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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： F. Nagata K. Watanabe K. Sato K. Izumi Fukuoka Industrial Technology Center Interior Design Research Institute Fukuoka Japan Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Saga University Saga Japan Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Saga University Honjomachi Saga Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Honjomachi Saga Japan

Impedance control allows the manipulator to change the mechanical impedance such as inertia, damping and stiffness, acting between the end-effector and its environment. However, to achieve stable force control under unknown stiff environments, complicated tuning of desired impedance parameters is needed. Among the parameters, the desired damping is the most significant to suppress overshoots and oscillations. In the paper generalized fuzzy environment models with anisotropy are proposed to systematically determine the desired damping against unknown environments. The models learned with genetic algorithms, can estimate each directional stiffness of the environment and yield the desired damping, considering the critical damping condition of the control system. Position and force control simulations are shown to demonstrate the effectiveness and promise of the models.

关键词： Damping Impedance Force control Manipulators Tuning Fuzzy systems Anisotropic magnetoresistance Genetic algorithms Yield estimation control system synthesis

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Impedance control Using Anisotropic Fuzzy Environment Models

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Journal of Robotics and Mechatronics 1999年第1期11卷 60-66页

作者： Nagata, Fusaomi Watanabe, Keigo Sato, Kazuya Izumi, Kiyotaka Interior Design Research Institute Fukuoka Industrial Technology Center Agemaki-405-3 Fukuoka831-0031 Japan Department of Advanced Systems Control Engineering Saga University Saga840-8502 Japan Department of Mechanical Engineering Saga University Saga840 Japan

We describe impedance control for force control in unknown environments, proposing anisotropic fuzzy environment models that estimate environmental stiffness using fuzzy reasoning and generate time-varying damping for stable force control. Each model is automatically taught with genetic algorithms (GAs), in vyhich evaluation is made for force control in several known environments. Taught models are integrated for generalization. We apply models to tasks in which an industrial robot sands or polishes wood is differently stiff in different direction. Numerical simulations demonstrate the effectiveness of our method. © Fuji Technology Press Ltd.

关键词： Force control

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Two-stage adaptation of a position/force robot controller application of soft computing techniques

Two-stage adaptation of a position/force robot controller ap...

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International Conference on Knowledge-Based Intelligent Information Engineering systems (KES)

作者： L. Kiguchi K. Watanabe K. Izumi T. Fukuda Department of Advance Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Department of Mechanical Engineering Saga University Saga Japan Center for Cooperative Research in Advanced Science and Tech University of Nagoya Nagoya Japan

Friction of each joint of a robot manipulator has to be effectively compensated for in order to realize precise position/force control of robot manipulators. Recently, soft computing techniques (fuzzy reasoning, neural networks, and genetic algorithms) have played an important role in the control of robots. By applying soft computing techniques, learning/adaptation ability and human knowledge can be incorporated into a robot controller. In this paper, we propose a two-stage adaptive robot manipulator position/force control method in which uncertain/unknown dynamics of the environment are compensated for in the task space and joint friction is effectively compensated for in the joint space using soft computing techniques. The effectiveness of the proposed control method was evaluated by experiments.

关键词： Force control Robot control Orbital robotics Friction Manipulator dynamics Computer networks Fuzzy reasoning Neural networks Genetic algorithms Humans

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Physical interaction between human and a bipedal humanoid robot-realization of human-follow walking

Physical interaction between human and a bipedal humanoid ro...

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IEEE International Conference on Robotics and automation (ICRA)

作者： S.A. Setiawan J. Yamaguchi Sang Ho Hyon A. Takanishi Dept. of Mech. Eng. Waseda Univ. Tokyo Japan Humanoid Research Laboratory Advanced Research Institute for Science and Engineering Waseda University Tokyo Japan Department of Control and Systems Engineering Tokyo Institute of Technology Tokyo Japan

This research is aimed at the development of bipedal humanoid robots working in a human living space, with a focus on its physical construction and motion control method. At the first stage, we developed the bipedal humanoid robot WABIAN (Waseda bipedal humanoid), and proposed a control method for dynamic cooperative biped walking. In this paper, we present a follow-walking control method with a switching patterns technique for a bipedal humanoid robot to follow human motion by hand contact. By a combination of both algorithms, the robot is able to perform dynamic stepping and walking forward and backward in a continuous time while someone is pushing or pulling its hand. In this paper, the authors describe the control methods for the realization of physical interaction between a human and a bipedal humanoid robot.

