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Approximate decision making by natural language commands for robots

Approximate decision making by natural language commands for...

引用

IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

作者： Watanabe, Keigo Jayawardena, Chandimal Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Japan

ISBN: (纸本)1424401364

Inferring the correct meaning of natural language commands, as judged by the person who issues commands, is mandatory for natural language commanded robotic systems. There have been some successful research on this;but one of the important and related aspects has not been addressed, i.e. the possibility of learning from natural language commands. Since natural language commands are generated by human users, they contain valuable information. Nevertheless, the learning from such commands, as well as the interpretation of them face many challenges due to the inherent subjectiveness of natural languages. In this paper, we propose a decision making process for natural language commanded robots which is influenced by certain characteristics of human decision making process. The proposed concept is demonstrated with an experiment conducted using a robotic manipulator. First, the robot is controlled with natural language commands to perform some pick and place operations during which the robot builds a knowledge base. After learning, the robot is capable of performing approximately similar tasks by making approximate decisions with the gained knowledge. For the decision making a probabilistic neural network is used. © 2006 IEEE.

关键词： Neural networks

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An action decision mechanism using fuzzy-neural network in voice commanded fuzzy coach-player system for robots

An action decision mechanism using fuzzy-neural network in v...

引用

2006 SICE-ICASE International Joint Conference

作者： Watanabe, Keigo Izumi, Kiyotaka Ohshima, Ayumu Ishii, Shin-Ichi Department of Advanced Systems Control Engineering Saga University 1-Honjomachi Saga 840-8502 Japan

ISBN: (纸本)8995003855

In this paper, research on achieving a cooperation between human and robot is described in the framework of a fuzzy coach-player system, where a human is regarded as a coach, a robot is viewed as a player, and the human speech languages including several fuzzy implications are used as one communication way. In particular, a reasoning mechanism based on fuzzy neural network is proposed to determine the control input to the robot, in order to obtain the adequate amount of the robot action desired by the human in response to the environmental situation. For the training of the network, design parameters in the consequent part are adjusted so as to realize the holding and moving of an object by the robot commanded with the human voice instructions. The effectiveness of the present system is illustrated through experiments for a piling work of colored objects in 3-D space. © 2006 ICASE.

关键词： Robots

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A Sensor Fusion Technique Using Visual and Ultrasonic Information to Acquire Obstacle Avoidance Behaviors for Quadruped Robots

A Sensor Fusion Technique Using Visual and Ultrasonic Inform...

引用

SICE Annual Conference

作者： Kiyotaka Izumi Keigo Watanabe Masaaki Shindo Ryoichi Sato Department of Advanced Systems Control Engineering Saga University Japan

In this paper, an obstacle avoidance method is described for a quadruped walking robot by using camera image and ultrasonic sensors. A single camera is used to acquire the rough information of three-dimensional obstacle, while some ultrasonic sensors are used to obtain the accurate information of the obstacle. Thus, the obstacle is efficiently measured by combining these sensors properly. The effectiveness of the proposed method is verified for several experiments, in which TITAN-VIII is adopted as an experimental setup

关键词： Sensor fusion Robot sensing systems Legged locomotion Cameras Robot vision systems Mobile robots Wheels CMOS image sensors Crawlers Image sensors

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The Design ofWave Shape for Coupled Van del Pol Oscillators

The Design ofWave Shape for Coupled Van del Pol Oscillators

引用

SICE Annual Conference

作者： Kiyotaka Izumi Akihito Tajima Keigo Watanabe Department of Advanced Systems Control Engineering Saga University Japan

To make a central pattern generator (CPG) for articulated robots, we discuss Van del Pol (VDP) oscillator. It is difficult to analyze the output of VDP oscillator. The parameter design of VDP oscillator is considered with two cases which are single oscillator and two oscillators coupled with respect to one another, according to some numerical simulations

关键词： Oscillators Service robots Numerical simulation Numerical analysis Shape control control engineering Biomimetics Commercialization Differential equations Couplings

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Acquisition of Obstacle Avoidance Behaviors for a Quadruped Robot Using Visual and Ultrasonic Sensors

Acquisition of Obstacle Avoidance Behaviors for a Quadruped ...

引用

International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Kiyotaka Izumi Keigo Watanabe Msaaki Shindo Ryoichi Sato Department of Advanced Systems Control Engineering Saga University Saga Japan

关键词： Robot sensing systems Cameras Legged locomotion Robot vision systems Mobile robots Wheels Ultrasonic variables measurement Crawlers Image sensors Leg

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An Action Decision Mechanism Using Fuzzy-Neural Network in Voice Commanded Fuzzy Coach-Player System for Robots

An Action Decision Mechanism Using Fuzzy-Neural Network in V...

