检索结果-内蒙古大学图书馆

1999 European control Conference, ECC 1999

作者： Watanabe, K. Hashem, M.M.A. Izumi, K. Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University 1-Honjomachi Saga840-8502 Japan

ISBN: (纸本)9783952417355

A new method for global path planning of mobile robots is presented using an Evolutionary Strategy (ES). A two-dimensional autonomous path planning problem of a point mobile robot among polygonal obstacles is formulated as a constrained time-optimal control problem considering motions of the robot. From the visibility concept, each polygonal obstacle is enclosed by a circle so that the visible side of the obstacle will be contained inside a circle. An appropriate fitness function for the problem is constructed by applying a penalty function approach. Simulation results show that the proposed evolutionary approach is quite robust, and it is guaranteed to yield a path terminating at the goal with minimum time and distance while avoiding polygonal obstacles. © 1999 EUCA.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Kinematic solution of a quadruped walking robot - posture analysis of TITAN-VIII

引用

IFAC Proceedings Volumes 1999年第2期32卷 827-832页

作者： Xue Dong Chen Keigo Watanabe Kiyotaka Izumi Faculty of Engineering Systems and Technology Graduate School of Science and Engineering 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 1-Honjomachi Saga 840-8502 Japan

The crawl motion of a quadruped walking robot is considered as the combination of two forms. One results from a parallel manipulator composed of the standing legs and robot's body, and the another is the swing leg's movement. The walk conditions satisfied with the constraint of robot's mechanical structure are derived and the closed-form direct kinematics solution of a quadruped robot is presented. It is shown that the direct kinematics of the robot involves solving a sixteenth-degree polynomial of a single variable. A numerical example is also presented and the results are verified by an inverse kinematics analysis. The approach can be used to derive the kinematics of the other gaits for quadruped robots.

关键词： Kinematics Open-loop control systems Polynomial methods Robotics Robot

来源：评论

学校读者我要写书评

暂无评论

Evolutionary Strategy Using Statistical Information and Its Application to Mobile Robot control

引用

Journal of advanced Computational Intelligence and Intelligent Informatics 1999年第2期3卷 75-81页

作者： Izumi, Kiyotaka Watanabe, Keigo Hashem, M.M.A. Department of Mechanical Engineering Faculty of Science and Engineering Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Saga University 1-Honjomachi Saga840-8502 Japan

We describe an evolution strategy (ES) using the statistical information of subgroups obtained automatically by a similarity metric of individuals at each generation. Arithmetical crossover is done with an elite individual and a mean individual within each subgroup to produce offspring. Standard deviation calculated within a subgroup is used in mutation. The effectiveness of the proposed ES is first shown with tests of the 5 De Jong functions. The present ES is also applied to the acquisition of control for a terminal control problem in an omnidirectional mobile robot, in which robot control is based on fuzzy behavior-based control that combines subsumption-like architecture and fuzzy reasoning. © 1999 Fuji Technology Press. All rights reserved.

关键词： Fuzzy control

来源：评论

学校读者我要写书评

暂无评论

Fuzzy behavior-based control for a task of three-link manipulator

Fuzzy behavior-based control for a task of three-link manipu...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： P. Dassanayake K. Watanabe K. Izumi Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Saga Japan

Artificial intelligent robots use the subsumption architecture on an increasing level of competence behaviors in many applications due to the advantage of dividing the control system according to the task achieving behaviors. One important application for a mobile robot is to reach a target while avoiding obstacles based on fuzzy behavior-based control. Apart from the behavior-based approach, there are other applications where the manipulators need to avoid obstacles and track a given path, and they involve inverse kinematic techniques in controlling the system. We study a manipulator reaching a target while avoiding obstacles based on a fuzzy behavior-based control approach. An additional element is also combined with the controller to compensate the gravitational effect. Simulations were carried out for 3 initial conditions and the results show that the fuzzy behavior approach is suitable for controlling manipulators.

关键词： Fuzzy control Manipulators control systems Robot kinematics Mobile robots Intelligent robots Target tracking systems engineering and theory control engineering Mechanical engineering

来源：评论

学校读者我要写书评

暂无评论

A survey of robotic control systems constructed by using evolutionary computations

A survey of robotic control systems constructed by using evo...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： K. Watanabe K. Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Saga Japan

Provides a brief discussion on control and motion planning approaches to robotic manipulators or mobile robots with soft computing techniques. In particular, the paper presents the latest accomplishments and explores future trends in such a field. Specific topics of interest to this survey include: (1) the identification of a dynamic model for multi-link manipulators by using neural networks (NNs) with genetic algorithms (GAs), (2) behavior-based control of mobile robots or manipulators by applying NNs or fuzzy reasoning, together with evolutionary computations such as GAs, genetic programming (GP), or evolutionary strategy (ES), (3) a path planning problem with obstacle avoidance for mobile robots or manipulators by using evolutionary computations, and (4) a motion planning approach to configure self-organizing robots by applying GAs.

