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共 1054 条记录，以下是641-650 订阅

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Real-time tracking control of underactuated pendubot using Takagi-Sugeno fuzzy systems

Real-time tracking control of underactuated pendubot using T...

引用

2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

作者： Cai, Zhen Su, Chun-Yi Department of Mechanical and Industrial Engineering Concordia University 1455 de Maisonneuve Blvd. W. MontrealQCH3G1M8 Canada

ISBN: (纸本)0780378660

By combining optimal control theory and linear regulator theory with the Takagi-Sugeno fuzzy methodology, a global optimal and stable fuzzy controller is presented to achieve trajectory tracking for a specific underactuated robot: the pendubot. The stability of the entire close-loop system is ensured by the designed optimal fuzzy controller. The paper includes a description of the pendubot system and the real-time control results. © 2003 ieee.

关键词： Real time control

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A novel design and control of robotic wheeled blimp for tele-guidance

A novel design and control of robotic wheeled blimp for tele...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Kang, S Nam, M Kim, B Tsubouchi, T Yuta, S Korea Inst Sci & Technol Seoul 130650 South Korea

ISBN: (纸本)0780378660

This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. This wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people in standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been found and finally the stable control system has been successfully developed The effectiveness of the controller is verified by experiment for the real wheeled blimp system.

关键词： controllers

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GA-based learning in behaviour based robotics

GA-based learning in behaviour based robotics

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Gu, DB Hu, HS Reynolds, J Tsang, E Univ Essex Dept Comp Sci Colchester CO4 3SQ Essex England

ISBN: (纸本)0780378660

This paper presents a Genetic Algorithm (GA) approach to evolving robot behaviours. We use fuzzy logic controllers (FLCs) to design robot behaviours. The antecedents of the FLCs are pre-designed, while their consequences are learned using a GA. The Sony quadruped robots are used to evaluate proposed approaches in the robotic football domain. Two behaviours, ball-chasing and position-reaching, are studied and implemented. An embodied evolution scheme is adopted, by which the robot autonomously evolves its behaviours based on a layered control architecture. The results show that the robot behaviours can be automatically acquired through the GA-based learning of FLCs.

关键词： genetic algorithms evolutionary robotics fuzzy control behaviour-based robots

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Group Robots Forming a Mechanical Structure - Development of slide motion mechanism and estimation of energy consumption of the structural formation

Group Robots Forming a Mechanical Structure - Development of...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Inou, N Minami, K Koseki, M Tokyo Inst Technol Dept Mech & Control Engn Meguro Ku Tokyo 1528552 Japan

ISBN: (纸本)0780378660

This study deals with group robots forming a mechanical structure. The group robots consist of identical cellular robots with same mechanical structure and information processing. To realize the group robots in hardware, we propose a slide motion mechanism that supports a large mechanical loading. We report the performance test, and energy consumption required for transformation of the cellular robot under various configurations. This paper also discusses the shortest route with minimum energy in transformation when an initial configuration and a final one are given.

关键词： group robots cellular robot structural formation procedure of structural transformation

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Optimal fuzzy control of radial active magnetic bearing systems

Optimal fuzzy control of radial active magnetic bearing syst...

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2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

作者： Yu, Shin-Shiung Wu, Shinq-Jen Lee, Tsu-Tian Department of Electrical and Control Engineering National Chiao-Tung University Hsinchu Taiwan Department of Electrical and Control Engineering Da-Yeh University Chang-Hwa Taiwan

ISBN: (纸本)0780378660

In this paper, a neural-fuzzy approach to develop the optimal fuzzy control of a highly nonlinear radial current-controlled active magnetic bearing (AMB) systems is proposed. A linear self-constructing neural fuzzy inference network is proposed to neural-fuzzy modeling the radial current-controlled AMB system first. Then, the corresponding optimal fuzzy control design scheme is obtained to stabilize the AMB system with minimize current consumption. Simulation results show that the proposed optimal fuzzy controller can operate in widely range of shaft position. © 2003 ieee.

关键词： Fuzzy control

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A centralized tele-teaching system for industrial robots using virtual reality

A centralized tele-teaching system for industrial robots usi...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Cui, MY Dong, ZL Tian, YT Jilin Univ Dept Control Sci & Engn Changchun 130025 Peoples R China

ISBN: (纸本)0780378660

Instead of teaching the robot at the work-site, a novel approach and framework for industrial robots teaching is presented to improve the safety and efficiency of the task. Centralized tele-teaching is the primary concept to achieve such goal. By use of sensor and virtual reality (VR) techniques, the static global task information and the dynamic position and orientation local information on tool and workpiece during the teaching are integrated to the virtual environment (VE) where human operator can remotely monitor and intervene in the teaching process by means of interactive device. To illustrate this, a prototype system for welding task teaching of industrial robot is developed. Preliminary results with the prototype system demonstrate the utility of the approach and framework.

