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International Conference on Advanced robotics (ICAR)

作者： A. Kheddar C. Tzafestas P. Coiffet T. Kotoku S. Kawabata K. Iwamoto K. Tanie I. Mazon C. Laugier R. Chellali Laboratoire de Robotique de Paris CNRS URA 1778-UPMC-UVSQ Velizy-Villacoublay France Mechanical Engineering Laboratory Bio-Robotics Division Robotics Department AIST MITI Tsukuba Ibaraki Japan ZIRST-655 GRAVIR-INRIA Montbonnot Saint Martin France Ecole des Mines de Nantes Nantes France

On October 10th 1996 and for the first time in teleoperation history, four robots of different kinematics and situated in different locations (respectively Poitiers, Grenoble and Nantes in France and Tsukuba in Japan) were teleoperated simultaneously (in parallel). The experiment was the first general one of a research cooperation programme named TWE (Telepresence World Experiment) linking seven research teams belonging to five countries. The task consisted in assembling a four pieces puzzle. All the robots had to perform the same task at the same time. In this paper, we discuss the preliminary results of this first trial experiment and problems encountered in achieving the matter. The master consists of a high-level abstraction interface based on virtual reality concepts. The operator performed the task within a simulated environment. Based on direct hand use, the operator assembled the puzzle in a natural manner. Bilateral transformations, from the operator to robot control and backwards, from the robot to operator, with time delay considerations, are presented.

关键词： Laboratories Robotic assembly Robot control Orbital robotics Delay effects Robot programming Surgery Internet Asynchronous transfer mode mechanical engineering

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Position control of collision-tolerant passive mobile manipulator with base suspension characteristics

Position control of collision-tolerant passive mobile manipu...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nak Young Chong K. Yokoi Sang-Rok Oh K. Tanie Ship & Ocean R&D Institute Daewoo Heavy Industries Limited South Korea Robotics Department Mechanical Engineering Laboratory AIST MITI Japan Division of Electronics & Information Technology KIST South Korea

A new concept of a robot manipulator with passive mobile base is proposed which can be safely used in a human-robot cooperation environment. A joint-based control scheme is developed to control the end-effector position of the manipulator which is tolerant to unexpected contact force with the manipulator's environment. The mobility the of base of the manipulator is passively exploited to attenuate the dynamic disturbance of the contact force and the joint configurations are re-adjusted according to the evolution of the position of the base to maintain performance of the given task. Effectiveness of the proposed method is verified by computer simulation and experimental evaluation is currently underway.

关键词： Position control Humans Manipulator dynamics Robot kinematics Service robots Mobile robots Force control Computer simulation Safety Foot

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Human-machine interaction through an intelligent user interface based on contention architecture

Human-machine interaction through an intelligent user interf...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： A. Agah K. Tanie Bio-Robotics Division Mechanical Engineering Laboratory AIST MITI Tsukuba Japan

A new approach to the utilization of intelligent control to enhance an interface for human-machine interaction is presented. The novel concept of contention architecture is introduced, based on the cooperation and competition of a number of software agents. The architecture is embedded within a graphical user interface, determining human intentions during the use of a computer mouse for performing traditional computer tasks. Through experiments with 6 human subjects it is shown that the intelligent component of the user interface enhances the effectiveness and efficiency of human-machine interaction.

关键词： Man machine systems User interfaces Intelligent agent Computer architecture Humans Computer interfaces Embedded computing Intelligent control Software agents Graphical user interfaces

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Design and fabrication of a team of robots in hardware

Design and fabrication of a team of robots in hardware

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International Conference on Industrial Electronics, Control and Instrumentation

作者： A. Agah C.T. Pierik Bio-Robotics Division Mechanical Engineering Laboratory AIST MITI Tsukuba Ibaraki Japan Los Angeles CA USA

This paper presents the design and fabrication of a team of robots. A colony of physical robots consisting of four robots were built in order to test concepts in multi-agent systems. These robots are mobile, autonomous and self-powered, capable of manipulating objects. The physical structure, the control system, and the sensing and action of these robots are described in this paper.

关键词： Fabrication Hardware Mobile robots Robot sensing systems DC motors Cognitive robotics Wheels Grippers Gears System testing

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Learning from human's strategies of motor control: a challenge for robotic systems design

Learning from human's strategies of motor control: a challen...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： D. Michel Human Support Technology Division Robotics Department Mechanical Engineering Laboratory Tsukuba Ibaraki Japan

In areas such as tele-operation or assistance to humans with disabilities, it is of prime importance to design robots and machines which are consistent with human behavior. In this context, it is believed that the analysis of how humans perform trajectory formation, inverse kinematics and dynamics problems, in daily human motion, will be helpful in designing such complex systems. In this paper, we describe the different ways of solving ill-posed problems in motor control and concentrate on the feedforward aspects of motor control, the transfer of information from sensory to motor stages and the generation of motor command.

