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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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Neural algorithms of path planning for mobile robots in transport systems

Neural algorithms of path planning for mobile robots in tran...

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international Joint conference on Neural Networks (IJCNN)

作者： F.A. Kolushev A.A. Bogdanov St. Petersburg Institute for Informatics Automation of Russian Academy ofScience Saint Petersburg Russia

Methods of control of mobile robotic systems are described. To solve the problem of real time motion planning and control of several mobile robots, it is necessary to apply methods of neural control, combined with artificial intelligence (AI). The control system may be of single-level type (with equal robots) and two-level type with a special coordinator (supervisor), which provides motion coordination for individual robots. The main and most difficult problem of optimal control of a robot team is to plan robots motion, concerning both obstacles in the working zone and other moving robots. In mathematical sense the problem can be considered as optimization of the whole system functional which consists of individual robot functionals with constraint of some common resources. For a group of mobile robots such resources are represented by a free space in the working zone.

关键词： Path planning Mobile robots Robot kinematics Robot sensing systems Motion control control systems Artificial intelligence Orbital robotics Robot control Motion planning

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Gyroscopes and Accelerometers in the Robot control

Gyroscopes and Accelerometers in the Robot Control

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2012 international conference on Mechanical Materials and Manufacturing Engineering(ICMMME 2012)

作者： Pavol Bo?ek Tomá? Pintér Slovak University of Technology Faculty of Materials Science and Technology Institute of Applied Informatics Automation and Mathematics

The paper deals with constructing the inertial navigation system(hereafter INS) which will be utilized for the calibration of a robotic workplace. The calibration is necessary for adapting the simulation of a production device model to real geometric conditions. The goal is to verify experimentally the proposed inertial navigation system in real conditions of the industrial robot operation.

关键词： Inertial system Micromechanical sensor Calibration Industrial robot

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Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal control

Crocoddyl: An Efficient and Versatile Framework for Multi-Co...

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IEEE international conference on robotics and automation (ICRA)

作者： Carlos Mastalli Rohan Budhiraja Wolfgang Merkt Guilhem Saurel Bilal Hammoud Maximilien Naveau Justin Carpentier Ludovic Righetti Sethu Vijayakumar Nicolas Mansard Gepetto Team LAAS-CNRS Toulouse France School of Informatics University of Edinburgh Edinburgh UK The Alan Turing Institute Edinburgh UK Oxford Robotics Institute University of Oxford UK Max Planck Institute for Intelligent Systems Tübingen Germany Tandon School of Engineering New York University USA INRIA ENS CNRS PSL Research University Paris France

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

We introduce Crocoddyl (Contact RObot control by Differential DYnamic Library), an open-source framework tailored for efficient multi-contact optimal control. Crocoddyl efficiently computes the state trajectory and the control policy for a given predefined sequence of contacts. Its efficiency is due to the use of sparse analytical derivatives, exploitation of the problem structure, and data sharing. It employs differential geometry to properly describe the state of any geometrical system, e.g. floating-base systems. Additionally, we propose a novel optimal control algorithm called Feasibility-driven Differential Dynamic Programming (FDDP). Our method does not add extra decision variables which often increases the computation time per iteration due to factorization. FDDP shows a greater globalization strategy compared to classical Differential Dynamic Programming (DDP) algorithms. Concretely, we propose two modifications to the classical DDP algorithm. First, the backward pass accepts infeasible state-control trajectories. Second, the rollout keeps the gaps open during the early "exploratory" iterations (as expected in multipleshooting methods with only equality constraints). We showcase the performance of our framework using different tasks. With our method, we can compute highly-dynamic maneuvers (e.g. jumping, front-flip) within few milliseconds.

关键词： Optimal control Trajectory Optimization Heuristic algorithms Dynamic programming Robots Acceleration

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Modeling and Force control of a Terramechanical Wheel-Soil Contact for a Robotic Manipulator Used in the Planetary Rover Design Process

Modeling and Force Control of a Terramechanical Wheel-Soil C...

