Decades of research into the structure and function of the cerebellum have led to a clear understanding of many of its cells, as well as how learning takes place. Furthermore, there are many theories on what signals t...
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Decades of research into the structure and function of the cerebellum have led to a clear understanding of many of its cells, as well as how learning takes place. Furthermore, there are many theories on what signals the cerebellum operates on, and how it works in concert with other parts of the nervous system. Nevertheless, the application of computational cerebella, models to the control of robot dynamics remains in its infant state. To date, a few applications have been realized, but limited to the control of traditional robot structures which, strictly speaking, do not require adaptive control for the tasks that are performed since their dynamic structures are relatively simple. The currently emerging family of light-weight robots (Hirzinger;G. (1996) In proceedings of the 2ndinternationalconference on Advanced robotics, Intelligent Automation, and Active Systems, Vienna, Austria) poses a new challenge to robotcontrol: owing to their complex dynamics, traditional methods, depending on a full analysis of the dynamics of the system, are no longer applicable since the joints influence each other's dynamics during movement. Can artificial cerebellar models compete here? In this paper, we present a succinct introduction of the cerebellum, and discuss where it could be applied to tackle problems in robotics. without conclusively answering the above question, an overview of several applications of cerebellar models to robotcontrol is given.
In this paper we describe the control aspects of Diablo, the UTEP mobile robot participant in two AAAI robot competitions. In the first competition, event one of the AAAI 96 robot contest, Diablo consistently scored 2...
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In this paper we describe the control aspects of Diablo, the UTEP mobile robot participant in two AAAI robot competitions. In the first competition, event one of the AAAI 96 robot contest, Diablo consistently scored 285 out of a total of 295 points. In the second competition, our robot won the first place in the event `Tidy Up' of the home vacuum contest. The main goal in this paper will be to show how the agent theories - based on action theories - developed at UTEP and by Saffiotti et al. was used in the building of Diablo.
Although the sensing of chemical signals is extremely important for most living creatures there have been few attempts to transfer this capability to robotic systems. In order to operate effectively in the variable an...
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Although the sensing of chemical signals is extremely important for most living creatures there have been few attempts to transfer this capability to robotic systems. In order to operate effectively in the variable and unstructured real world environment insects employ many strategies. Generating and detecting odours is the basis of several of these strategies. It seems certain that similar techniques can be implemented to improve the competence of robotic systems. This paper describes the development of sensors and algorithms which will allow odour sensing to be applied to robotic systems. Currently a robotic ant has been built to act as a testbed for the odour sensors and to investigate biologically inspired control algorithms. Design of this robot and results of odour trail following experiments are presented in this paper.
One possibility to control a static plant is the design of a controller based on the inverse of an identified model. For nonlinear plants, determining or identifying the plant model may be a difficult task. When a sta...
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ISBN:
(纸本)0780348605
One possibility to control a static plant is the design of a controller based on the inverse of an identified model. For nonlinear plants, determining or identifying the plant model may be a difficult task. When a state space model of the plant is not explicitly needed, it is possible to consider the plant as a black box and approximate the plant using neural networks. In this paper a control strategy is presented, based on the combination of classical linear control methods with a neural network that inverses the plants nonlinear characteristics. A proof is given that the plant can be positioned with an arbitrary small positioning error. The method is experimentally illustrated on the positioning control of a flexible robot arm. The results of the neural network based control are compared with a PI controller.
robotic soccer is a challenging research domain which involves multiple agents that need to collaborate in an adversarial environment to achieve specific objectives. In this paper, we describe CMUnited, the team of sm...
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robotic soccer is a challenging research domain which involves multiple agents that need to collaborate in an adversarial environment to achieve specific objectives. In this paper, we describe CMUnited, the team of small robotic agents that we developed to enter the RoboCup-97 competition. We designed and built the robotic agents, devised the appropriate vision algorithm, and developed and implemented algorithms for strategic collaboration between the robots in an uncertain and dynamic environment. The robots can organize themselves in formations, hold specific roles, and pursue their goals. In game situations, they have demonstrated their collaborative behaviors on multiple occasions. The robots can also switch roles to maximize the overall performance of the team. We present an overview of the vision processing algorithm which successfully tracks multiple moving objects and predicts trajectories. The paper then focusses on the agent behaviors ranging from low-level individual behaviors to coordinated, strategic team behaviors. CMUnited won the RoboCup-97 small-robot competition at IJCAI-97 in Nagoya, Japan.
Holonomic or nonholonomic omnidirectional mobile robots are known to be constructed by applying a specialized wheel or mobile mechanism. In particular, some representative control approaches are described for a holono...
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Holonomic or nonholonomic omnidirectional mobile robots are known to be constructed by applying a specialized wheel or mobile mechanism. In particular, some representative control approaches are described for a holonomic and omnidirectional mobile robot with three lateral orthogonal-wheel assemblies. The uses of resolved acceleration control method, PID method, fuzzy model method, and stochastic fuzzy servo method are highlighted.
We have already developed a fuzzy behavior-based control system that combines the concept of subsumption architecture and fuzzy reasoning technique. When applying it for a mobile robot, the robot needs to have precise...
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We have already developed a fuzzy behavior-based control system that combines the concept of subsumption architecture and fuzzy reasoning technique. When applying it for a mobile robot, the robot needs to have precise information such as distance and azimuth. In this paper, we discuss how to construct the fuzzy behavior-based control system for a miniature mobile robot in the case when the robot can not often receive any information from sensors. In addition, we apply a virus evolutionary genetic algorithm with species to generating the fuzzy rule. The effectiveness of the proposed method is shown by simulations.
One of the simplest tracking controllers for industrial robot manipulators is the PID control. However, in practice, because it is considerably difficult to determine the PID parameters suitably, many studies have bee...
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One of the simplest tracking controllers for industrial robot manipulators is the PID control. However, in practice, because it is considerably difficult to determine the PID parameters suitably, many studies have been reported on the tuning method of the PID parameters. The objective of the paper is to design a self-tuning PID controller for achieving the time-varying tracking control of a robot manipulator. We present a fuzzy neural network (FNN), which is used to automate the parameters tuning of the PID controller. Some experimental test results are also included to demonstrate the improvement in the tracking performance when the proposed method is used.
A fuzzy servo system is described for a system with noises by using a stochastic fuzzy control method with some linear dynamic models. The present fuzzy servo approach is applied to the control of rotational angle for...
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A fuzzy servo system is described for a system with noises by using a stochastic fuzzy control method with some linear dynamic models. The present fuzzy servo approach is applied to the control of rotational angle for an omnidirectional mobile robot with three orthogonal-wheel assemblies. The stochastic fuzzy servo method and its modified method with a static evaluation on the model confidence are implemented for some simulations of the mobile robot. In particular, two improvement methods are shown for the case when a set of the prespecified linear models does not include a model comparable to the reference rotational angle.
Although the sensing of chemical signals is extremely important for most living creatures there have been few attempts to transfer this capability to robotic systems. In order to operate effectively in the variable an...
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Although the sensing of chemical signals is extremely important for most living creatures there have been few attempts to transfer this capability to robotic systems. In order to operate effectively in the variable and unstructured real world environment insects employ many strategies. Generating and detecting odours is the basis of several of these strategies. It seems certain that similar techniques can be implemented to improve the competence of robotic systems. This paper describes the development of sensors and algorithms which will allow odour sensing to be applied to robotic systems. Currently a robotic and has been built to act as a testbed for the odour sensors and to investigate biologically inspired control algorithms. Design of this robot and results of odour trail following experiments are presented in this paper.
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