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A remote controlled mobile mini robot

A remote controlled mobile mini robot

引用

international symposium on Micro Machine and Human Science

作者： R. Buchi G. Caprari I. Vuscovic R. Siegwart Swiss Federal Institute of Technology Zurich ETH Institute of Robotics Zurich Switzerland

The Institute of robotics of the Swiss Federal Institute of Technology at Zurich (ETH) has recently developed a remote controlled mobile mini robot. It has been designed to take part in the international Micro Robot Maze Contest, in Nagoya. The robot's intelligence is based on the PIC16C84 microcontroller. It is actuated by two SWATCH motors and powered by two small watch-batteries. The control-loop for the maze is based on both the global and local feedback. The global feedback is realized by a human operator navigating the robot with an infrared-based unidirectional remote control. The operator is able to drive the robot through some control points in the maze. A local feedback based on two small distance sensors is used to drive the robot automatically in between the walls of the maze. The combination of both control-loops allows the robot to fulfil the goal of the contest with very good performance. The technical data of the mobile mini robot are: 21 mm/spl times/21 mm/spl times/19 mm in dimension; velocity of 20 mm/s; and power consumption of <10 mW. This low power consumption allows autonomy of about 10 hours.

关键词： Robot control Mobile robots Robot sensing systems robotics and automation Feedback Automatic control Intelligent robots Energy consumption Microcontrollers Humans

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Realtime reinforcement learning for a real robot in the real environment

Realtime reinforcement learning for a real robot in the real...

引用

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

作者： T. Yamaguchi M. Masubuchi K. Fujihara M. Yachida Department of Systems Engineering Faculty of Engineering Science Osaka University Toyonaka Osaka Japan Osaka Daigaku Suita Osaka JP

For a real robot to acquire behaviors, it is important for it to learn in a real environment. Most reinforcement learning research has been made by simulation because real-environment learning requires large computation costs as well as a lot of time. Realizing reinforcement learning of a physical robot in a real environment requires both an adaptation for the diversity of possible situations and a high-speed learning method that can learn from fewer trials. This paper describes the realtime reinforcement learning for a real robot in the real environment based on the exploitation oriented reinforcement learning method where the learning cost is very small and has strict incrementality to realize realtime reinforcement learning with an automated sub-rewards generation method achieved by the abstraction of the task state to accelerate the learning process. Successive learning experiments in the real environment for the ball pushing task for the real robot are performed.

关键词： Virtual environment computational modeling Intelligent robots computational efficiency Learning systems Costs robotics and automation Artificial intelligence Computer simulation Systems engineering and theory

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Applications of computational intelligence in industrial automation

Applications of computational intelligence in industrial aut...

引用

IEEE/IAS international Conference on Industrial automation and Control, IA & C

作者： K. Sridharan H.E. Stephanou S.S. Keerthi New York State Center for Adv. Technol. in Autom. & Robotics Rensselaer Polytech. Inst. Troy NY USA New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA Department of Computer Science and Automation Indian Institute of Science Bangalore India

Techniques such as genetic algorithms, simulated annealing and evolutionary programming constitute a discipline often referred to as computational intelligence. During the past decade, a number of computationally difficult problems in optimization have been solved reasonably well by application of these techniques. The authors' goal in the paper is to present a brief description of these techniques and consider some applications to engineering problems.< >

关键词： computational intelligence Computer industry Genetic algorithms robotics and automation Simulated annealing Application software computational modeling Computer simulation Genetic programming Biological system modeling

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Integration of feature based design and feature recognition 15

Integration of feature based design and feature recognition

引用

ASME 1995 15th international Computers in Engineering Conference, CIE 1995 and the ASME 1995 9th Annual Engineering Database symposium collocated with the ASME 1995 Design Engineering Technical Conferences

作者： Han, JungHyun Requicha, Aristides A.G. Programmable Automation Laboratory Computer Science Department Institute for Robotics and Intelligent Systems University of Southern California Los AngelesCA United States

ISBN: (纸本)9780791817018

Process planning for machined parts typically requires that a part be described through machining features such as holes, slots and pockets. This paper presents a novel feature finder, which automatically generates a part interpretation in terms of machining features, by utilizing information from a variety of sources such as nominal geometry, tolerances and attributes, and design features. The feature finder strives to produce a desirable interpretation of the part as quickly as possible. If this interpretation is judged unacceptable by a process planner, alternatives can be generated on demand. The feature finder uses a hint-based approach, and combines artificial intelligence techniques, such as blackboard architecture and uncertain reasoning, with the geometric completion procedures first introduced in the OOFF system previously developed at USC. © 1995 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Gas turbines

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Robot should realize human behavior!

Robot should realize human behavior!

引用

IEEE international Conference on robotics and automation (ICRA)

作者： F. Harashima Institute of Industrial Science University of Tokyo Minato Tokyo Japan

Summary form only given. Discusses how robotics should essentially be a subject of human behavior. We cannot expect a robot to achieve high performance such as excellent preciseness, high speed, high power. Such requirements are accomplished by specialized machines not by robots. We have to pay more attention to the study of human behavior in our robotics research. This requires us to have wider viewpoints including new disciplines such as ecology and sociology, etc. I propose a concrete strategy to make progress in robotics research.