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2019 IEEE/RSJ international conference on Intelligent Robots and Systems (IROS)

作者： Jan Wachter Ralf Mikut Fabian Buse Institute for Automation and Applied Informatics (IAI) Karlsruhe Institute of Technology Karlsruhe Germany German Aerospace Center (DLR) Institute of System Dynamics and Control Oberpfaffenhofen Germany

The German Aerospace Center (DLR) has developed the Terramechanics robotics Locomotion Lab (TROLL) to provide a feasible testing facility for developing planetary exploration rovers, as well as validating terramechanical models. A robotic manipulator is used to provide the required degrees of freedom to the mounted wheel or subsystem, making it necessary to actively control the interaction force of the wheel-soil contact. This paper is concerned with the development of a feasible force control strategy for the testbench wheel-soil contact during single-wheel experiments. For this purpose, a terramechanical model has been developed to accurately map the dynamic processes relevant for the force control design, which is later used in a testbench simulation framework to predict and evaluate the performance of control strategies. The Adaptive Admittance control (AAC) scheme developed is adapting the gain based on the current control deviation, the rotational velocity of the wheel and an estimated soil stiffness during the experiment. The AAC is evaluated using a benchmark single-wheel experiment and shows superior performance compared to standard admittance control.

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Sentiment Analysis Twitter (X) Users Towards the Boycott of Pro-Israel Brand Using Support Vector Machine Method with SMOTE Approach

Sentiment Analysis Twitter (X) Users Towards the Boycott of ...

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control & automation, Electronics, robotics, Internet of Things, and Artificial Intelligence (CERIA), IEEE international conference on

作者： Hana Patricia Mawarnie Widodo Murien Nugraheni Dept. of Informatics and Computer Engineering Education Universitas Negeri Jakarta Jakarta Indonesia Dept. of Information System and Technology Universitas Negeri Jakarta Jakarta Indonesia

ISBN: (数字)9798331511166

ISBN: (纸本)9798331511173

The Israel-Palestine conflict that occurred on October 7, 2023, resulted in a boycott of brands known to be pro-Israel. Twitter or X, as one of the largest social media platforms in the world, became a platform for people to voice their opinions regarding the boycott. This study aims to analyze the sentiment of Twitter or X users towards the boycott of pro-Israel brands using the Support Vector Machine (SVM) method with the SMOTE (Synthetic Minority Oversampling Technique) approach. The Support Vector Machine (SVM) method is a machine learning method used for classification and regression. SMOTE is a technique used to overcome data imbalance. The data used in this study is Indonesian language tweet data from October 7, 2023, to April 7, 2024. The data was collected using data crawling techniques. The results of the study from the 80:20 data split, show that the Support Vector Machine (SVM) polynomial kernel model with the SMOTE technique has better performance in analyzing the sentiment of Twitter or X users towards the boycott of pro-Israel brands, with an accuracy value of 98,47%.

关键词： Support vector machines Sentiment analysis Accuracy Social networking (online) Blogs Machine learning Polynomials Internet of Things Kernel Robots

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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 ...

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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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Motion planning for humanoid robots under obstacle and dynamic balance constraints

Motion planning for humanoid robots under obstacle and dynam...

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IEEE international conference on robotics and automation (ICRA)

作者： J. Kuffner K. Nishiwaki S. Kagami M. Inaba H. Inoue Department of mechano-Informatics University of Tokyo Japan

ISBN: (纸本)0780365763

We present an approach to path planning for humanoid robots that computes dynamically-stable, collision-free trajectories from full-body posture goals. Given a geometric model of the environment and a statically-stable desired posture, we search the configuration space of the robot for a collision-free path that simultaneously satisfies dynamic balance constraints. We adapt existing randomized path planning techniques by imposing balance constraints on incremental search motions in order to maintain the overall dynamic stability of the final path. A dynamics filtering function that constrains the ZMP (zero moment point) trajectory is used as a post-processing step to transform statically-stable, collision-free paths into dynamically-stable, collision-free trajectories for the entire body. Although we have focused our experiments on biped robots with a humanoid shape, the method generally applies to any robot subject to balance constraints (legged or not). The algorithm is presented along with computed examples using the humanoid robot "H6".

