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Intelligent robotic systems: Adaptation, learning, and evolution

Artificial Life and Robotics 1999年第1期3卷 32-38页

作者： Toshio Fukuda Naoyuki Kubota Center for Cooperative Research in Advanced Science and Technology Department of Mechano-Informatics and Systems and Department of Micro System Engineering Nagoya University Nagoya Japan Department of Mechanical Engineering Osaka Institute of Technology Osaka Japan

Living creatures have evolved and formed ecological systems by adapting to their dynamic environment. Robots also need an adaptability to the dynamic environment. This paper presents methodologies for adaptation, learning, and evolution in robotics. Further the intelligence of a robot emerges as a result of the synthesis of simultaneous processing of perception, decision making, and action. A robotic system requires the whole structure of intelligence, and acquires skill and knowledge through interaction with the dynamic environment by computational intelligence, including neural networks, fuzzy systems, and genetic algorithms.

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Computational intelligence for the robotics and automation

Computational intelligence for the robotics and automation

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： T. Fukuda N. Kubota Center for Cooperative Research in Advanced Science and Technology Department of Mechano-Informatics and Systems & Department of Micro System Engineering University of Nagoya Nagoya Japan

This tutorial presents the idea of computational intelligence and its application to robotics and automation. Firstly, the basics for computational intelligence are introduced, including neural networks, fuzzy systems and evolutionary computation, and advanced methodologies are then shown in detail. Next, application examples are given and shown how they can improve the conventional methods and how they can solve problems in the field of intelligent systems of robotics and automation.

关键词： Computational intelligence Robotics and automation Competitive intelligence Intelligent robots Humans Intelligent systems Artificial intelligence Information processing Computational and artificial intelligence Evolution (biology)

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Adaptation, learning and evolution for intelligent systems

Adaptation, learning and evolution for intelligent systems

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： T. Fukuda F. Kobayashi Center for Cooperative Research in Advanced Science and Technology Department of Mechano-Informatics and Systems and Department of Micro System Engineering University of Nagoya Nagoya Japan Department of Micro System Engineering University of Nagoya Nagoya Japan

Intelligent systems are required in knowledge engineering, computer science, mechatronics and robotics. This paper discusses the machine (system) intelligence from the viewpoints of adaptation, learning and evolution of living things. Next, this paper introduces computational intelligence including neural network, fuzzy system and genetic algorithm. Finally, this paper describe the sensor fusion system which selects sensor information adaptively.

关键词： Intelligent systems Computational intelligence Intelligent robots Learning systems Competitive intelligence Intelligent sensors Sensor fusion Knowledge engineering Computer science Mechatronics

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A comparative analysis of the topological structures of different LPC feature-based speech models

A comparative analysis of the topological structures of diff...

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International Joint Conference on Neural Networks (IJCNN)

作者： L.R. Palomar T. Fukuda E.P. Dadios Department of Electronics & Communications Engineering De La Salle University Philippines Department of Mechano-Informatics Engineering and Department of Micro-Systems Engineering University of Nagoya Nagoya Japan Department of Manufacturing Engineering and Management De La Salle University Philippines

Describes initial experimentations done on three LPC (linear predictive coding) derived feature-based speech models: the LPC-cepstrum, the LSP (line spectral pair) and the postfilter-cepstrum (PFL). A comparative analysis of the topological structures of these models is also given. The structures are basically self-organizing feature maps which accept these models as inputs and after training, used to distinguish between isolated word utterances and speakers. A small database of 5 utterances and 4 speakers is initially used. The performance index of isolated word recognition and speaker identification for all models are calculated based on a hit-and-miss ratio and are also discussed. Experimental results reveal that the three parameters are comparable in performance. The LSP has a slight edge over the other two feature vectors in distinguishing isolated words.

关键词： Speech analysis Linear predictive coding Cepstral analysis Speech recognition Speech coding Predictive models Speaker recognition Audio recording Pulse modulation Nonlinear filters

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Re-grasping behavior acquisition by evolutionary programming

Re-grasping behavior acquisition by evolutionary programming

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1999 Congress on Evolutionary Computation, CEC 1999

作者： Hasegawa, Yasuhisa Mase, Kenichiro Fukuda, Toshio Department of Micro System Engineering Nagoya University Furo-cho 1 Chikusa-ku Nagoya 464-8603 Japan Department of Mechano-Informatics and System Engineering Nagoya University Furo-cho 1 Chikusa-ku Nagoya 464-8603 Japan Center for Cooperative Research in Advanced Science and Technology Nagoya University Furo-cho 1 Chikusa-ku Nagoya 464-8603 Japan

ISBN: (纸本)0780355369

The control of multi-fingered robot hands has been the subject of recent interest. To manipulate some object with it, it is necessary to determine the contact points and grasping forces at the fingertips, but it is difficult to optimize such manipulation parameters for performing effective manipulation. In this paper, we propose an acquisition method for re-grasping motion for a four-fingered robot hand using evolutionary programming (EP). In this case, EP determines not only when and where the fingers are moved, but also which finger is operated at the next contact point according to the attitude changes of object grasping with the grasping stability. Evolutionary programming is generally able to find an optimal solution without a supervisor after much iteration, which is almost impractical using a real robot. Therefore we control the real robot hand with the optimal controller that has been obtained in computer simulations. We show the effectiveness of the proposed acquisition method for the re-grasping motion with experimental results. © 1999 IEEE.

