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检索条件"机构=Center of Intelligent Robotics and Automation Research"

共 268 条记录，以下是11-20 订阅

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A new method for asynchronous multisensor information fusion

A new method for asynchronous multisensor information fusion

引用

27th Annual German Conference on Artificial Intelligence, KI 2004

作者： Kejun, Zhang Jianbo, Su Department of Automation Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

ISBN: (纸本)3540231668

This paper presents a novel method for asynchronous multisensor information fusion (AMIF), which is real-time, model free and can provide the capability of reconfiguring sensors. The method is motivated by the idea that the information fusion is a procedure that the data of some sensors complement the data of others. The system computes the complements between the sensors. These complements are used to adjust the measurement at the moment of the fusion with a fuzzy inference system. The detailed principles are first described and the algorithm is then implemented in a calligraphic robot, which includes three asynchronous sensors, image sensor, tactile sensor and sonar sensor. © 2004 Springer-Verlag.

关键词： Information fusion

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Robot autonomous perception model for internet-based intelligent robotic system

Robot autonomous perception model for internet-based intelli...

引用

International Conference on Machine Learning and Cybernetics, ICMLC 2005

作者： Gao, Zhen-Dong Su, Jian-Bo Zhou, Wei Department of Automation Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai 200030

ISBN: (纸本)078039092X

The Internet-based robot is a popular topic in robot control research recently. A platform build to provide information for robot can increase its intelligence and performance of teleoperation greatly. This paper implements the robot system based on the Robot Autonomous Perception Model (RAPM) can get the information on the Internet through autonomous perception, optimize paths based on Genetic Algorithms, and fulfill the mission out of the robot's field range. The experiment shows RAPM possesses greatly extended capability and proper structural frame, and the optimizing way based on GA is effective. This has significant purpose for increasing Internet-based robots intelligence and behavior capacity. © 2005 IEEE.

关键词： robotics

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Humanoid robot locomotion

Humanoid robot locomotion

引用

International Conference on Machine Learning and Cybernetics, ICMLC 2005

作者： Lei, X.U.-Sheng Pan, Jing Jian-Bo, S.U. Department of Automation And Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai 200030 China

ISBN: (纸本)078039092X

The objective of this paper is to propose a locomotion control method for humanoid robot to realize stable walking, which consisting of optimal joint generation and feedback error compensation. Using energy consumption as criteria, the proposed method can generate a series of joint trajectory for different walking steps and speed. Furthermore, to improve system stability and adaptability, a fuzzy-GA is trained to compensate system errors. Based on sensor information, humanoid robot can get environment and inherent situation and use the proposed method to adjust joint trajectory. The effectiveness of the method is shown with a 28 DOF humanoid robot in ADAMS © 2005 IEEE.

关键词： Robots

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Moment-based shape priors for geometric active contours

Moment-based shape priors for geometric active contours

引用

18th International Conference on Pattern Recognition, ICPR 2006

作者： Fuzhen, Huang Jianbo, Su Department of Automation and Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai 200240 China

ISBN: (纸本)0769525210

In this paper a new method that incorporates moment-based shape information into geometric active contours is presented. As any shape may theoretically be characterized by its set of moments, the shape prior is represented based on Legendre moments. By combining the shape prior with the powerful geometric active contours proposed by Chan and Vese, the improved model can retain all the advantage of the Chan-Vese model and have the additional ability of being able to compactly represent global shape of an object. Experiments on synthetic and real image segmentation show the efficiency of our method. © 2006 IEEE.

关键词： Method of moments

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Gaze control on humanoid robot head

Gaze control on humanoid robot head

引用

6th World Congress on intelligent Control and automation, WCICA 2006

作者： Lizhong, Gu Jianbo, Su Department of Automation Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai 200240 China

ISBN: (纸本)1424403324

This paper presents a general gaze control algorithm for humanoid robot head. Gaze control is an essential visual behavior for human-robot interaction. Calculation of the distance to fixation point is a first step to accomplish coordinated head-eye movements on humanoid robot head. We solved the problem of obtaining depth information under the condition of two eyes gazing at the point. Then we derived kinematics mathematical models of coordinated head-eye movements according to the geometry constraint of the robot head. A general humanoid robot head has been developed and experimental results demonstrate the effectiveness of the proposed algorithm. © 2006 IEEE.

关键词： Mobile robots

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Simultaneous regulation of position and orientation for nonholonomic mobile robot

Simultaneous regulation of position and orientation for nonh...

引用

2016 International Conference on Machine Learning and Cybernetics, ICMLC 2016

作者： Huang, Yao Su, Jian-Bo Research Center of Intelligent Robotics Department of Automation Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781509003891

An image-based visual servoing control scheme is proposed for regulating the position and orientation of the nonholonomic mobile robot simultaneously based on an imprecisely calibrated camera. The proposed method only requires measurement information from image and utilizes the elements of the homography matrix between current and goal images to establish an error model, which is then used to develop an extended state observer (ESO)-based controller. Therein, two ESOs are designed to compensate for the parameter uncertainties of the error model. The mobile robot will be maneuvered to a desired configuration by the controller when the position and orientation errors are regulated to zero simultaneously. Global asymptotic convergent property of system errors is proven. Simulations validate the effectiveness of the proposed control scheme. © 2016 IEEE.