关键词： Humans Service robots Humanoid robots Intelligent robots Mechanical systems Shape computational intelligence Machine intelligence Environmental factors Sociology

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Visual imagery for subsea teleprogramming

Visual imagery for subsea teleprogramming

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IEEE international Conference on robotics and automation (ICRA)

作者： C.P. Sayers A. Lai R.P. Paul General Robotics and Active Sensory Perception Laboratory Department of Computer and Information Science University of Pennsylvania Philadelphia PA USA

The objective of this work is to allow subsea teleoperative tasks to be performed efficiently even when all communication between human operator and remote robot is via an acoustic link. This paper describes the integration of remote site cameras into the teleprogramming system. Images from these cameras may be used for calibrating and maintaining the world model as well as for aiding the operator in diagnosing and recovering from unexpected events. The constrained communications channel forces the adoption of an intelligent approach to image transmission. The system automatically selects windowing and subsampling parameters while varying frame rates and task execution speeds to match that which the system can support given available bandwidth and computational constraints. Examples are presented from tests in which an operator in Philadelphia controlled a robot manipulator mounted on an underwater vehicle submerged off the Massachusetts coast.

关键词： Robot vision systems Cameras Humans Communication channels computational intelligence Intelligent robots Image communication Bandwidth Testing Automatic control

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3D motion representations in visual servo control

3D motion representations in visual servo control

引用

international symposium on Computer Vision (ISCV)

作者： C. Fermuller LoongFah Cheong Y. Aloimonos Comput. Vision Lab. Maryland Univ. College Park MD USA Computer Vision Laboratory Center for Automation Research University of Maryland MD USA

A new approach to visual servoing and vision-guided robotics is introduced. This approach uses visual information for autonomous behavior. It amounts to using robust, global spatiotemporal representations easily extracted from the dynamic imagery. Specifically, the geometrical patterns of normal flows are used as the input to the servo mechanism. It is shown that the positions of these patterns are related to the three dimensional motion parameters. By locating the positions of these patterns, we can solve a variety of navigational problems with little computational effort.

关键词： Servosystems Robot kinematics Robot vision systems Cameras Computer vision Mobile robots robotics and automation Spatiotemporal phenomena Robot sensing systems Optical computing

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Fuzzy reinforcement compliance control for robotic assembly

Fuzzy reinforcement compliance control for robotic assembly

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IEEE international symposium on Intelligent Control (ISIC)

作者： S.M. Prabhu D.P. Garg Department of Mechanical Engineering & Materials Science Duke University Durham NC USA

Compliance inherently involves modification of the robot trajectory based on the contact forces occurring during the motion and enables the robot to perform a variety of manipulation tasks which require fine motion skills. Learning of active compliance behavior can endow a robot with some form of autonomous intelligence which can be very useful for the control of manipulators working in a partially known environment and for manufacturing automation. This paper reports on the acquisition of robot fine motion skills by means of learning a compliance control strategy using fuzzy reinforcement learning. The fuzzy reinforcement compliance controller is applied to a typical robotic assembly task and its performance is compared with other learning controllers.

关键词： Fuzzy control Robot control Robotic assembly Automatic control robotics and automation Intelligent robots Manipulators Manufacturing automation Motion control Learning

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Assembly as a noncooperative game of its pieces: the case of endogeneous disk assemblies

Assembly as a noncooperative game of its pieces: the case of...

引用

IEEE international symposium on Assembly and Manufacturing (ISAM)

作者： H.I. Bozma C.S. Karagoz D.E. Koditschek Dept. of Electr. & Electron. Eng. Bogazici Univ. Istanbul Turkey Department of Electrical and Electronic Engineering Boğaziçi University Istanbul Turkey Artificial Intelligence Laboratory and Control Systems Laboratory EECS Department College of Engineering University of Michigan Ann Arbor MI USA

We propose an event-driven approach to planning and control of robot assembly problems using ideas from noncooperative game theory. We report on the results of an extensive simulation study for a very simple two degre... 详细信息

关键词： Computer aided software engineering Robotic assembly robotics and automation Orbital robotics Robot sensing systems Assembly systems Laboratories Control systems Actuators Feedback

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Learning visuo-tactile coordination in robotic systems

Learning visuo-tactile coordination in robotic systems

引用

IEEE international Conference on robotics and automation (ICRA)

作者： M. Rucci R. Bajcsy Scuola Superiore Sant'' Anna Pisa Italy University of Pennsylvania Philadelphia PA USA

As it occurs in humans, robotic systems should be able to respond to unexpected tactile events by orienting their visual attention toward the location of the stimuli. This implies two basic problems: 1) it is necessary to develop a general method for integrating attentive processes which belong to different sensory modalities according to the attended task; 2) for the specific case of touch-driven shift of gaze, a sensory motor transformation needs to be identified, which links the stimulation of tactile receptors to the spatial position of the camera, via the current posture of the system. In this paper we describe a general framework for integrating multimodal attentive mechanisms, and we show how the visuo-tactile coordination can be autonomously learnt on the basis of sensory consistency and feedback. After the general presentation of the method, we consider the case of a robotic system composed of a 2-DOF arm and a 2-DOF head. Experiments with this system show that it discovers its own functional model without any external intervention and adapts it continuously during normal operation. The approach gives good results while presenting the advantages of autonomy and adaptability.

关键词： Robot kinematics Robot sensing systems Cameras Mathematical model Humans Shafts Feedback Magnetic heads Laboratories computational intelligence Society

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