关键词： Industrial robots

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A parameter control method inspired from neuromodulators in reinforcement learning

A parameter control method inspired from neuromodulators in ...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Murakoshi, K Mizuno, J Toyohashi Univ Technol Dept Knowledge Based Informat Engn Toyohashi Aichi Japan

ISBN: (纸本)0780378660

The brain gains appropriate behaviors which gets rewards and escapes punishments by trial-and-error. Reinforcement learning models such a nature's system by an engineering approach. Neuromodulators, which projects widely in brain and adjusts functions in each brain part, are matched with parameters of reinforcement learning. We propose a reinforcement learning algorithm which can follow sudden changes in environment by considering how neuromodulators affect behaviors. This algorithm improves actions by controlling the parameters of reinforcement learning after the obtained reward decreased as compared with the past. Computer simulations shows that the robots with the proposed algorithm are able to respond flexibly to sudden environmental changes.

关键词： Reinforcement learning

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Electroencephalogram-based control of a mobile robot

Electroencephalogram-based control of a mobile robot

引用

2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

作者： Tanaka, Kazuo Matsunaga, Kazuyuki Kanamori, Naoki Hori, Shigeki Wang, Hua O. Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Japan Department of Mechanical Engineering Tottori University Japan Department of Civil and Environmental Engineering University of California Irvine United States Department of Aerospace and Mechanical Engineering Boston University United States

ISBN: (纸本)0780378660

This paper describes electroencephalogram-based control of a mobile robot. The control purpose is to achieve direction control of a mobile robot only by electroencephalogram. We develop an algorithm for detecting direction thinking ('going left' or 'going right') and apply it to direction control of a mobile robot. The detecting algorithm is based on time-frequency domain analysis using continuous wavelet transformation. Our experimental results demonstrate the possibility of achieving direction control of a mobile robot only by electroencephalogram. © 2003 ieee.

关键词： Mobile robots

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Implementation of artificial intelligent control in single-link flexible robot arm

Implementation of artificial intelligent control in single-l...

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2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

作者： Wai, Rong-Jong Duan, Rou-Yong Wang, Wen-Hung Liu, Li-Wei Department of Electrical Engineering Yuan Ze University ChungLi 320 Taiwan

ISBN: (纸本)0780378660

This study addresses the design and properties of an intelligent optimal control of a nonlinear flexible robot arm that is driven by a permanent magnet (PM) synchronous servo motor. The dynamic model of a flexible robot arm system with a tip mass is introduced initially. Moreover, an intelligent optimal control system is proposed to control the motor-mechanism coupling system for periodic motion. In the intelligent optimal control system a fuzzy neural network (FNN) controller is used to learn a nonlinear function in the optimal control law, and a robust controller is designed to compensate the approximate error. In addition, a simple adaptive algorithm is proposed to adjust the uncertain bound in the robust controller avoiding the chattering phenomena. The effectiveness of the proposed control scheme is verified by both the numerical simulation and experimental results. © 2003 ieee.

关键词： controllers

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Passive impedance control with time-varying impedance center

Passive impedance control with time-varying impedance center

引用

2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

作者： Kishi, Yasuo Luo, Zhi Wei Asano, Fumibiko Hosoe, Sbigeyuki Dept. of Electronic-Mechanical Engineering School of Engineering Nagoya Univ. Japan Environment Adaptive Robotic Systems Laboratory Bio-mimetic Control Research Center RIBEN Japan

ISBN: (纸本)0780378660

Humans can perform skillful tasks adaptively and safely while interacting with uncertain dynamic environment. With respect to the adaptation ability, it was pointed out that impedance control could play a center role in the human motor control mechanism. Related with safety, it was reported in robotics that the arm's passivity as seen from its environment or manipulated object is very important. In this paper, we study the passivity of impedance control with time varying impedance center. We propose a novel energy-based control method to adjust the impedance center so that the robot arm can realize passive impedance. We verify the effectiveness of our approach by computer simulations. © 2003 ieee.

关键词： Time varying control systems

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