关键词： Motor drives Humans Robot kinematics Communication system control Control systems Manipulator dynamics Prosthetics Robot sensing systems Orbital robotics mechanical engineering

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Efficiency Assessment of Performance of Decentralized Autonomous Multi-Robot Systems

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Journal of robotics and Mechatronics 1996年第3期8卷 286-291页

作者： Agah, Arvin Bekey, George A. Research Scientist Fellow Bio-Robotics Division Mechanical Engineering Laboratory 1-2 Namiki Tsukuba305 Japan Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA90089 United States Robotics Research Laboratory University of Southern California Los AngelesCA90089 United States

This paper presents a new methodology for the efficiency assessment of task performance of decentralized autonomous multi-robot system. This formulation considers the types of the robots (in terms of sensing, action, and control), the description of the environment (the world), the facts (rules) of the world, and the specifications of the tasks to be performed. The performance efficiency is defined in terms of the total time required for completing the task, total energy requirement, and the comparison of the final results and the desired results. A robot colony simulator was used to perform a number of experiments, measuring the task performance efficiency, of a colony of simulated robots which perform specific tasks in a virtual world. The experimental results are presented in this paper. This paper also describes a team of four robots designed and fabricated in hardware. The physical robots were used successfully to validate the results from the simulated colony. © 1996, Fuji Technology Press. All rights reserved.

关键词： Multi agent systems

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A neural network-based controller for homogeneous and heterogeneous distributed robotic systems

A neural network-based controller for homogeneous and hetero...

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IEEE International Conference on Systems, Man and Cybernetics

作者： A. Agah G.A. Bekey Bio-Robotics Division Mechanical Engineering Laboratory AIST MITI Tsukuba Japan Computer Science Department University of Southern California Los Angeles CA USA

A neural network-based controller for robot members of a distributed robotic system is presented. It is shown that a four-layer network with robot perception as input and robot action as output can produce appropriate behaviors for members of a robot team, performing specific tasks. Also included in this paper are the results of experiments, comparing the performance of a homogeneous robot team with that of a team composed of heterogeneous members.

关键词： Neural networks Control systems Robot sensing systems Cognitive robotics robotics and automation Computer architecture Robot control mechanical engineering Laboratories Computer science

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A genetic algorithm-based controller for decentralized multi-agent robotic systems

A genetic algorithm-based controller for decentralized multi...

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IEEE International Conference on Evolutionary Computation

作者： A. Agah G.A. Bekey Bio-Robotics Division Mechanical Engineering Laboratory AIST MITI Tsukuba Japan Computer Science Department University of Southern California Los Angeles CA USA

In this paper the results of evolution on the task performance of a robot colony are discussed. The cognitive architecture of individual robots of a colony are modified, using genetic algorithms, producing a generation of robots with superior task performance, compared with those of the initial robot population. The effects of mutation probability and fitness scaling parameters on simulated evolution are also studied in this paper.

关键词： Control systems Robot sensing systems Cognitive robotics robotics and automation Wheels Genetic algorithms Mobile robots mechanical engineering Laboratories Genetic mutations

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Development of crawl type stair lift for wheelchair users

Development of crawl type stair lift for wheelchair users

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Annual International Conference of the IEEE engineering in Medicine and biology Society (EMBC)

作者： S. Hashino Human Support Technology Division Robotics Department Mechanical Engineering Laboratory AIST-MITI Tsukuba Ibaraki Japan

Wheelchair users have been hindered from participating in society by steps and staircases indoor and outdoors which cause them give difficulty. Therefore steps and staircases have been considered to be obstacles. To cope with these difficulties, many kinds of stair lift have been developed. A new type stair lift, adopting new crawl type mechanism, has been developed. Rotating movement of the disk has been converted to straight motion by using a drive guide. In order to confirm the mechanism, a prototype system has been fabricated. The design for the drive guide is presented.

关键词： Wheelchairs Drives Laboratories Humans Mobile robots Prototypes Crawlers Electric motors Actuators Propulsion

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A discrete event approach to the automatic command generation in a teleprogramming system

A discrete event approach to the automatic command generatio...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Young-Jo Cho T. Kotoku K. Komoriya K. Tanie Division of Electronics & Information Technology Korea Institute of Science and Technology Seoul South Korea Robotics Department Mechanical Engineering Laboratory (MEL) M.I.T.I. Tsukuba Ibaraki Japan

This paper presents a methodology to automatically generate motion commands for the slave robot in the framework of a discrete-event-based teleprogramming system. The teleprogramming system basically requires the geometric model of the work-piece and the constraint environment and additionally the CPN (controlled Petri net) model of the contact state transitions. In order to simplify the modeling procedure, we propose a task coordination scheme, which decomposes a global complex task into several sub-tasks and coordinates them in the execution stage. Each decomposed sub-task is then programmed based on the CPN model as well as the geometric model. Specifically, an algorithm is proposed to automatically generate the CPN model from the geometric model in a simpler planar workspace. The CPN model is down-loaded from the master site to the slave before the teleprogramming of the decomposed sub-task starts. Referring to the prior knowledge represented by the CPN model, the slave system interprets and executes the succeeding symbolic commands that are automatically generated and sent from the master site so as to achieve the sub-task goal.

关键词： Solid modeling Robot kinematics robotics and automation Master-slave Motion control Information technology mechanical engineering Laboratories Automatic control Virtual environment

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