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behavior-based control of robotic hand by tactile servoing

INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS 2006年第3-4期24卷 311-321页

作者： Park, No-Hoon Oh, Yonghwan Oh, Sang-Rok Korea Inst Sci & Technol Intelligent Robot Res Ctr Seoul 136791 South Korea Samsung SDI Corp Adv PDP Engn Div Seoul South Korea

In this paper, we studied a behavior-based architecture to understand environment and perform manipulation through tactile servoing, especially by Chained Releaser Subsumption Architecture. This CRSA has the releasers which connect upper level with lower level. In order to verify the effectiveness of the CRSA, a 4 degree-of-freedom hand was designed and several behavioral grasping simulations and experiments are performed. In the simulations, the graphical behavioral performance was obtained as well as the trajectories of each of the fingers. In the experiments, some of the behaviors were initiated at level 1 to level 2. While the robotic hand performed grasping behaviors, the control program took the data from the DC motors and FSR sensors to make plan for future behaviors. The experiment results show that it is possible to control a robotic hand by behavior-based tactile servoing strategies.

关键词： behavior-based control 4 degree-of-freedom robotic hand chained releaser subsumption architecture

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behavior-based control hierarchy of unmanned aerial vehicle swarming

Behavior-based control hierarchy of unmanned aerial vehicle ...

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International Symposium on Collaboration Technologies and Systems

作者： Paraphile, Thierry Lin, Kuo-Chi Florida Int Univ Miami FL 33174 USA Univ Cent Florida Dept Mech Mat & Aerospace Engn Orlando FL 32816 USA

ISBN: (纸本)9780978569907

Although there are many advantages associated with UA Vs, the production cost as well as operation cost of one of today's militaty UA Vs is an overwhelming problem. In this paper, a more basic and fundamental approach to controlling a mission of UA Vs is proposed based on a combination of low-level behaviors, a swarming hierarchy is derived from three levels of behaviors: basic, individual and group. The proposed hierarchy enables multiple UAVs to successfully conduct a mission using a condition-based switching mechanism and relying on local interactions between each other and with minimal interactions with human controllers who only intervene when coordinating the mission-level actions [1]. From an analytical model of a point mass UA V in a 2D environment where mass, air drag force, initial speed and gravitational acceleration are constant and the only controls for the UA V are the thrust force and its banking angle, several behavior combinations are simulated in order to obtain a family of feasible solutions. The results achieved suggest that the above mentioned condition-based switching mechanism can be used and eventually applied to actual UA Vs.

关键词： hierarchy swarming behavior-based control switching mechanism

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behavior-based control with Learning from Demonstration for Path Following Applied to Mobile Robots Soccer

Behavior-Based Control with Learning from Demonstration for ...

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2024 Latin American Robotics Symposium

作者： Luiz, Matheus de S. Pastrana, M. A. de Oliveira e Aguiar, Guilherme Achilles Costa, R. B. Rodrigues e Silva, Luiz F. Univ Brasilia Dept Mech Engn Mechatron Grad Program Brasilia DF Brazil Univ Brasilia Fac Gama Elect Engn Undergrad Program Brasilia DF Brazil Univ Brasilia Fac Technol Mechatron Engn Undergrad Program Brasilia DF Brazil Univ Brasilia Fac Gama Aerosp Engn Undergrad Program Brasilia DF Brazil

ISBN: (纸本)9798331508814;9798331508807

Learning from Demonstration (LfD) enables robots to learn new tasks through an imitation process. This methodology can be combined with behavior-based control (BBC), which facilitates the abstraction of behaviors for the robot by dividing them into micro-behaviors. These can be implemented using Artificial Neural Networks trained by bio-inspired algorithms. In this work, a novel methodology based on the LfD and BBC methods is proposed for controlling soccer robots, specifically for the Very Small Size Soccer (VSSS) category, which demands quick and dynamic responses. Simulations using CoppeliaSim were conducted to demonstrate how the proposed methodology can be used for path planning and path-following problems in the IEEE VSSS category.

