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Hierarchical control architecture for Cellular Robotic System-simulations and experiments

Hierarchical control architecture for Cellular Robotic Syste...

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IEEE international conference on robotics and automation (ICRA)

作者： An-Hui Cai T. Fukuda F. Arai T. Ueyama A. Sakai Department of Mechano-Informatics & Systems University of Nagoya Nagoya Japan

Describes the hierarchical control architecture of real mobile robots for Cellular Robotic System Mark-V (CEBOT Mark-V). A parallel processing control system has been adopted, and by adjusting the role of parallel processes standing for the states of independent primitive behaviors, the change of system organization is realized to adapt the redefinition of plural tasks and the variation of environments. The authors propose a method for decision making of a mobile robot's behavior through integrating multiple behavioral processes. The authors define two relation matrices denoting the relationship among the processes: the priority matrix and the interest relation matrix. The matrices are used to adjust the outputs of behavioral processes and optimize the behavior of mobile robots. To obtain the most suitable priority matrix, the authors introduce a learning-adapting algorithm. The results of simulation and experiment with a real CEBOT Mark-V showed the effectiveness of the proposed matrices and learning-adapting algorithm. On the other hand, instead of simply selecting processes for decision making of the robot's behavior, the integration of multiple processes based on the proposed matrices enhanced the control robustness of robot system.

关键词： control systems Robot kinematics Mobile robots Decision making Infrared sensors Robot control Robust control Prototypes Electronic mail Parallel processing

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Learning architecture for real robotic systems-extension of connectionist Q-learning for continuous robot control domain

Learning architecture for real robotic systems-extension of ...

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IEEE international conference on robotics and automation (ICRA)

作者： F. Saito T. Fukuda Department of Mechano-Informatics and Systems School of Engineering University of Nagoya Nagoya Japan

This paper describes the overall architecture for complex motion learning of practical robotic systems and then proposes a method to extend reinforcement learning to the domain of continuous robot control problem in order to apply it to behavior learning of practical robotic systems. To represent continuous control variables, CMAC is employed for utility networks, and to fully utilize experiences, experience sequences are stored and replayed with priorities. As a testbed, the learning system is applied in simulation to the control of swing amplitude of a two-link brachiation robot which is hardly constrained with dynamics.< >

关键词： Learning systems Robot control Optimal control control systems Motion control Systems engineering and theory System testing Educational robots control system synthesis Performance analysis

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A passivity-based force/position control scheme for robot manipulators

A passivity-based force/position control scheme for robot ma...

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IEEE international conference on robotics and automation (ICRA)

作者： B. Siciliano L. Villani Dipartimento di Informatics e Sistemistica Università degli Studi di Napoli Federico II Napoli Italy

The problem of designing a control scheme for robot manipulators in contact with a compliant surface is considered. A passivity-based force/position control scheme is designed. A keen choice of the reference vector used in the control law is proposed as a function of the end-effector position and velocity errors and the integral of the contact force error. It is demonstrated that the scheme ensures tracking of the unconstrained components of the desired end-effector trajectory with regulation of the desired contact force along the constrained direction. In the imperfect model compensation case, the scheme is made adaptive with respect to a set of dynamic parameters. Numerical case studies are presented for an industrial robot manipulator.< >

关键词： Force control Position control Error correction Manipulator dynamics Force sensors Service robots Robot control Force feedback Gravity Orbital robotics

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Design of a nonholonomic manipulator

Design of a nonholonomic manipulator

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IEEE international conference on robotics and automation (ICRA)

作者： O.J. Sordalen Y. Nakamura W.J. Chung Department of Mechano-Informatics University of Tokyo Japan Department of Engineering Cybernetics Norwegian Institute of Technology Trondheim Norway Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

Nonholonomic systems are typically controllable in a configuration space of higher dimension than the input space. Here, it is shown how nonholonomic constraints can be exploited to design a controllable n-joint manipulator with only two inputs. Gears subject to nonholonomic constraints are designed to transmit velocities from the inputs to the unactuated joints. The designed nonholonomic manipulator is shown to be completely controllable in the whole configuration space. The system is designed with a triangular structure for which a conversion into chained form is presented. The nonholonomic manipulator can, therefore, be controlled using existing controllers for chained form.< >

关键词： Manipulators Gears Robot kinematics Mobile robots Actuators control systems Orbital robotics Wheels Space technology Cybernetics

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Recurrent neural network modeling and learning control of flexible plates by nonlinear handling system

Recurrent neural network modeling and learning control of fl...

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IEEE international conference on robotics and automation (ICRA)

作者： F. Arai T. Tanaka T. Fukuda Department of Mechano-Informatics and Systems School of Engineering University of Nagoya Nagoya Japan

Proposes a trajectory control method for a flexible plates handling system with unknown parameters and joint friction. First a recurrent neural network (RNN) learns the dynamics model of the flexible plate handled by a robotic manipulator. Next, the authors obtain the feedfoward control input based on the RNN model using the proposed learning control method. The authors applied this repetitive method to both linear system and nonlinear system control. Coulomb friction is considered at the joint as the nonlinear effect. Simulation examples are conducted to show effectiveness of the proposed method.< >

关键词： Recurrent neural networks Friction Nonlinear dynamical systems Nonlinear control systems control systems Manipulator dynamics Conducting materials Trajectory Robots Linear systems