关键词： Mobile robots

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Intention modeling of web user for networked mobile robot with bayesian inference

Intention modeling of web user for networked mobile robot wi...

引用

International Conference on Machine Learning and Cybernetics, ICMLC 2005

作者： Zhou, Wei Su, Jian-Bo Research Center of Intelligent Robotics Department of Automation Shanghai Jiao Tons University Shanghai 200030 China

ISBN: (纸本)078039092X

Teleoperated networked robot often has unpredictable behaviors due to uncertain time delay in data transmission over Internet. This paper investigates a novel approach to compensate the uncertain time delay with the autonomy of mobile robot. The user's intention to operate and control the networked robot is incrementally inferred based on Bayesian techniques so that task of the robot defined by the user's intention can be recognized. Consequently, the robot can autonomously execute this task without frequent interaction with the user, which decreases data transmission to a great extent. So long the robot has a correct inference on task, the efficiency of the whole system can be improved to a remarkable extent. Experimental result show the validity and feasibility of the proposed method. ©2005 IEEE.

关键词： Mathematical models

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Performance evaluation of visual servoing based on complete feature sets

Performance evaluation of visual servoing based on complete ...

引用

2016 International Conference on Machine Learning and Cybernetics, ICMLC 2016

作者： Ma, Zhe Su, Jian-Bo Research Center of Intelligent Robotics Department of Automation Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781509003891

In terms of visual feedback, the process of visual servoing could be characterized by the changes of the visual features. The concept of feature completeness for visual servoing is introduced. If there exists a feature set that varies from the initial state to the target state while the prescribed task is finished, then the feature set is complete for this task. With such a feature set, the visual servoing task is transformed to designing the control algorithm to alter every feature to the corresponding final state optimally. Visual servoing systems are firstly categorized in terms of feature completeness. Then how feature completeness affects the performance of task fulfillment is discussed. The strategy of visual servoing control is investigated based on complete feature sets, incomplete feature sets as well as redundant feature sets, respectively. Finally, simulation and corresponding results are described to demonstrate how feature completeness functions and the advantage of this technique. © 2016 IEEE.

关键词： Visual servoing

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Online trajectory tracking based on model predictive control for Service Robot

Online trajectory tracking based on model predictive control...

引用

2014 IEEE International Conference on automation Science and Engineering, CASE 2014

作者： Luo, Ren C. Huang, Kai C. Alami, Rachid International Center of Excellence on Intelligent Robotics and Automation Research LAAS/CNRS Robotics and AI Group National Taiwan University Taipei Taipei Taiwan

The objective of this paper is to present an online trajectory tracking based on model predictive control for service robot. The key point of model predictive control (MPC) algorithm is to consider an on-line optimization problem so as to obtain the optimal control input sequence in a specific time period. The main characteristics of MPC are only the first element of the control sequence is implemented as the current control input in the repeated calculations. Hence, it is more suitable for time-varying systems than conventional infinite horizon control. In this paper, explicit model predictive controller is applied to a Dual-arm Service Robot (Panda Robot) developed in our NTU-iCeiRA Lab. There are six Degrees-of-freedom for each arm, which is capable of achieving desired tasks. The proposed method is able to control the movement of each axes based on the information itself to minimize the performance index that we choose. Moreover, in order to decrease the effect of jerky motion, we apply an on-line trajectory generator to obtain a smooth trajectory by the constraints of velocity and acceleration. Experimental results demonstrate that the proposed control scheme is able to increase the positioning accuracy. © 2014 IEEE.

关键词： Model predictive control

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Gas distribution mapping based on integrating system with mobile robot and sensor network 41

Gas distribution mapping based on integrating system with mo...

引用

第41届中国控制会议

作者： Zhirui Xu Lei Cheng Daiwei Tang Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The monitoring of industrial environmental gas quality becomes an increasingly important topic due to its significant impact on the health of the producers and the safety of the production ***,there are two main approaches to this task:first,using mobile robots equipped with sensors to patrol and monitor the environment,the prediction accuracy of this method is relatively poor;second,using a sensor network distributed in the environment for a long term monitoring,however this method lefts spatial relations and non-detection areas *** solve the above problems,this paper proposes a method combining the spatial map constructed by the mobile robot with fixed monitoring *** this method,the concentration of gas is collected by a fixed gas sensor and predicted by a deep neural *** the same time,a mobile robot equipped with lidar and a gas sensor is used to model the spatial construction of the environment as well as verify the *** embedding the predicted concentration map with the spatial map,a gas concentration map with high accuracy and spatial information is *** using anhydrous ethanol odor sources in a closed and windless room showed high prediction accuracy(98%) with this method.

关键词： Gas distribution mapping Deep neural networks spatial-temporal distribution simultaneous Localization and Mapping(SLAM)

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