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作者： Graetzel, Chauncey F. Fry, Steven N. Beyeler, Felix Sun, Yu. Nelson, Bradley J. Institute of Robotics and Intelligent Systems ETH Zurich 8092 Zurich Switzerland Institute of Neuroinformatics ETH/UNI Zurich 8057 Zurich Switzerland Advanced Micro and Nanosystems Laboratory University of Toronto Toronto ON Canada

ISBN: (纸本)9783540774563

In this paper, we show how "bio-inspired" robotics can benefit from a more generalized approach than case-by-case emulation. This generalization is obtained by investigating the design constraints found in biological organisms using a reverse-engineering approach. To achieve this, we have developed two novel technologies that are well suited to analyze the biomechanics and neural control in insect flight. First, we present a micro-electro-mechanical (MEMS) force sensor for measuring flight forces. Second, we describe a 6000Hz high speed vision system for characterizing wing kinematics in real time. Finally, we integrate these technologies within a tethered flight "simulator" for open and closed-loop investigations of sensory-motor pathways. Initial results are presented and future research perspectives are discussed. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Flight control systems

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A fuzzy inference controller with Accelerate/Brake Module for mobile robots

A fuzzy inference controller with Accelerate/Brake Module fo...

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IEEE International Conference on Automation and Logistics

作者： Suo Tan Simon X. Yang Advanced Robotics and Intelligent Systems (ARIS) Lab School of Engineering University of Guelph Guelph ONT Canada

ISBN: (纸本)9781424425020

In this paper, a fuzzy-inference controller with Accelerate/Brake (A/B) Module is proposed for navigation control of a mobile robot in dynamic environments. This approach includes target seeking, obstacle avoidance, and optimal path planning. By utilizing the fuzzy controller, a mobile robot could approach a target in a dynamic environment autonomously. The A/B Module of the proposed system is to enable the mobile robot to make human-like decisions as it moves toward a target. Under the control of the proposed fuzzy inference model, the robot can perform well both in avoiding static and moving obstacles like human beings along a reasonable short path.

关键词： Mobile robots Robots Robot sensing systems Navigation Acceleration Wheels Heuristic algorithms

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Matrix-Based Approach to Sequence analysis in Multiple Reentrant Flowlines

Matrix-Based Approach to Sequence analysis in Multiple Reent...

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2008 American Control Conference (ACC), vol.3

作者： Tamara Petrovic Stjepan Bogdan LARICS-Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of Electrical Engeneering and Computing University of Zagreb Croatia

This paper presents a method for extension of matrix model of manufacturing system in order to provide an efficient tool for analysis of systems with various dispatching sequences of shared resources. Proposed method is used for transformation of system matrices in linear max-plus model. Once the linear model is determined sequence feasibility can be checked. Furthermore, the method provides a straightforward procedure for production cycle calculation and resource utilisation. Efficiency of presented technique is demonstrated on a manufacturing system example at the end of the paper.

关键词： Manufacturing systems Dispatching Resource management Production Flexible manufacturing systems Algebra Laboratories intelligent robots intelligent control Computer aided manufacturing

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Fuzzy logic navigation in multi agent systems

Fuzzy logic navigation in multi agent systems

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IEEE International Symposium on intelligent Control (ISIC)

作者： S. Bogdan I. Rigo D. Miklic LARICS-Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of EE&C University of Zagreb Croatia

ISBN: (纸本)9781424422241

In this paper we present a methodology for decision making in multi agent system comprised of agents driven by repulsive force and attracting force. Navigation functions are expressed as a set of fuzzy rules obtained by fuzzy Lyapunov stability criteria, thus ensuring stability of the overall system. The goal of the proposed methodology is to create desired formations by moving agents from their initial positions to formation targets, while in the same time avoiding collisions. The destination targets are dynamically permutated as long as the required formation is achieved.

关键词： intelligent control Control systems USA Councils

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On human motion imitation by humanoid robot

On human motion imitation by humanoid robot

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IEEE International Conference on robotics and Automation (ICRA)

作者： Wael Suleiman Eiichi Yoshida Fumio Kanehiro Jean-Paul Laumond Andre Monin IS AIST-STI CNRS Joint Japanese-French Robotics Laboratory LAAS-CNRS University of Toulouse III Toulouse France Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan

In this paper, the imitation of human captured motions by a humanoid robot is considered. The main objective is to reproduce an imitated motion which should be as close as possible to the original human captured motion. To achieve this goal, the imitation problem is formulated as an optimization problem and the physical limits of the humanoid robot are considered as constraints. The optimization problem is then solved recursively by using an efficient dynamics algorithm, which allows the calculation of the gradient function with respect to the control parameters analytically. The simulation results using OpenHRP platform, which is a dynamical simulator for humanoid robot motions, have pointed out that the imitated motions preserve the salient characteristics of the original human captured motion. Moreover the optimization procedure converges well thanks to the analytical calculation of the gradient function.

关键词： Humans Humanoid robots robotics and automation intelligent robots Joints Torque Stability Robot control Service robots intelligent systems

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Result representation of Rao-Blackwellized particle filtering for SLAM

Result representation of Rao-Blackwellized particle filterin...

