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Reinforcement learning of sensor-based reaching strategies for a two-link manipulator

Reinforcement learning of sensor-based reaching strategies f...

引用

Proceedings of IEEE/RSJ international conference on Intelligent Robots and Systems. IROS '96

作者： P. Martin J. del R. Millan Department of Computer Science University of Jaume-I Spain Institute for Systems Informatics and SafetyJoint Research Centre European Commission Varese Italy

This paper presents a neural controller that learns goal-oriented obstacle-avoiding reaction strategies for a multilink robot arm. It acquires these strategies through reinforcement learning from local sensory data. The robot arm has rings of range sensors placed along its links. The neural controller achieves a good performance quite rapidly and shows good generalization abilities in the face of new environments. Suitable input and output codification schemes help greatly to attain these aims. The input codification exploits the inherent symmetry of the robot kinematics and the action given by the controller is interpreted with regard to the shortest path vector (SPV) to the closest goal in the configuration space. In order to avoid the SPV computation for multilink manipulators, we put forward the use of a module for differential inverse kinematics based on the inversion of a neural network that has been previously trained to approximate the manipulator forward kinematics. The use of this module does not only get round the SPV calculation, but also speeds up the learning process.

关键词： Learning Robot sensing systems Manipulators Orbital robotics robotics and automation control systems Artificial neural networks Computer science Robot kinematics Computer networks

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Application of Nonlinear control Theory to Path Tracking control of Articulated Vehicles

Application of Nonlinear Control Theory to Path Tracking Con...

引用

IEEE international conference on robotics and automation (ICRA)

作者： M. Sampei T. Kobayashi Y. Tajima N. Shibui M. Ishikawa Department of Mechanical and Environmental Informatics Graduate School of Information Science and Engineering Tokyo Institute of Technology Okayama Tokyo Japan Department of Electrical and Electronics Engineering Faculty of Engineering Chiba University Japan

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Posture control of 6-leg walking robot

Posture control of 6-leg walking robot

引用

IEEE international conference on robotics and automation (ICRA)

作者： T. Fukuda Y. Adachi H. Hoshino K. Kosuge I. Matsunaga F. Arai Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan Takenaka Corporation Chiba Japan

This paper describes a walking method and inclination control experiments of the new omni-directional walking robot, which has six legs and can move in any direction. The mechanism consists of a parallel link mechanism connecting the two frames with three linear actuators. Legs are attached to each frame. The relative position and angle of the two frames are selected arbitrarily in accordance with the length of three actuators, and the posture of it's upper surface are changed with extendable legs. The walking mechanism is composed by combining the two functions. The mechanism and control method of this robot are presented in this paper.

关键词： Legged locomotion Leg Mobile robots Service robots Medical robotics Joining processes Orbital robotics robotics and automation Prototypes Hydraulic actuators

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Prototyping a nonholonomic manipulator

Prototyping a nonholonomic manipulator

引用

IEEE international conference on robotics and automation (ICRA)

作者： W.J. Chung Y. Nakamura O.J. Sordalen Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan ABB Teknologi AS Billingstad Norway

We proposed a nonholonomic manipulator which is a controllable n joints manipulator with only two inputs, exploiting a special kind of velocity transmission called a nonholonomic gear. Since the nonholonomic manipulator was theoretically designed from the viewpoint of kinematic constraints and nonlinear control, the mechanical implementation and prototyping are extremely important in practice. In this paper, the principle of mechanical design of a nonholonomic manipulator is established, and the experimental results are shown using a prototype nonholonomic manipulator.

关键词： Prototypes Wheels Gears Manipulators Angular velocity Kinematics Constraint theory Velocity control Mechanical systems Actuators

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Shape-memory-alloy active forceps for laparoscopic surgery

Shape-memory-alloy active forceps for laparoscopic surgery

引用

IEEE international conference on robotics and automation (ICRA)

作者： Y. Nakamura A. Matsui T. Saito K. Yoshimoto Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

In laparoscopic surgery, forceps are stuck through trocars into the abdominal cavity, and dissect and grasp internal organs. Because of their straight shapes, the current forceps suffer from the narrow range of operation and limit the skill of surgeons. In this paper, we propose active forceps actuated by unconventional use of shape memory alloy. In developing active forceps, we utilize two properties of shape memory alloy, shape memory effect and super elasticity The forceps possess both stiffness for transmitting operation forces from surgeons and flexibility in changing their shapes.

关键词： Minimally invasive surgery Shape memory alloys Laparoscopes Elasticity Biomedical imaging Instruments Abdomen Copper alloys Temperature Pressure control

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Robot manipulator contact force control application of fuzzy-neural network

Robot manipulator contact force control application of fuzzy...

引用

IEEE international conference on robotics and automation (ICRA)

作者： K. Kiguchi T. Fukuda Dept. of Ind. & Syst. Eng. Niigata Coll. of Technol. Niigata Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

A lot of researches have been done on fuzzy-neural control, the combination of neural networks control which has a learning ability from experiments and fuzzy control which has an ability of dealing with human knowledge, in order to make up for each other's weak points. In this paper, fuzzy-neural controller is introduced for robot manipulator contact force control to an unknown environment. A robot manipulator controller, which approaches, contacts and applies force to the environment, is designed using fuzzy logic in order to realize human like control and then modeled as a neural network to adjust membership functions and rules in order to achieve desired contact force control. Error between desired force and measured force and momentum of robot manipulator are used as input signals of the controller. Simulation has done using a 3DOF planar robot manipulator to confirm the effectiveness of the controller for the tasks of approach, contact and force control.

