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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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Solution of Singularity Problem in Motion Control of Acrobots

Solution of Singularity Problem in Motion Control of Acrobot...

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第二十六届中国控制会议

作者： Yang Simon X Advanced Robotics and Intelligent Systems（ARIS） Lab.School of Engineering University of GuelphGuelphOntario N1G 2W1Canada

This paper gives an integrated fuzzy-control solution of singularity problem in the motion control of an ***,the singularity that arises in motion control based on Lyapunov function is ***,a fuzzy controller is employed to regulate one of parameters of the control law to solve the singularity problem in the motion control occurred in the motion control law,Finally,two additional fuzzy controllers for different situations are designed to regulate another parameter of the control law in order to improve the control *** results show the efectiveness of the proposed control strategy.

关键词： Acrobot fuzzy control Lyapunov function singularity

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Online object search with a humanoid robot

Online object search with a humanoid robot

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2007 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Francois Saidi Olivier Stasse Kazuhito Yokoi Fumio Kanehiro ISRI/AIST-STIC/CNRS Joint Japanese-French Robotics Laboratory Japan ISRI/AIST-STIC/CNRS Joint Japanese-French Robotics Laboratory National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba JAPAN Intelligent Systems Research Institute (ISRI) National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba JAPAN

This paper presents an object active visual search behavior in a 3D environment performed by a HRP-2 humanoid robot. The search is formalized as an optimization problem in which the goal is to maximize the target detection probability while minimizing the energy/distance and time to achieve the task. Natural constraints on the camera parameter space based on the characteristics of the recognition system are used to reduce the dimension of the problem and to speed up the optimization process to achieve a real time behavior. We present simulation and real experimental results using an HRP-2 robot.

关键词： Humanoid robots Robot kinematics Sensor phenomena and characterization intelligent robots Strategic planning Sensor systems Object detection Character recognition Constraint optimization Image recognition

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Forward kinematics of a macro-micro parallel manipulator

Forward kinematics of a macro-micro parallel manipulator

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IEEE/ASME (AIM) International Conference on advanced intelligent Mechatronics

作者： Hamid D. Taghirad Meyer A. Nahon Advanced Robotics and Automated Systems (ARAS) Department of Electrical Engineering K.N. Toosi University of Technology Tehran Iran Center for Intelligent Machines (CIM) Department of Mechanical Engineering McGill University Montreal QUE Canada

In this paper the kinematic analysis of a macro-micro parallel manipulator is studied in detail. The manipulator architecture is a simplified planar version adopted from the structure of large adaptive reflector (LAR), the Canadian design of next generation giant radio telescopes. This structure is composed of two parallel and redundantly actuated manipulators at macro and micro level, which both are cable-driven. Inverse and forward kinematic analysis of this structure is presented in this paper. It is shown that unique closed form solution to the inverse kinematic problem of such structure exists. However, the forward kinematic solution is derived using numerical methods, and simulation results are reported to illustrate the integrity and accuracy of the solution.

关键词： Kinematics Optical design Councils Telescopes Winches Radio astronomy Frequency Reflector antennas Antenna accessories Receiving antennas

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Jacobian analysis of a macro-micro parallel manipulator

Jacobian analysis of a macro-micro parallel manipulator

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IEEE/ASME (AIM) International Conference on advanced intelligent Mechatronics

In this paper the Jacobian analysis of a macro- micro parallel manipulator is studied in detail. The manipulator architecture is a simplified planar version adopted from the structure of Large Adaptive Reflector (LAR), the Canadian design of next generation giant radio telescopes. This structure is composed of two parallel and redundantly actuated manipulators at macro and micro level, which both are cable- driven. The Jacobian matrices of the manipulator at macro and micro level are derived and a thorough singularity and sensitivity analysis of the system is presented. It is shown that due to the crossed cable structure used in the design, the macro micro manipulator experiences no singularity at the required workspace.

关键词： Jacobian matrices Optical design Telescopes Radio astronomy Councils Winches Reflector antennas Antenna accessories Packaging Receivers

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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Solution of Singularity Problem in Motion Control of Acrobots

Solution of Singularity Problem in Motion Control of Acrobot...

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Chinese Control Conference (CCC)

作者： Lai Xuzhi She Jinhua Wu Min X Yang Simon School of Information Science an dEngineering Central South University Changsha Hunan P.R. China School of Bionics Tokyo University of Technology Tokyo Japan Advanced Robotics and Intelligent Systems(ARIS) Lab. University of Guelph Guelph Ontario Canada

This paper gives an integrated fuzzy-control solution of singularity problem in the motion control of an acrobot. First, the singularity that arises in motion control based on Lyapunov function is explained. Then, a fuzzy controller is employed to regulate one of parameters of the control law to solve the singularity problem in the motion control occurred in the motion control law. Finally, two additional fuzzy controllers for different situations are designed to regulate another parameter of the control law in order to improve the control performance. Simulation results show the effectiveness of the proposed control strategy.

关键词： Motion control Fuzzy control Torque control Lyapunov method intelligent robots Actuators Asymptotic stability Fuzzy sets Information science intelligent systems

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Belief propagation driven method for facial gestures recognition in presence of occlusions

Belief propagation driven method for facial gestures recogni...

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2006 Conference on Computer Vision and Pattern Recognition Workshops

作者： Liao, Wei-Kai Cohen, Isaac Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0273 Honeywell Advanced Technology Laboratory

ISBN: (纸本)0769526462

In this paper, we present a framework for automatic facial gestures recognition in a highly interactive environment. We propose to use a region-based representation of the face, and model the interdependencies of these regions using a graphical model. A parametric modeling of the local facial deformations and the use of a graphical model facilitate the characterization of infra-region dynamic patterns and the inter-region dependencies. We augment this formalism with a belief propagation algorithm to infer missing data, as well as correcting for erroneous estimations of the local deformations. The resulting approach hence handles complete observation and partial occlusion cases in an unified way, and allows for the recognition of facial gestures in presence of head motion and partial occlusions of the face. Experimental results on recognizing facial expression in various real world situations, such as non-frontal views, moving head, and occlusions illustrate the proposed approach. © 2006 IEEE.

关键词： Gesture recognition

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