关键词： behavior-based control learning from demonstration mobile robots robot soccer

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behavior-based control for autonomous mobile robots

Behavior-based control for autonomous mobile robots

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4th International Conference and Exposition/Demonstration on Robotics for Challenging Situations and Environments

作者： Huntsberger, T Rose, J CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)0784404763

The harsh nature of planetary surfaces introduces many new constraints into the types of control systems suitable for use in such environments. These include low power requirements, operation within wide temperature extremes, relatively low computing capabilities and onboard memory, and multiple terrain types ranging from featureless flat plains to sheer cliffs. This paper presents the results of ongoing work at JPL and USC in autonomous rover control, which has concentrated on the development of a behavior-based control system called BISMARC. BISMARC includes full sensor and mobility models, geometric constraints, and environmental feedback based on the SRR/FIDO revers at JPL. It is based on a biologically motivated navigation system derived from a study of human path planning in complicated exterior environments. The system has had over 800 simulation runs of a multiple cooperating rover, multiple sample return mission scenario with an overall success rate of 98.9%, and is currently being tested on the SRR rover in the Planetary Robotics Lab at JPL.

关键词： behavior-based control neural networks free flow hierarchy

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behavior-based control Applied to Underwater Vehicles to Achieve Local Goals

Behavior-Based Control Applied to Underwater Vehicles to Ach...

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2015 IEEE Underwater Technology (UT)

作者： Chowdhury, Dhrubajit Nandy, S. Ray, R. Shome, S. N. Acad Sci & Innovat Res CSIR Cent Mech Engn Res Inst Durgapur India CSIR Cent Mech Engn Res Inst Scientists Robot & Automat Grp Durgapur India

ISBN: (纸本)9781479983018

This paper primarily deals with behavior-based control strategy for an autonomous agent to achieve local goal while tracking a desired path/trajectory. The behavior-based control approach addresses multiple control frameworks, which are switched depending on the circumstances, instead of using a uniform control framework. The need to pursue local goals may arise while an autonomous agent e.g., an Autonomous Underwater Vehicle (AUV) follows its path. There is a need to design controllers that would take the AUV to the desired local goal and subsequently allow the AUV to track its original desired path. Rather than using single controller, behavior based controllers are used to achieve the desired tasks utilizing parametric curves for trajectory generation. The new approach seems to be very appropriate for controlling the mobile robotic systems under the varied circumstances. Preliminary results are obtained through a simplified model of autonomous vehicle and presented. Demonstrations of achieving local goals while following circular and lawn-mower paths are presented.

关键词： behavior-based control local goals trajectory tracking path following posture controller

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behavior-based control systems for planetary autonomous robot outposts

Behavior-based control systems for planetary autonomous robo...

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2000 IEEE Aerospace Conference

作者： Huntsberger, T Aghazarian, H Baumgartner, E Schenker, PS CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)0780358465

Current NASA studies are examining opportunities for the deployment of robot colonies or outposts on planetary surfaces within the solar system in the first few decades of the 21st century. This paper presents the results of some ongoing work in the Planetary Robotics Laboratory at JPL in the area of behavior-based control for cooperative multi-robot systems for a planetary robot outpost. We have recently developed a behavior-based system called BISMARC (Biologically Inspired System for Map-based Autonomous Rover control) that uses a free flow hierarchy for its action selection mechanism. We report the results of numerous simulation studies of complicated multiple rover missions.

关键词： robot outpost behavior-based control multi-robot systems

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A fuzzy behavior-based control for mobile robots using adaptive fusion units

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2005年第1期42卷 27-49页

作者： Watanabe, K Izumi, K Maki, J Fujimoto, K Saga Univ Grad Sch Sci & Engn Dept Adv Syst Control Engn Saga 8408502 Japan Nidec Corp Ukyo Ku Kyoto 6150854 Japan Fujitsu Ten Motoron Div Hyogo Ku Kobe Hyogo 6528510 Japan

It is known that a behavior-based control approach is effective for acquiring an intelligent control system of robots. However, further improvements are required for making any behavior-based control system robust against changes in the environments. A module learning method has been applied in the framework of fuzzy behavior-based control to have an adaptive behavioral fusion. In this paper, an adaptive fusion strategy is proposed to adaptively select a cooperative fusion unit or competitive fusion unit, depending on the external sensor information. Some simulations are given to illustrate that the present control systems are flexible against the change of environments or untrained environments, compared to those with a conventional priority-based fusion unit.