关键词： Humans Humanoid robots Legged locomotion Motion control Space technology Workability Trajectory Motion planning Equations Mechanical engineering

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Position-based impedance control using a fuzzy compensator

Position-based impedance control using a fuzzy compensator

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International Conference on Knowledge-Based Intelligent Information Engineering systems (KES)

作者： F. Nagata K. Watanabe K. Izumi Fukuoka Industrial Technology Center Interior Design Research Institute Fukuoka Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Honjomachi Saga Japan

A position based impedance control with a fuzzy compensator is proposed to improve a force control performance, in which the environment has unknown dynamics or curved surface. The main attraction of the fuzzy compensator is that it generates proper position compensation as feedforward command so that overshoots and oscillations in the direction of force control can be suppressed satisfactorily. Profiling control simulations using the dynamics of the PUMA560 manipulator are shown to demonstrate the effectiveness and promise of the fuzzy compensator under the environment having unknown dynamic characteristics.

关键词： Fuzzy control Force control Industrial control Manipulator dynamics control systems Surface impedance Service robots Electrical equipment industry Electronic mail Design engineering

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Approximating polynomial functions by feedforward artificial neural networks: Capacity analysis and design

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APPLIED MATHEMATICS AND COMPUTATION 1998年第1期90卷 27-51页

作者： Malakooti, B Zhou, YQ Department of Systems Control and Industrial Engineering Center for Automation and Intelligent Systems Research Case Western Reserve University Cleveland Ohio 44106 USA

Polynomial functions are used in many applications. In this paper, we address the capacity of Feedforward Artificial Neural Networks (FANNs) in approximating polynomial functions. Instead of studying the capacity of a FANN with infinitely available hidden nodes, which was proved to be a universal approximator, we provide the capacity results of a FANN with finite hidden nodes in approximating polynomial functions. First, we show that there is a relationship between the capacity of a FANN in approximating polynomial functions and the number of hidden nodes used in the FANN. Then, we describe a procedure to realize a FANN in approximating polynomial functions. Two examples are given to show the procedure. Several experiments are reported which verifies that a FANN with a certain number of hidden nodes has the capability in learning given polynomial functions. An extension of the approach for solving multiple criteria decision making problems is discussed. The experiments also show that the proposed algorithm for training a FANN performs accurately. (C) Elsevier Science Inc., 1998.

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Position-based impedance control using fuzzy environment models

Position-based impedance control using fuzzy environment mod...

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SICE Annual Conference

作者： F. Nagata K. Watanabe K. Sato K. Izumi Interior Design Research Institute Fukuoka Industrial Technology Center Fukuoka Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Saga Japan

Impedance control is one of the most effective force control methods for a robot manipulator in contact with an object. It should be noted, however, that a practical study on such a method has not been successfully applied to an industrial robot with 6 degree-of-freedom. A hybrid compliance/force control (HCC) in this field was suggested to deal with the practical problem, in which a desired damping coefficient is determined by repeating many simulations. To determine a suitable compliance without trial and error, we have already presented a tuning method which produces the desired time-varying compliance, giving the critical damping in contact with an object, by using the information on the inertia and Jacobian matrices. But the tuning method needs to measure the physical information of the environment. In this paper, to overcome the problem we propose a fuzzy environment model that can estimate each directional stiffness of the environments. The fuzzy environment model is composed of several fuzzy rules which are learned with genetic algorithms. Simulation results show that the proposed method is very effective for deciding the desired compliance without any complicated tuning and is very robust to the change of environment.