引用

SICE Annual Conference

作者： Keigo Watanabe Kiyotaka Izumi Ayumu Ohshima Shin-ichi Ishii Department of Advanced Systems Control Engineering Saga University Saga Japan

关键词： Fuzzy systems Humans Orbital robotics Fuzzy control Fuzzy neural networks Neural networks control systems Robot control Intelligent robots control engineering

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Development of a 2DOF Inner Skeleton Robot for Forearm Motion Assist

Development of a 2DOF Inner Skeleton Robot for Forearm Motio...

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SICE Annual Conference

作者： Kazuo Kiguchi Subrata Kumar Kundu Department of Advanced Systems Control Engineering Saga University Saga Japan

A 2 degree of freedom (DOF) inner skeleton robot (i.e. power assisted artificial joint) that is designed to assist human elbow flexion-extension motion and forearm supination-pronation motion for daily life activities is proposed. This paper presents a prototype of inner skeleton robot that is supposed to assist the motion from inside the human body for the elderly or physically disabled persons and acts as an actuated artificial joint. The proposed system is controlled based on the activation patterns of the muscles electromyogram signals by applying an effective fuzzy-neuro control method. We have developed an actuator and introduce a T-mechanism for the proposed system. The proposed system can be expected to be an artificial joint for the future generation. The effectiveness of the proposed system has been evaluated by experiment

关键词： Skeleton Robots Joints Humans control systems Elbow Prototypes Senior citizens Muscles Actuators

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An Approach to Estimating Human Behaviors by Using an Active Vision Head

An Approach to Estimating Human Behaviors by Using an Active...

引用

International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Keigo Watanabe Kiyotaka Izumi Kei Shibayama Kohei Kamohara Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Japan

When an intelligent robot works together with human in a living space, we may often encounter a scene that the robot supports the human behaviors. Understanding of the human behavior is required for the robot to judge what kind of action serves as assistance to the human in such a scene. The present research aims at constructing a system that can understand the human behavior using the time series images for the movement of the human, which can be obtained from an active vision head. The first process estimates the human posture in each frame. The next process divides the basic human action into a posture and a position. The final process estimates the human behavior by examining the action and the target, under the assumption that the human behavior consists of the combination of an action and a behavioral target

关键词： Humans Robot vision systems Orbital robotics Cameras Robot sensing systems Intelligent robots Head Intelligent sensors Layout Space technology

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Neural network learning from hint for the cyclic motion of the constrained redundant arm

Neural network learning from hint for the cyclic motion of t...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： S.F.M. Assal Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Japan

A Widrow-Hoff neural network (NN) with an online adaptive learning algorithm derived by applying Lyapunov approach is introduced for the kinematic inversion of redundant arms. The developed approach is designed to enable the manipulator to conserve the joint configuration in cyclic trajectories and to avoid the joint limits. Since the inverse kinematics in this problem has an infinite number of joint angle vectors, a fuzzy neural network (FNN) is designed to provide an approximate value for that vector. Feeding this vector as an additional hint input vector to the NN limits and guides the output of the NN within the self-motion. The derivation of the Lyapunov function which is designed to achieve both of the tasks, leads to a computationally efficient online learning algorithm of the NN. The effectiveness of the developed approach is studied by conducting experiments on the PA-10 redundant manipulator

关键词： Neural networks Kinematics Jacobian matrices Fuzzy neural networks control engineering Programmable control Adaptive control Arm Lyapunov method Algorithm design and analysis

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Approximate Decision Making by Natural Language Commands for Robots

Approximate Decision Making by Natural Language Commands for...

引用

Annual Conference of Industrial Electronics Society

作者： Keigo Watanabe Chandimal Jayawardena Kiyotaka Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Japan

Inferring the correct meaning of natural language commands, as judged by the person who issues commands, is mandatory for natural language commanded robotic systems. There have been some successful research on this; but one of the important and related aspects has not been addressed, i.e. the possibility of learning from natural language commands. Since natural language commands are generated by human users, they contain valuable information. Nevertheless, the learning from such commands, as well as the interpretation of them face many challenges due to the inherent subjectiveness of natural languages. In this paper, we propose a decision making process for natural language commanded robots which is influenced by certain characteristics of human decision making process. The proposed concept is demonstrated with an experiment conducted using a robotic manipulator. First, the robot is controlled with natural language commands to perform some pick and place operations during which the robot builds a knowledge base. After learning, the robot is capable of performing approximately similar tasks by making approximate decisions with the gained knowledge. For the decision making a probabilistic neural network is used

关键词： Decision making Natural languages Humans Robot control Mobile robots control systems Manipulators Fuzzy control Speech control engineering

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