关键词： behavior-based control behavioral fusion fuzzy control genetic algorithm nonholonomic mobile robots s module learning sensor information

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COORDINATED ATTITUDE control OF FLEXIBLE SPACECRAFT FORMATIONS VIA behavior-based control APPROACH

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INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND control 2012年第12期8卷 8487-8500页

作者： Liang, Haizhao Sun, Zhaowei Wang, Jianying Harbin Inst Technol Res Ctr Satellite Technol Harbin 150001 Peoples R China

This paper is to investigate the coordinated attitude control problem for flexible spacecraft formations. Considering the attitude maneuver control problem of a formation composed of flexible spacecraft, two classes of decentralized attitude coordination control laws using behavior-based control approach are proposed. The first class of controllers can steer the attitude states of the flexible spacecraft formation to a desired reference state asymptotically in the absence of disturbances and communication delays. The second class of controllers is an improved one which simultaneously takes into account the effects of external disturbances and communication delays. The improved control strategies are effective to overcome these unexpected phenomena subject to arbitrary communication topologies. Finally, numerical simulations are provided to demonstrate the effectiveness of the designed control schemes.

关键词： behavior-based control Flexible spacecraft formation Attitude maneuver Robustness Communication delays

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A neuro-fuzzy system architecture for behavior-based control of a mobile robot in unknown environments

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FUZZY SETS AND SYSTEMS 1997年第2期87卷 133-140页

作者： Li, W Ma, CY Wahl, FM TECH UNIV CAROLO WILHELMINA BRAUNSCHWEIG INST ROBOT & COMP CONTROLD-3300 BRAUNSCHWEIGGERMANY

A neuro-fuzzy system architecture for behavior-based control of a mobile robot in unknown environments is presented. A neural network is used to understand environments. Its inputs are a heading angle between the robot and a specified target, and range information acquired by an array of ultrasonic sensors. The output from the neural network is a trained reference motion direction for robot navigation. The methodology of the behavior-based control approach proposed in this paper is: (1) to analyze and to decompose a complex task based on stimulus-response behavior;and (2) to quantitatively formulate each type of behavior with a simple feature by fuzzy sets and fuzzy rules as well as to coordinate conflicts and competition among multiple types of behavior by fuzzy reasoning. An advantage is that building fuzzy sets and rules for each simple-featured type of behavior is much easier than for a complex task. based upon a reference motion direction and distances between the robot and obstacles, different types of behavior are fused by fuzzy logic to control the velocities of the two rear wheels of the robot. Simulation experiments show that the proposed neuro-fuzzy system can improve navigation performance in complex and unknown environments. In addition, this architecture is suitable for multisensor fusion and integration. (C) 1997 Elsevier Science B.V.

关键词： robotics engineering artificial intelligence sensor-based motion planning behavior-based control

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Development of complex robotic systems using the behavior-based control architecture iB2C

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ROBOTICS AND AUTONOMOUS SYSTEMS 2010年第1期58卷 46-67页

作者： Proetzsch, Martin Luksch, Tobias Berns, Karsten Univ Kaiserslautern Robot Res Lab D-67663 Kaiserslautern Germany

This paper presents a development methodology for complex robotic systems using the behavior-based control architecture iB2C (integrated behavior-based control). It is shown how architectural principles support several behavior-based mechanisms, e.g. coordination mechanisms, behavior interaction and, hierarchical abstraction. Furthermore, design guidelines and structural patterns are presented which support the design and implementation process. The provided analysis tools and visualization techniques help to manage the complexity of large behavior-based networks. Finally, application examples are presented and a step by step description of constructing a behavior-based control structure for the outdoor robot RAVON is given. (C) 2009 Elsevier B.V. All rights reserved.

关键词： behavior-based control Development process System analysis

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