关键词： Manipulators Force control Force measurement Neural networks Humans Fuzzy control Humanoid robots Robot control Fuzzy logic Error correction

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Tele-manipulation system based on task-oriented virtual tool

Tele-manipulation system based on task-oriented virtual tool

引用

IEEE international conference on robotics and automation (ICRA)

作者： K. Kosuge T. Itoh T. Fukuda M. Otsuka Dept. of Mech. Eng. Tohoku Univ. Sendai Japan Department of Mechano Informatics and Systems University of Nagoya Nagoya Japan Research Laboratories Nippondenso Company Limited Nissin Aichi Japan

This paper proposes an alternative control algorithm for a tele-manipulator system based on a task-oriented virtual mechanism. For a given task, a task-oriented virtual tool (or a task-oriented virtual mechanism) is designed so that it has the tool dynamics which is used as a tool and assists an operator. Then the authors design a controller for the tele-manipulator system which has the dynamics of the task-oriented tool. Thus, the maneuverability of the system is greatly improved by controlling the tele-manipulator system so that the system behaves as a tool. In this paper, the authors discuss the total stability of the resultant system in view of passivity. Because the system satisfies the passivity condition, the total stability is guaranteed for a passive environment with unknown dynamics by assuming the passivity of a human operator. The proposed control algorithm is experimentally applied to a tele-manipulator system. The experimental results illustrate the validity of the proposed control algorithm.

关键词： Manipulator dynamics Master-slave control systems Force control Motion control Surface impedance Algorithm design and analysis Humans

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Bilateral telemanipulator system with communication time delay based on force-sum-driven virtual internal models

Bilateral telemanipulator system with communication time del...

引用

IEEE international conference on robotics and automation (ICRA)

作者： M. Otsuka N. Matsumoto T. Idogaki K. Kosuge T. Itoh Research Laboratories Nippondenso Company Limited Aichi Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Aichi Japan

This paper proposes a new control system for bilateral telemanipulators to overcome one of the severest problems, the instability in the presence of time delay in data transmission. The control system proposed is based on the impedance control with virtual internal models (VIMs) driven by the sum of two forces detected on a master and a slave. The sufficient condition for the stability with arbitrary time delay is given based on small gain theorem. The sufficient condition can be satisfied by choosing appropriate parameters of the VIMs. Consequently, the control system is stable under any time delay. The proposed control system is applied to an experimental teleoperation system, which consists of two manipulators different in size. Data for teleoperation are transmitted through wireless LAN (256 kbps, max.). With this system, a stable contact task (to teach a desired position of the slave) was accomplished even with the time delay of 0.5 second. And it has been experimentally verified that the system is stable when time delay varies at random or when data transmission ceases and resumes.

关键词： Delay effects Communication system control control systems Data communication Force control Sufficient conditions control system synthesis Impedance Master-slave Stability

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Micromanipulation using magnetic field

Micromanipulation using magnetic field

引用

IEEE international conference on robotics and automation (ICRA)

作者： T. Inoue K. Iwatani I. Shimoyama H. Miura Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

Magnetic force is useful for manipulating objects without contact. We propose a method of micromanipulation using this force. The concept is based upon linkage-free end-effectors and different from the concept of serial-link manipulators. Multiple cylindrical permanent magnets work as end-effectors. The permanent magnets on the stage, above an arrangement of solenoids, manipulate objects by pushing. Furthermore, 3D manipulation can be achieved as a link mechanism is used. A prototype of the manipulator has been fabricated. The manipulation field measures 4.5 cm/spl times/4.5 cm and consists of 6/spl times/6 solenoids. The magnets are 6 mm in diameter. The ability of a magnet to follow a control signal and the force for pushing an object have been evaluated. Furthermore, a prototype of the link mechanism has been fabricated. The vertical force for pushing down and pulling up an object have also been evaluated.

关键词： Magnetic fields Solenoids Leg Prototypes Power supplies Magnetic forces Permanent magnets Force control Shafts

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Manipulation of a flexible object by dual manipulators

Manipulation of a flexible object by dual manipulators

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IEEE international conference on robotics and automation (ICRA)

作者： K. Kosuge H. Yoshida T. Fukuda M. Sakai K. Kanitani Department of Mechanical Engineering University of Tohoku Sendai Japan Robot Development Department Nachi-Fujikoshi Corporation Ishigami Toyama Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

Proposes a control algorithm of dual manipulators handling a flexible sheet metal. How to bend a sheet metal and how to manipulate the deformed sheet are discussed in this paper. First the authors derive the relation between the static deformation of the sheet metal and the bending moments exerted on the sheet using Lagrange's equation based on a finite element model of the sheet. The authors then design a control algorithm by which the motion of the manipulated sheet is controlled using the resultant force applied to the sheet and the deformation of the sheet is controlled using the internal force applied to the sheet. Since the rigidity of the deformed sheet is not uniform, that is, the stiffness of the deformed sheet may depend on the direction along which the external force is applied, the authors cannot use the compliance of the flexible sheet for tasks having interactions between the sheet and its environment. The proposed control algorithm is designed so that the apparent impedance of the manipulated sheet metal is specified. The experimental results using industrial robots illustrate the validity of the proposed control system.

关键词： Force control Motion control Algorithm design and analysis Lagrangian functions Equations Finite element methods Deformable models Impedance Electrical equipment industry Industrial control

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