关键词： Robot control control systems Mobile robots Manipulator dynamics Motion control Motion planning Evolutionary computation Genetic programming Path planning Dynamic programming

来源：评论

学校读者我要写书评

暂无评论

Initial configuration dependence in a self-organizing robot

引用

Artificial Life and Robotics 1999年第3期3卷 160-165页

作者： Izuni, Kiyotaka Watanabe, Keigo Tamura, Hodaka Ikeda, Yashuhiro Department of Mechanical Engineering Faculty of Science and Engineering Saga University Saga Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Mitsubishi Electric Corporation Nakatsugawa Gifu Japan

In this paper, we describe the dependence of an initial state in a self-organizing robot on an optimal structure configuration, where a “fractum” is used as a basic unit. Each robot operates on a genetic algorithm (GA) by itself, and all of them will produce a desired configuration. However, problems such as a deadlock state can happen depending on the initial configuration. A deadlock state means a state in which no robots can move because each robot moves autonomously. It is proved from simulations that a difference in the initial configuration can affect both the deadlock rate and the number of movements of fracta needed to obtain an optimal structure configuration.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A new method on judgement of static stability for the quadruped robot

A new method on judgement of static stability for the quadru...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Xuedong Chen K. Watanabe K. Izumi Faculty of Computer Science and System Engineering Graduate School of Science and Engineering USA Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Faculty of Science and Engineering Department of Mechanical Engineering Saga University Honjomachi Saga Japan

A new approach to analysis of robot stability is presented by defining the statically stable area for the foot placement. The proposed approach is applied not only to generate the free gait for a quadruped robot walking in difficult terrain, but also to judge the robot stability. The effectiveness of this method is demonstrated by a practical example.

关键词： Leg Robot kinematics Legged locomotion Foot Stability analysis systems engineering and theory control engineering Mechanical engineering

来源：评论

学校读者我要写书评

暂无评论

Task-oriented optimal configuration structure in a three-dimensional self-organizing robot by genetic algorithms

Task-oriented optimal configuration structure in a three-dim...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： K. Izumi H. Tamura K. Watanabe Department of Mechanical Engineering Faculty of Science and Engineering Saga University Saga Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

Describes the construction of a task-oriented configuration structure in the cellular robotic system as a three-dimensional self-organizing robot by using genetic algorithms (GAs). To deal with the optimal configuration in a three-dimensional environment, a special fitness of a GA is introduced: it consists of the reachable height and lifting capacity of the robot. The simulation result shows that the present task-oriented configuration structure method in three dimensional environment can be used to find the desired configuration for a given task.

关键词： Genetic algorithms Genetic engineering Mechanical engineering control engineering Intelligent robots Collision mitigation Couplings Binary trees

来源：评论

学校读者我要写书评

暂无评论

Evolving Runge-Kutta-Gill RBF networks to estimate the dynamics of a multi-link manipulator

Evolving Runge-Kutta-Gill RBF networks to estimate the dynam...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： T. Nanayakkara K. Watanabe K. Izumi Graduate School of Science and Engineering Faculty of Engineering Systems and Technology Saga University Saga 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

Proposes a method for identification of dynamics of a multi-link robot arm using Runge-Kutta-Gill neural networks (RKGNN). Shape adaptive radial basis function (RBF) neural networks have been employed with an evolutionary algorithm to optimize the shape parameters and the weights of the RKGNN. Due to the fact that the RKGNN can accurately grasp the changing rates of the states, this method can effectively be used for long term prediction of the states of the robot arm dynamics. Unlike in conventional methods, the proposed method can even be used without input torque information because a torque network is part of the functional network. This method can be proposed as an effective option for dynamics identification for manipulators with high degrees of freedom, as opposed to the derivation of dynamic equations and making additional hardware changes in the case of statistical parameter identification such as linear least-squares method.

关键词： Radial basis function networks Manipulator dynamics Robots Neural networks Shape Torque Evolutionary computation Equations Hardware Parameter estimation

来源：评论

学校读者我要写书评

暂无评论

Evolutionary trajectory learning for autonomous robots by means of geometric approximations of polygonal obstacles

Evolutionary trajectory learning for autonomous robots by me...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： M.M.A. Hashem K. Watanabe K. Izumi Graduate School of Science and Engineering Faculty of Engineering Systems and Technology Saga University Saga 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

Addresses the issue of flexible geometric approximations of polygonal obstacles for intelligent autonomous robot (IAR) navigation which is an extension of our previous work (1998). The trajectory learning problem for IAR navigation is formulated as a constrained discrete-time-optimal control problem where the polygonal obstacles are the constraints. From the visibility and sensor modeling concepts, polygonal obstacles within the environment are approximated as either by circles or by ellipses depending on the shape and size of them. Furthermore, some practical issues are identified and resolved through these type of approximations. The effectiveness of these methods is illustrated by some simulations of the robot within a heavily obstacled environment.

关键词： Navigation Intelligent robots Trajectory Optimal control Robot sensing systems Programmable control Adaptive control Intelligent sensors Shape Motion planning

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：