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检索条件"任意字段=International Asia Conference on Informatics in Control, Automation, and Robotics"

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An Approach based on New Coordination Mechanisms to Improve the Teamwork of Cooperative Intelligent Agents

An Approach based on New Coordination Mechanisms to Improve ...

引用

Mexican international conference on Computer Science (ENC)

作者： Salvador M. Ibarra Christian G. Quintero Josep Ll. De La Rosa Jose A. R. Castan University of Girona Institute of Informatics and Applications Girona Spain Universidad Autónoma de Tamaulipas Centro Universitario Tampico-Madero México

This paper present a novel mechanism based on a characteristic of physical agent named "degrees of situation" that aids to improve the coordination among heterogeneous intelligent agents. These systems can be represented by means of the "physical agent" paradigm. One typical implementation of physical agents is autonomous mobile cooperative robots. In our approach the physical agents have different automatic controllers to generate dynamical diversity in the team-work. Here, dynamic means dynamic temporal evolution of continuous variables of the controlled system. Therefore, the multi-agent systems can be considered as a team of heterogeneous intelligent agents with different capabilities that work together to fulfil some cooperative tasks. In particular, this paper is related to studies about how the team-work improves by the "degrees of situation" management. Result and conclusions are shown, emphasizing contributions of the approach in the improvement of the cooperative team-work

关键词： Teamwork Intelligent agent Robot kinematics Multiagent systems Layout informatics Mobile robots robotics and automation Automatic generation control Automatic control

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Q-RAN: A Constructive Reinforcement Learning Approach for Robot Behavior Learning

Q-RAN: A Constructive Reinforcement Learning Approach for Ro...

引用

2006 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Li Jun Achim Lilienthal Tomas Martinez-Marin Tom Duckett AASS Department of Technology Orebro University Orebro Sweden Department of Physics System Engineering and Signal Theory University of Alicante Alicante Spain Department of Computing and Informatics University of Lincoln Lincoln UK

This paper presents a learning system that uses Q-learning with a resource allocating network (RAN) for behavior learning in mobile robotics. The RAN is used as a function approximator, and Q-learning is used to learn the control policy in 'off-policy' fashion that enables learning to be bootstrapped by a prior knowledge controller, thus speeding up the reinforcement learning. Our approach is verified on a PeopleBot robot executing a visual servoing based docking behavior in which the robot is required to reach a goal pose. Further experiments show that the RAN network can also be used for supervised learning prior to reinforcement learning in a layered architecture, thus further improving the performance of the docking behavior

关键词： Learning systems Radio access networks Intelligent robots State-space methods Backpropagation Neurons robotics and automation Mobile robots Resource management Visual servoing

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Finding Resonance: Adaptive Frequency Oscillators for Dynamic Legged Locomotion

Finding Resonance: Adaptive Frequency Oscillators for Dynami...

引用

2006 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Jonas Buchli Fumiya Iida Auke Jan Ijspeert Biologically Inspired Robotics Group Ecole Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland Department of Informatics University of Zürich Zürich Switzerland

There is much to gain from providing walking machines with passive dynamics, e.g. by including compliant elements in the structure. These elements can offer interesting properties such as self-stabilization, energy efficiency and simplified control. However, there is still no general design strategy for such robots and their controllers. In particular, the calibration of control parameters is often complicated because of the highly nonlinear behavior of the interactions between passive components and the environment. In this article, we propose an approach in which the calibration of a key parameter of a walking controller, namely its intrinsic frequency, is done automatically. The approach uses adaptive frequency oscillators to automatically tune the intrinsic frequency of the oscillators to the resonant frequency of a compliant quadruped robot. The tuning goes beyond simple synchronization and the learned frequency stays in the controller when the robot is put to halt. The controller is model free, robust and simple. Results are presented illustrating how the controller can robustly tune itself to the robot, as well as readapt when the mass of the robot is changed. We also provide an analysis of the convergence of the frequency adaptation for a linearized plant, and show how that analysis is useful for determining which type of sensory feedback must be used for stable convergence. This approach is expected to explain some aspects of developmental processes in biological and artificial adaptive systems that "develop" through the embodied system-environment interactions