关键词： Motion planning Humanoid robots Path planning Legged locomotion Hardware Vehicle dynamics Trajectory Stability Robot sensing systems Robot control

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A robot referee for rock-paper-scissors sound games

A robot referee for rock-paper-scissors sound games

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IEEE international conference on robotics and automation (ICRA)

作者： Kazuhiro Nakadai Shunichi Yamamoto Hiroshi G. Okuno Hirofumi Nakajima Yuji Hasegawa Hiroshi Tsujino Honda Research Institute Japan Company Limited Wako Saitama Japan Graduate School of Informatics Kyoto University Sakyo Kyoto Japan

This paper describes a robot referee for "rock- paper-scissors (RPS)" sound games; the robot decides the winner from a combination of rock, paper and scissors uttered by two or three people simultaneously without using any visual information. In this referee task, the robot has to cope with speech with low signal-to-noise ratio (SNR) due to a mixture of speeches, robot motor noises, and ambient noises. Our robot referee system, thus, consists of two subsystems - a real-time robot audition subsystem and a dialog subsystem focusing on RPS sound games. The robot audition subsystem can recognize simultaneous speeches by exploiting two key ideas; preprocessing consisting of sound source localization and separation with a microphone array, and system integration based on missing feature theory (MFT). Preprocessing improves the SNR of a target sound signal using geometric source separation with a multi-channel post-filter. MFT uses only reliable acoustic features in speech recognition and masks out unreliable parts caused by interfering sounds and preprocessing. MFT thus provides smooth integration between preprocessing and automatic speech recognition. The dialog subsystem is implemented as a system-initiative dialog system for multiple players based on deterministic finite automata. It first waits for a trigger command to start an RPS sound game, controls the dialog with players in the game, and finally decides the winner of the game. The referee system is constructed for Honda ASIMO with an 8-ch microphone array. In the case with two players, we attained a 70% task completion rate for the games on average.

关键词： Robots Microphone arrays Signal to noise ratio Acoustic noise Real time systems Source separation Speech recognition Automatic speech recognition Automata Automatic control

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Robot Coordination based on Biologically Inspired Methods

Robot Coordination based on Biologically Inspired Methods

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2012 international conference on Environmental and Materials Engineering(EME 2012)

作者： Marek Masár Ivana Budinská Slovak Academy of Sciences Institute of Informatics

An embedded particle swarm optimization(PSO)technique combined with virtual pheromones deposition and rules for artificial bird flocking is proposed to handle an area coverage problem using a swarm of mobile robots.A simulation tool VERA that was developed to simulate a swarm behavior of a group of mobile agents is *** of simulation experiments and tests on Lego robots that prove the concept are *** are discussed and future development is suggested in the end of the paper.

关键词： robotic automation and control swarm robotics coordination particle swarm optimization virtual pheromones mechatronics

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Predictive Modeling of Periodic Behavior for Human-Robot Symbiotic Walking

Predictive Modeling of Periodic Behavior for Human-Robot Sym...

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IEEE international conference on robotics and automation (ICRA)

作者： Geoffrey Clark Joseph Campbell Seyed Mostafa Rezayat Sorkhabadi Wenlong Zhang Heni Ben Amor School of Computing Informatics and Decision Systems Engineering Arizona State University The Polytechnic School Arizona State University Mesa AZ USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

We propose in this paper Periodic Interaction Primitives - a probabilistic framework that can be used to learn compact models of periodic behavior. Our approach extends existing formulations of Interaction Primitives to periodic movement regimes, i.e., walking. We show that this model is particularly well-suited for learning data-driven, customized models of human walking, which can then be used for generating predictions over future states or for inferring latent, biomechanical variables. We also demonstrate how the same framework can be used to learn controllers for a robotic prosthesis using an imitation learning approach. Results in experiments with human participants indicate that Periodic Interaction Primitives efficiently generate predictions and ankle angle control signals for a robotic prosthetic ankle, with MAE of 2.21° in 0.0008s per inference. Performance degrades gracefully in the presence of noise or sensor fall outs. Compared to alternatives, this algorithm functions 20 times faster and performed 4.5 times more accurately on test subjects.

关键词： Legged locomotion Robot sensing systems Biomechanics Predictive models Prosthetics Probabilistic logic

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