关键词： Impedance Fuzzy control Force control Service robots Tuning Damping Industrial control Design engineering Manipulators Jacobian matrices

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Physical interaction between a human and humanoid through hand contact

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advanced Robotics 1998年第3期13卷 303-305页

作者： Takanishi, Atsuo Hyon, Sang Ho Agus Setiawan, Samuel Yamaguchi, Jin'ICHI Department of Mechanical Engineering Waseda University Waseda Japan Humanoid Research Laboratory Advanced Research Institute for Science and Engineering Waseda University Waseda Japan Department of Control and Systems Engineering Tokyo Institute of Technology Tokyo Japan Graduate School of Science and Engineering Waseda University Waseda Japan

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Development of a physiological knee motion simulator

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advanced Robotics 1998年第2期13卷 171-188页

作者： Kiguchi, Kazuo Fukuda, Toshio Koga, Yoshio Watanabe, Takashi Terajima, Kazuhiro Hayashi, Toyohiko Sakamoto, Makoto Matsueda, Munenori Suzuki, Yoshihiro Segawa, Hiroyuki Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga 840-8502 I Honjomachi Saga-shi Japan Center for Cooperative Research in Advanced Science and Technology Nagoya University Nagoya 464-8603 I Furo-cho Chikusa-ku Japan Department of Orthopcaedic Surgerv Niigata Kobari Hospital Niigata 950-2022 3-27-11 Kohari Niigata-shi Japan Department of Biocybernetics Niigata Universty Niigata 950-2181 2-8050 Ikarashi Niigata-shi Japan Department of Industrial and Systems Engineering Niigata College of Technology Niigata 950-2076 5-13-7 Kamishin'eicho Niigata-shi Japan Department of Orthopaedic Surgery Niigata University Niigata 951-8122 1-754 Asahimachi Niigata-shi Japan

Several kinds of knee motion simulator systems have been developed for the accurate analysis of knee biomechanics. Knee motion simulators, however, are not recognized for their practical use because of difficulties in design and control. In this study, a wire-driven knee simulator whichgenerates physiological knee motion has been developed. Physiological three-dimensional tibia motion against the femur can be generated by the simulator. Many clinical studies have been performed to analyze the length displacement pattern of the anterior cruciate ligament (ACL) and the posteriorcruciate ligament (PCL). We assume that the physiological knee motion can be realized if the length displacement patterns of the ACL and PCL against the knee flexion angle are the same as the experimental data obtained from the literature. A fuzzy neural control policy, one of the most effectiveintelligent control policies, has been applied for control of the simulator. Applying the fuzzy neural control policy, human knowledge and experience can be reflected and adaptive/learning ability can be incorporated in the controller. On-line learning of the fuzzy neural controller is carriedout to minimize a fuzzy controlled evaluation function using the back-propagation learning algorithm. The effectiveness of the proposed simulator has been evaluated by experiments using a model bone. © 1998 Taylor & Francis Group, LLC.

关键词： Bio-robotics Fuzzy evaluation Fuzzy neural control Intelligent control Robotic motion simulator

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STEADY-STATE OPERATION ANALYSIS OF AN IDEAL HEAT INTEGRATED DISTILLATION COLUMN

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Chinese Journal of Chemical Engineering 1997年第4期5卷 43-54页

作者：黄克谨钱积新战德志中岩勝高松武一郎 Institute of Industrial Process Control Zhejiang University Department of Chemical Process Automation Qingdao Institute of Chemical Engineering Department of Chemical Systems National Institute of Materials and Chemical Research Institute of Industrial Technology Kansai University

A systematic approach for the steady-state operation analysis of chemical processes is *** method affords the possibility of taking operation resilience into consideration during thestage of process *** may serve the designer as an efficient means for the initial screening ofalternative design *** ideal heat integrated distillation column(HIDiC),without any reboileror condenser attached,is studied throughout this *** has been found that among the various va-riables concerned with the ideal HIDiC,feed thermal condition appears to be the only factor exertingsignificant influences on the interaction between the top and the bottom control *** is expected when the feed thermal condition approaches *** number of stages andheat transfer rate are essential to the system ability of disturbance ***,more stagesand higher heat transfer rate ought to be ***,too many stages and higher heat transfer ratemay increase the load of the

关键词： Distillation model identification steady-state design operation resilience process control

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