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Supervising Remote Humanoids Across Intermediate Time Delay

Supervising Remote Humanoids Across Intermediate Time Delay

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Kimberly Hambuchen William Bluethmann Michael Goza Robert Ambrose Kenneth Rabe Mark Allan Automation Robotics and Simulation Division NASA-Johnson Space Center Houston TX USA Planning Software Systems Group Jet Propulsion Laboratory/California Institute of Technology Pasadena CA USA Intelligent Robotics Group NASA Ames Research Center Moffett Field CA USA

ISBN: (纸本)1424401992;142440200X

The President's Vision for Space Exploration, laid out in 2004, relies heavily upon robotic exploration of the lunar surface in early phases of the program. Prior to the arrival of astronauts on the lunar surface, these robots will be required to be controlled across space and time, posing a considerable challenge for traditional telepresence techniques. Because time delays will be measured in seconds, not minutes as is the case for Mars Exploration, uploading the plan for a day seems excessive. An approach for controlling humanoids under intermediate time delay is presented. This approach uses software running within a ground control cockpit to predict an immersed robot supervisor's motions which the remote humanoid autonomously executes. Initial results are presented

关键词： Delay effects Orbital robotics Moon Space exploration Robot vision systems Extraterrestrial measurements Time measurement Mars Motion control Humanoid robots

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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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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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Humanoid robot locomotion

Humanoid robot locomotion

引用

International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Xu-Sheng Lei Jing Pan Jian-Bo Su Department of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

关键词： Humanoid robots Legged locomotion Stability Energy consumption Humans Control systems robotics and automation intelligent robots Error compensation Hip

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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)

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

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.

关键词： intelligent robots Internet intelligent systems Robot kinematics Mobile robots robotics and automation Robot sensing systems Orbital robotics Robot control Genetic algorithms

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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)

作者： Wei Zhou Jian-Bo Su Research Center of Intelligent Robotics & Department of Automation Shanghai Jiaotong University Shanghai China

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 results show the validity and feasibility of the proposed method.

关键词： Mobile robots Bayesian methods Delay effects intelligent robots Internet Robot sensing systems robotics and automation Data communication Communication system control Robot control

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On Sensor Management of Calligraphic Robot

On Sensor Management of Calligraphic Robot

引用

IEEE International Conference on robotics and automation (ICRA)

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

Development of calligraphic robot is motivated by allowing humanoid robot and home service robot to mimic the writing skills of human beings. Similar to human beings, versatile sensors are involved in writing procedure of robot to percept stages of task fulfillment and status of writing-brush. It is well known that the structures of Chinese characters are very complex and delicate. The writing-brush is soft and can draw strokes of different and variable widths, which makes Chinese calligraphy a sort of art like painting. Since the relations of strokes of Chinese characters are complicated and the writing-brush is extremely intricate to handle that it might result in inconsistent strokes with even slight changes in environment, dynamic management of sensors is hence a critical issue for a successful writing of an elegant Chinese character. This paper presents a sensor management method based on fuzzy decision tree (FDT), with which necessary prerequisite knowledge of Chinese character writing can be integrated into control of calligraphic robot system. Properties of sensor management problem in calligraphic robot are analyzed. Implementation of the proposed method is discussed. Experiments evaluate the feasibility and advantages of the proposed method.

关键词： Robot sensing systems Writing Humanoid robots Humans Service robots Art Painting Environmental management Sensor systems Knowledge management

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Motion control strategy for humanoid robot MIH-1

Motion control strategy for humanoid robot MIH-1

引用

IEEE International Conference on Mechatronics and automation

作者： Jing Pan Jianbo Su Xusheng Lei Feng Lan Department of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

In this paper, we focus on the problem of stabilizing a humanoid robot on a complete walking cycle in 3D space. Based on the analysis of passive dynamic walking and mechanical energy consumption, we propose a strategy to drive a 26-DOF humanoid robot during two fundamental phases: swing-phase and impact-phase. The ZMP condition and other factors on the active walker are taken into account. Furthermore spring-phase, a standard procedure appearing only in the running cycle with both legs in the air, is discussed to prepare for the conversion-from walk to run.

关键词： Motion control Humanoid robots Legged locomotion Mechanical energy robotics and automation intelligent robots Orbital robotics Leg Actuators Control system synthesis

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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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