关键词： Resonance Resonant frequency Oscillators Legged locomotion Robot control Calibration Automatic control robotics and automation Robust control Robot sensing systems

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Improvement against Noises in Self-Organizing Logic Circuit

Improvement against Noises in Self-Organizing Logic Circuit

引用

international conference on Information and automation (ICIA)

作者： Chyon Hae Kim Jyun-ichi Idesawa Shigeki Sugano Tetsuya Ogata Department of Mechanical Engineering Waseda University Shinjuku-ku Tokyo Japan Graduate School of Informatics Kyoto University Sakyo-ku Kyoto Japan

We proposed and evaluated a network learning method called self-organizing network elements (SONE). Autonomous exploration of effective output, the use of simple external parameters, and low calculation costs were functions achieved for a robot system with this method. However, there is the need to improve performance against noises for learning more complicated tasks. Therefore, we propose a technique to adjust thresholds in a self-organizing logic circuit based on SONE. In our experiments, performing 3-bit operation tasks, controlling a Khepera robot, and generating new elements was appropriately controlled with this technique. Also, network performance against noises was improved as a result of using the proposed method

关键词： Circuit noise Logic circuits Learning systems Robot control Neural networks Costs Resonance light scattering Self-organizing networks Orbital robotics State-space methods

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Walking control of the humanoid UT-Theta

Walking control of the humanoid UT-Theta

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12th international conference on Advanced robotics, 2005. ICAR '05

作者： Zonfrilli, Fabio Wollherr, Dirk Nakamura, Yoshihiko Dip. di Informatica e Sistemistica Universita di Roma La Sapienza Inst. of Automatic Control Engineering Technical University Munich Dept. of Mechano-Informatics University of Tokyo

ISBN: (纸本)0780391772

This paper discusses walking control of Theta, an innovative humanoid walking robot equipped with a double spherical hip joint and a knee joint switchable between active and passive operation mode, which has been been developed at the University of Tokyo. The walking generator and controller is presented, including some implementation aspects. It is based on the inverted pendulum approach with the innovative feature of fully using the double support phase for the walking generation and control. A method for estimating the body orientation without using gyroscopes and accelerometers is also proposed, together with the main ideas regarding the control of the active/passive knee. Relevance to practical application is proved by hardware experiments. © 2005 IEEE.

关键词： Mobile robots

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Active-passive knee control for the humanoid UT-Theta

Active-passive knee control for the humanoid UT-Theta

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12th international conference on Advanced robotics, 2005. ICAR '05

作者： Wollherr, Dirk Zonfrilli, Fabio Nakamura, Yoshihiko Inst. of Automatic Control Engineering Technische Universität München Dip. di Informatica e Sistemistica Universita di Roma La Sapienza Dept. of Mechano-Informatics University of Tokyo

ISBN: (纸本)0780391772

This paper discusses low level control of the humanoid UT-Theta which has been been developed at the University of Tokyo. This innovative humanoid walking robot is equipped with knee joint switchable between active and passive operation mode using a backlash clutch. A nonlinear, time optimal, hybrid controller for this knee joint is presented. The controller avoids discontinuities in the commanded trajectories thus ensuring smooth trajectory following. Relevance to practical application is shown in hardware experiments. © 2005 IEEE.

关键词： Mobile robots

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Visual control of an unmanned aerial vehicle for power line inspection

Visual control of an unmanned aerial vehicle for power line ...

引用

12th international conference on Advanced robotics, 2005. ICAR '05

作者： Golightly, Ian Jones, Dewi IEEE School of Informatics University of Wales Dean Street Bangor Gwynedd United Kingdom

ISBN: (纸本)0780391772

Using a robotic vehicle to inspect overhead power lines has many attractions. The concept of a small, rotorcraft which draws its power from the lines is introduced here. Some of its advantages compared with a free-flying aircraft are discussed. Achieving the required degree of autonomy and reliable power pick-up needs good control of the position and attitude of the vehicle relative to the overhead line. The paper considers an artificial-vision system, based on the Hough transform, for this purpose. A laboratory test rig is described which incorporates a dynamic model for a small, ducted-fan rotorcraft so that the response of the vehicle to wind gusts can be emulated. Measurements show that the closed-loop vision system is capable of counteracting the effect of such disturbances and maintaining the vehicle's position relative to the line. © 2005 IEEE.

