural network is used to model the behavior of the system. The training data for the network is measured at different operating points. The model is validated by test data at different operating points. The agreement with the model and the measurements is excellent.

关键词： Neural networks Actuators Sensor phenomena and characterization Nonlinear dynamical systems Power system modeling Transfer functions Multi-layer neural network Sensor systems Energy consumption Training data

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Potentially Distributable Energy: Towards Energy Autonomy in Large Population of Mobile Robots

Potentially Distributable Energy: Towards Energy Autonomy in...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Trung Dung Ngo Hector Raposo Henrik Schioler Center for Embedded Software Systems University of Aalborg Aalborg Denmark Control & Automation section Electronics Institute Aalborg Denmark

We propose a new concept, potentially distributable energy, in the field of autonomous mobile robots. Considering a system of multiple robots powered by batteries, each robot no longer works since its energy capacity is expired. To extend operating time, the robot needs to replenish energy through recharging energy. To date, except research on vaccum cleaning robots that are able to recharge battery when docking with the fixed station has been achieved, there does not exist any research of energy distribution to prolong operating time in a large population of mobile robots. This could be caused by the lack of using rechargeable battery in the fact that the robot has to normally spend the charging-time much longer than the operating time. This paper presents simulation results of mobile robots that are capable of not only self-recharging energy but also exchanging batteries to the other robots. Initially, we describe a simulation of multiple mobile robots, and then issue rules of battery exchange, which is formulated under constraints of workload, distance and remaining capacity. The simulation shows that: (a) a robot is able to be energetically autonomous if its energy can be replenished by the other robots or it is able to come back to the main charging station to replenish itself; (b) energy of a robot is always under constraints of energy distribution of the mother charging station and the other robots; (c) distributed energy balance is the main elements to decide a number of robots in a specific area and an ideal location of the repository when one wants to deploy a large population of autonomous mobile robots. Finally, based on results of the simulation we adjust rules for our real multirobot system.

关键词： Mobile robots Robot sensing systems Batteries Robotics and automation Fuels Infrared sensors Cleaning Electronic components Vehicles computational intelligence

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Real-Time Disturbance Compensation with Accelerometers & Piezoelectric-Driven Mechanism

Real-Time Disturbance Compensation with Accelerometers & Pie...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： U. X. Tan W. T. Latt M. Tanjaya H. T. Wirawan C. Y. Shee W. T. Ang School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

Disturbance / vibration reduction is critical in many applications. One example is disk drive industry. With the advance in optical disk drive technology, the off-track or off-focusing error caused by disturbance is limiting the performance. Instead of going with the more familiar approach like vibration absorber, a real-time disturbance compensation without much phase lag is proposed. In this paper, to illustrate the idea of real-time compensation, a one dof cancellation of tremor is performed. Instantaneous motion due to the disturbance is sensed by an accelerometer inertial measurement unit (IMU). Modeling of the accelerometer is done to provide better readings. The compensation motion is provided by manipulating a piezoelectric-driven flexure-based mechanism. Due to the existence of backslash in revolute joints, flexure-based mechanism is proposed to achieve better result. Piezoelectric actuator is proposed because of its high frequency and precision. The hysteretic non-linearity of the piezoelectric actuator is modeled using Prandtl-Ishlinskii operator. Based on this model, an open-loop inverse feed-forward controller is implemented to accurately provide the required motion.

关键词： Accelerometers Disk drives Piezoelectric actuators Optical sensors Measurement units Frequency Hysteresis Inverse problems Feedforward systems Motion control

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