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Robustness of power grasp

Robustness of power grasp

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IEEE international conference on robotics and automation (ICRA)

作者： X.-Y. Zhang Y. Nakamura K. Goda K. Yoshimoto Department of Mechano-Informatics University of Tokyo Tokyo Japan

Power grasp is redefined as a type of grasp that its mechanism can resist passively against external forces without relying on feedback control of joint torques. A computational algorithm is invented to calculate the critical external force, a force which is requisite to move the grasped object in a definite direction. Virtual work is proposed as the quality measure of the robustness of power grasp. Because this measure is a scalar, it is convenient and suitable for the planning of power grasp. The effectiveness of the computational algorithm of critical external force and quality measure of robustness of power grasp is verified with a numerical example.< >

关键词： Robustness Fingers Power measurement Force measurement Grasping Friction Resists Feedback control Robots Kinematics

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Design of force controller based on frequency characteristics

Design of force controller based on frequency characteristic...

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IEEE international conference on robotics and automation (ICRA)

作者： H. Wada K. Kosuge T. Fukuda K. Watanabe Mechatronics Development Department Toyoda Automatic Loom Works Limited Aichi Japan Department of Mechano-Informatics University of Nagoya Nagoya Aichi Japan Department of Mechanical Engineering Saga University Saga Japan

This paper proposes a method to design a force controller based on frequency characteristics. Generally, force control algorithms are classified into two types, the explicit force control algorithms such as hybrid position/force control and the implicit force control algorithms such as impedance control. The explicit force control algorithms control the contact force directly, while the implicit force control algorithms control the manipulator motion-force relation. Recently, Goldenberg (1992) and others have shown the equivalence of these two types of algorithms. In this paper, we propose a method to design an explicit force controller based on its equivalence to the impedance controller so that the resultant control system has desired frequency characteristics. The method is applied to a manipulator with one-degree-of-freedom and experimental results illustrate the effectiveness of the proposed method.< >

关键词： Force control Frequency Impedance Manipulators Motion control Robot kinematics control systems Design methodology Inference algorithms Robotic assembly

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Dynamically reconfigurable intelligent system of cellular robotic system (CEBOT) with entropy min/max hybrid algorithm

Dynamically reconfigurable intelligent system of cellular ro...

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IEEE international conference on robotics and automation (ICRA)

作者： Y. Kawauchi M. Inaba T. Fukuda Applied Tech. Department TOYO Engineering Corporation Narashino Chiba Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

This paper discusses a framework and the algorithms for a reconfigurable intelligent system, which is capable of "knowledge amplification". The proposed intelligent system consists of many kinds of knowledge sources, which have simple levels of data and intelligence together with some blackboards which dynamically organize a hierarchical structure in order to optimize its own performance index. The system has two strategies for reconfiguration of the system structure: one is "entropy maximum strategy" the other is " entropy minimum strategy". The entropy maximum strategy is used when many kinds of tasks are given to the system. The entropy minimum strategy is applied in cases were the system deals with a few tasks only. This paper addresses the fundamental configuration and algorithms which include these two strategies for reconfiguration. The efficiency of the proposed system is shown by some simulations.< >

关键词： Intelligent robots Intelligent systems Entropy Hybrid intelligent systems Robot kinematics Intelligent structures Hardware Motion control Deductive databases Computer architecture

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Generalization of robot force control theory for elastic robot

Generalization of robot force control theory for elastic rob...

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Proceedings of IEEE/RSJ international conference on Intelligent Robots and Systems (IROS'94)

作者： F.M. Kulakov Institute for Informatics and Automation Russian Academy of Science Saint Petersburg Russia

In this paper are given the results of the analysis of the existing force/torque control methods by using of the detailed dynamic model of the control object: manipulator and part, which is moved by this manipulator; it is known that feasible motions of this part are limited with constraints. This model take into consideration the elasticity of the transmission from the drives to the links of the manipulator, the wrist elasticity, and the elasticity of the manipulator links. In accordance with the requirements of the stability of the perturbed motion, the famous force/torque control laws are modified and made more precise. Besides the advantage and deficiencies of the different force/torque control methods are analyzed and the new methods are proposed, in which some deficiencies are absent.< >

关键词： Robots Force control Wrist Torque control Manipulator dynamics robotics and automation Elasticity Force measurement Grippers Equations

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What is robot intelligence

What is robot intelligence

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international conference on Emerging Technologies and Factory automation (ETFA)

作者： H. Miura Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

It should be understood that the robot is not a simple automatic machine and has certain intelligence. Several intelligent robots which have been developed in the author's laboratory for the past 15 years are introduced in this paper. These robots perform many kinds of play like cup and ball game, top-spinning, stilts, etc. When a human plays these games, one needs some special intelligence or skill. If we can put these human-like intelligence into a robot in the form of computer control program, the robot will be able to play the same games. The most important problem is to find out what sort of intelligence a human needs for playing each game. This problem should be solved by observation and analysis of the human play. These intelligences will be useful not only for playing that game but also for other jobs of robots. By the way, these robots look intelligent apparently. But, are they really and truly intelligent? There is an opinion that these robots are no more than simple automatic machines which are controlled by a computer with sophisticated programs. Then, what is actual robot intelligence? The author is trying to construct a new robotics-insect-model based microrobotics -in order to get a new concept of robot intelligence.< >

关键词： Intelligent robots Microelectromechanical devices

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