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International Conference on Control, Automation and systems ( ICCAS)

作者： Nosan Kwak Beom-Hee Lee Kazuhito Yokoi Joint Japanese-French Robotics Laboratory Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea

Recently, particle filters have been applying to many robotic problems including the simultaneous localization and mapping (SLAM). Specifically, SLAM approaches employing Rao-Blackwellized particle filter (RBPF) have shown good results. However, no research is conducted to analyze representation of the results of particle filtering. After finishing the particle filtering, the results such as a map and a path are stored in the separate particles. In most cases, the result of the particle that has the highest importance weight is represented as the result. However, this approach does not give the best result all the time. Thus, We provide the analysis of final representation of particle filtering. In this paper, we compares several methods to derive the final representation of the result after finishing RBPF-SLAM. According to the result, combining data of each particle provides the better result with high probability than using just data of a particle such as the highest weighted particle representation.

关键词： Filtering Simultaneous localization and mapping Particle filters intelligent robots robotics and automation Service robots Electronic mail Finishing Diversity reception Automatic control

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New Distributed Positioning Algorithm Based on Centroid of Circular Belt for Wireless Sensor Networks

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International Journal of Automation and computing 2007年第3期4卷 315-324页

作者： Xu-Zhi Lai Simon X. Yang Gui-Xiu Zeng Jin-Hua She Min Wu School of Information Science ＆ Engineering Central South UniversityChangsha 410083PRC Advanced Robotics and Intelligent Systems Laboratory School of EngineeringUniversity of GuelphGuelphOntario NIG 2W1Canada School of Bionics Tokyo University of Technology1404-1 KatakuraHachiojiTokyo 192-0982Japan

This paper presents a new distributed positioning algorithm for unknown nodes in a wireless sensor network. The algorithm is based exclusively on connectivity. First, assuming that the positions of the anchor nodes are already known, a circular belt containing an unknown node is obtained using information about the anchor nodes that are in radio range of the unknown node, based on the geometric relationships and communication constraints among the unknown node and the anchor nodes. Then, the centroid of the circular belt is taken to be the estimated position of the unknown node. Since the algorithm is very simple and since the only communication needed is between the anchor nodes and the unknown node, the communication and computational loads are very small. Furthermore, the algorithm is robust because neither the failure of old unknown nodes nor the addition of new unknown nodes influences the positioning of unknown nodes to be located. A theoretical analysis and simulation results show that the algorithm does not produce any cumulative error and is insensitive to range error, and that a change in the number of sensor nodes does not affect the communication or computational load. These features make this algorithm suitable for all sizes of low-power wireless sensor networks.

关键词： Positioning wireless sensor networks circular belt algorithm performance.

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Fuzzy Arithmetic-based Stability Analysis and Design of Fuzzy Controller

Fuzzy Arithmetic-based Stability Analysis and Design of Fuzz...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： S. Bogdan Z. Kovacic I. Fazinic I. Draganjac Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

Initially introduced as a model-free control design method, in today practice fuzzy control is dominantly used as yet another nonlinear control technique based either on a linear or nonlinear model of a process. This paper addresses the stability assessment of a fuzzy logic control system based only on the partial knowledge of a controlled process. Lyapunov stability conditions are derived and analyzed by using fuzzy numbers and fuzzy arithmetic. The experimental results obtained for a non-stable second-order system confirmed that this approach could be successfully implemented. Some questions, addressed in the paper, remained open for further investigation.

关键词： Fuzzy control Stability analysis Control systems Fuzzy systems Lyapunov method Sliding mode control Fuzzy logic Fuzzy sets Nonlinear control systems Arithmetic

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A Pattern Generator of Humanoid Robots Walking on a Rough Terrain

A Pattern Generator of Humanoid Robots Walking on a Rough Te...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Hirohisa Hirukawa Shizuko Hattori Shuuji Kajita Kensuke Harada Kenji Kaneko Fumio Kanehiro Mitsuharu Morisawa Shinichiro Nakaoka Humanoid Robotics Group Intelligent Systems Institute National Institute of Advanced Industrial Science and Technology RIKEN Tsukuba Japan

This paper presents a motion pattern generator of humanoid robots that walks on a flat plane, steps and a rough terrain. It is guaranteed rigorously that the desired contact between a humanoid robot and terrain should be maintained by keeping the contact wrench sum between them inside the contact wrench cone under the sufficient friction assumption. A walking pattern is generated by solving the contact wrench equations and by applying the resolved momentum control.

关键词： Humanoid robots Legged locomotion Robot kinematics Stability criteria Friction Equations Angular velocity Matrix converters Foot robotics and automation

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Experimentation of Humanoid Walking Allowing Immediate Modification of Foot Place Based on Analytical Solution

Experimentation of Humanoid Walking Allowing Immediate Modif...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mitsuharu Morisawa Kensuke Harada Shuuji Kajita Shinichiro Nakaoka Kiyoshi Fujiwara Fumio Kanehiro Kenji Kaneko Hirohisa Hirukawa Humanoid Robotics Group Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology RIKEN Tsukuba Japan

This paper proposes a method of a real-time gait planning for humanoid robots which can change stride immediately at every step. Based on an analytical solution of an inverted pendulum model, the trajectories of the COG (center of gravity) and the ZMP (zero-moment point) are parameterized by polynomials. Since their coefficients can be efficiently computed with given boundary conditions, this framework can provide a real-time walking pattern generator for humanoid robots. To handle the unexpected result caused by immediate changes of foot placement, we made single support periods as an additional trajectory parameter and the ZMP fluctuation was suppressed by mixing the opposite phase of the ZMP error. The effectiveness of our method is shown by experiments of the humanoid robot HRP-2.

关键词： Legged locomotion Foot Humanoid robots Boundary conditions Humans Polynomials Fluctuations Differential equations intelligent robots robotics and automation

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