关键词： Unmanned vehicles

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Stability analysis of Passive-Dynamic-Walking focusing on the inner structure of Poincaré map

Stability analysis of Passive-Dynamic-Walking focusing on th...

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12th international conference on Advanced robotics, 2005. ICAR '05

作者： Sugimoto, Yasuhiro Osuka, Koichi Dept. of Systems Science Graduate School of Informatics Kyoto Univ. Gokasyo Uji Kyoto 611-0011 Japan Dept. of Mechanical Engineering Graduate School of Science and Technology Kobe Univ. Rokkodai Nada Kobe 657-8501 Japan

ISBN: (纸本)0780391772

The purpose of this paper is to analyze the stability of Passive Dynamic Walking using an approximate analytical Poincaré map of the impact point, which is the state of walking robot at the collision between a swing leg and ground. Especially, in this paper, we focus on the feedback structure in equations which are used to get the Poincaré map, and consider the relationship between stability of Passive-Dynamic-Walking and the feedback structure. In this process, we derive a control method of Quasi Passive-Dynamic-Walking which utilizes the inner structure of Poincaré map and confirm the effectiveness of the control method via several simulations. © 2005 IEEE.

关键词： Gait analysis

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Exploiting body dynamics for controlling a running quadruped robot

Exploiting body dynamics for controlling a running quadruped...

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12th international conference on Advanced robotics, 2005. ICAR '05

作者： Iida, Fumiya Gómez, Gabriel Pfeifer, Rolf Artificial Intelligence Laboratory Department of Informatics University of Zurich Andreasstrasse 15 CH-8050 Zurich Switzerland

ISBN: (纸本)0780391772

Exploiting the body dynamics to control the behavior of robots is one of the most challenging issues, because the use of body dynamics has a significant potential in order to enhance both complexity of the robot design and the speed of movement. In this paper, we explore the control strategy of rapid four-legged locomotion by exploiting the intrinsic body dynamics. Based on the fact that a simple model of four-legged robot is known to exhibit interesting locomotion behavior, this paper analyzes the characteristics of the dynamic locomotion for the purpose of the locomotion control. The results from a series of running experiments with a robot show that, by exploiting the unique characteristics induced by the body dynamics, the forward velocity can be controlled by using a very simple method, in which only one control parameter is required. Furthermore it is also shown that a few of such different control parameters exist, each of them can control the forward velocity. Interestingly, with these parameters, the robot exhibits qualitatively different behavior during the locomotion, which could lead to our comprehensive understanding toward the behavioral diversity of adaptive robotic systems. © 2005 IEEE.

关键词： Robots

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Self-organizing algorithm for logic circuit based on local rules

Self-organizing algorithm for logic circuit based on local r...

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Proceedings of the 2005 IEEE/ASME international conference on Advanced Intelligent Mechatronics, AIM 2005

作者： Kim, Chyon Hae Ogata, Tetsuya Sugano, Shigeki Department of Mechanical Engineering Waseda University 3-4-1 Okubo Shinjuku-ku Tokyo 169-8555 Japan Graduate School of Informatics Kyoto University Yoshida-Honmachi Sakyo-ku Kyoto 606-8501

This study discusses a learning algorithm for autonomous robots that has five characteristics including autonomous exploration of effective output, low calculation costs, capability for multi-tasking, reusing past knowledge, and handling time series. We propose the use of self-organizing network elements (SONE) as a method for creating learning systems that provide these characteristics. Using this method, we created and evaluated a Self-Organizing Logic Circuit. The results of our experiments showed that this learning system met the requirements by being capable of creating a basic logic circuit, learning additional knowledge, controlling a simple robot in a simulation, and solving a maze problem. ©2005 IEEE.

关键词： Robots

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