关键词： Iterative methods

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Re-grasping behavior acquisition by evolutionary programming

Re-grasping behavior acquisition by evolutionary programming

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Congress on Evolutionary Computation

作者： Y. Hasegawa K. Mase T. Fukuda Department of Micro System Engineering Nagoya Aichi Japan Department of Mechano-Informatics and System Engineering Nagoya Aichi Japan Center for Cooperative Research in Advanced Science and Technology Nagoya Aichi Japan

关键词： Genetic programming Fingers Grasping Robot programming Stability systems engineering and theory Computer simulation Humans Actuators Robot control

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Robust quasi-sliding mode tracking control for discrete input-output systems

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IFAC Proceedings Volumes 1999年第2期32卷 3569-3574页

作者： Xinkai Chen Toshio Fukuda Department of Electrical and Electronic Engineering Mie University 1515 Kamihama-cho Tsu 514-8507 Japan Department of Mechano-Informatics and Systems Nagoya University Chikusa-kuNagoya 464-8603 Japan

In this paper, a discrete robust quasi-sliding mode adaptive tracking controller is presented for the input-output systems with unknown parameters, unmodeled dynamics and bounded disturbances. The robust tracking controller is adaptive control in conjunction with a sliding mode based control design. The bounded motion of the system around the sliding surface and the stability of the global system in the sense that all signals remain bounded are guaranteed. In the proposed adaptive algorithms, the dead-zone method is employed even though the upper and lower bounds of the disturbances are unknown. The effectiveness of the proposed control is verified by simulation.

关键词： Discrete quasi-sliding mode Robust tracking control Unmodeled dynamics Bounded disturbances Adaptive algorithm with dead-zone

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Robot hand manipulation by evolutionary programming

Robot hand manipulation by evolutionary programming

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IEEE International Conference on Robotics and Automation (ICRA)

作者： T. Fukuda K. Mase Y. Hasegawa Center for Cooperative Research in Advanced Science & Technology University of Nagoya Nagoya Japan Department of Mechano-Informatics and System Engineering University of Nagoya Nagoya Japan Department of Micro System Engineering University of Nagoya Nagoya Japan

We propose a searching method of the grasping and manipulating an object in the 3D space by using a four-fingered robot hand, which is applicable to the real robot hand. To manipulate an object, it needs to teach contact points and forces of fingertip, but it is difficult to optimize each parameter for natural grasping. This paper shows the manipulation using evolutionary programming (EP) to optimize the motion of the fingers. In this case, EP determines not only when and where the fingers are moved, but also which finger is operated to the next contact point as the grasping attitude is changed. Moreover, the coding of individual is unique, which makes it easy to optimize the parameter. The result examines the effective in computer simulation in this paper but it would be applicable to a real robot hand.

关键词： Genetic programming Robot programming Fingers Grasping Orbital robotics Space technology systems engineering and theory Computer simulation Humans Actuators

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Vibration suppression control of flexible arms using sliding mode method

Vibration suppression control of flexible arms using sliding...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Xinkai Chen Shuxiang Guo T. Fukuda Department Information Sciences Tokyo Denki University Hiki Saitama Japan Department Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Japan Department Mechano-Informatics and Systems University of Nagoya Nagoya Japan

The vibration motion of the flexible arm has an infinite number of modes. The higher order modes of the flexible arm are considered as the disturbances. Since the payload mass is usually unknown, the model uncertainties usually exist. The sliding surface is designed such that the dynamics on the surface are stable under the sliding mode control. The robustness of sliding mode control is effectively employed to compensate the model uncertainties and the disturbances. For different payloads, experimental results show that the robustness of the proposed method is superior to that of the traditional pole-placement methods.

关键词： Vibration control Sliding mode control Arm Uncertainty Control systems Payloads Robustness Manipulator dynamics Motion control Robust control

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Development of an artificial fish microrobot

Development of an artificial fish microrobot

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International Symposium on micromechatronics and Human Science (MHS)

作者： Shuxiang Guo T. Fukuda K. Oguro Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa Japan Department of Mechano-Informatics and System University of Nagoya Nagoya Japan AIST Osaka National Research Institute AIST Ikeda Osaka Japan

It is our purpose to develop an underwater microrobot that has the characteristics of flexibility, driven by a low voltage, good response and safety in body. In this paper, we propose a new prototype model of an underwater microrobot utilizing ICPF (Ionic Conducting Polymer Film) actuator as the servo actuator. Biomimetic fish-like propulsion using ICPF actuator as a propulsion tail fin for microrobot swimming structure in water or aqueous medium is developed. The overall size of the underwater microrobot prototype shaped as a boat is 40 mm in length, 10 mm in width and 2 mm in thickness. There is a pair of fins. Characteristic of the underwater microrobot is measured by changing the frequency of input voltage from 0.1 Hz to 5 Hz. The experimental results indicate that the swimming speed of proposed underwater microrobot can be controlled by changing the frequency of input voltage.

关键词： Marine animals Actuators Prototypes Propulsion Frequency Low voltage Safety Polymer films Servomechanisms Biomimetics

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