Programming by Demonstration (PbD) is an intuitive method to program a robot. The user, acting as a teacher or programmer, shows how a particular task should be carried out. The demonstration is monitored using an int...
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Programming by Demonstration (PbD) is an intuitive method to program a robot. The user, acting as a teacher or programmer, shows how a particular task should be carried out. The demonstration is monitored using an interface device that allows the measurement and recording of both the applied commands as well as the data simultaneously perceived by robot’s sensors. This paper identifies the kind of knowledge that the robot can actually acquire from the human user through demonstrations and the requirements that must be met in order to be able to interpret what has been demonstrated. Finally, it presents and experimentally evaluates an approach to integrated acquisition, evaluation, tuning, and execution of elementary skills and task-level programs for robots based on human demonstrations.
This paper discusses the design of neural networks to solve specific problems of adaptive control. In particular, it investigates the influence of typical problems arising in real-world control tasks as well as techni...
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This paper discusses the design of neural networks to solve specific problems of adaptive control. In particular, it investigates the influence of typical problems arising in real-world control tasks as well as techniques for their solution that exist in the framework of neurocontrol. Based on this investigation, a systematic design method is developed. The method is exemplified for the development of an adaptive force controller for a robot manipulator.
A good map of its environment is essential for efficient task execution of a mobile robot. realtime map update, especially in dynamic scenes is a difficult problem due to noisy sensor data and limited observation tim...
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A good map of its environment is essential for efficient task execution of a mobile robot. realtime map update, especially in dynamic scenes is a difficult problem due to noisy sensor data and limited observation time. The paper describes a mapping procedure which identifies new obstacles in a scene and constructs a 3D surface model of it. This description is included in the geometrical map which robot navigation relies on. The mapping procedure is based on sonar range information and scenes reconstructed from stereo vision. The combination of sonar and stereo vision is advantageous, due to a complementary error characteristic concerning range and angular resolution. For sonar data integration the idea of local probability grids is proposed. Local grids which only cover areas where new obstacles are expected, reduce the complexity of grid based sonar data integration and can be applied to a dynamic environment. The partial models of an object that has been observed from different viewpoints are fused to a homogeneous description in a later step. A complex example shows the mapping procedure work robustly in dynamic indoor environments.
Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the controlcomputer. Mainly non-linear friction problems and plant uncertainties require inte...
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This paper presents a new approach for on-line collision-free path planning of a two-arm manipulator system, integrated in an on-line task-level planning system. For service and assembly tasks, pick and place operatio...
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This paper presents a new approach for on-line collision-free path planning of a two-arm manipulator system, integrated in an on-line task-level planning system. For service and assembly tasks, pick and place operations are requested asynchronously by the action sequence planning. Collision-free paths for independent tasks are planning using a 2D geometric model in consideration of the swept regions by the robot arms and the pay loads during their motions. A dynamic, deadlock-free scheduling concept coordinates the robot motions in the case that a collision-free path for one arm can not be found at moment. The on-line path planning for two-arm cooperations for exchanging and regrasping parts incorporates an off-line connectivity analysis, avoiding both collisions and kinematic restrictions. The implemented on-line planning system can generate collision-free path for one manipulator while the other is moving. The time needed for motion planning is in the average case shorter and in the worst case comparable with that needed for motion execution. Experiments have been successfully conducted with the mobile two-arm robot KAMRO at the author's institute.
With high speed control applications it is often very difficult to achieve the aspired timing of the control algorithm using just one processor. This is true especially if the system is complex or very large. In this ...
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With high speed control applications it is often very difficult to achieve the aspired timing of the control algorithm using just one processor. This is true especially if the system is complex or very large. In this paper we discuss advantages and disadvantages of a new system architecture using many processors of which each one is specialised for one part of the algorithm. A tailorable parallel computer architecture which we developed to cope with the problems of parallelisation of control algorithms is presented. Finally examples from the field of robotics and the performance of the prototype computer is presented.
In process automation the control of plants with uncertainty or unknown parameters normally requires either a costly identification phase or an intensive fine-tuning of the controller. An easy adaptive fuzzy control i...
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Microsystems, and in particular microrobots, require the development of new advanced actuators with very small dimensions, simple mechanical construction and high reliability. This paper presents an overview on the pr...
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Microsystems, and in particular microrobots, require the development of new advanced actuators with very small dimensions, simple mechanical construction and high reliability. This paper presents an overview on the problem field of the microactuation and various kinds of actuation principles referring to the use of microrobots. To provide a microrobot with both the transportation and micromanipulation capabilities, various designs of piezoelectric actuators can be used. The piezoelectric robot for handling of microobjects (PROHAM) is proposed. The robot is equipped with three piezoelectrically driven legs, whereby it can move at a speed of several mm/sec. A manipulation tool, e.g. needle, pipette, gripper or glue applicator, can be mounted onto the robot's platform. The tool is driven by piezoelectric effect as well, and movements with an accuracy of 10 nm are possible. This allows the manipulation of very small objects under a microscope. The PROHAM can be used e.g. for the manipulation of biological cells, microassembly or testing of silicon chips.
In process automation the control of plants with uncertainty or unknown parameters normally requires either a costly identification phase or an intensive fine-tuning of the controller. An easy adaptive fuzzy control i...
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In process automation the control of plants with uncertainty or unknown parameters normally requires either a costly identification phase or an intensive fine-tuning of the controller. An easy adaptive fuzzy control is proposed which allows automatic controller tuning during operation with respect to desired closed loop behaviour. This adaptive control was added to the fuzzy kernel of an existing process automation system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented.
作者：
Chiodo, E.Menniti, D.Testa, A.Picardi, C.Elio Chiodo (1959) received the degree in Electronics Engineering in 1985
and the Ph.D. degree in Computational Statistics both from the University of Naplefltaly. He is a Researcher at the Department of Electrical Engineering of the University of Naples and a member of the Italian Statistical Society. His areas of interest include probabilistic methods applied to electric power systems analysis. (University of Naples Fedrrico 11. Electrical Engineering Dept.via Claudio 21 1-80125 Naplefltaly T +3981/7683226 Fax+3981/2396897) Daniele Menniti (1958) received the degree in Electrical Engineering from the University of Calabria. Cosenzataly and the Ph.D. degree in Electrical Engineering from the University of NapleslItaly
in 1984 and 1989 respectively. He is a researcher at the Electronic. Computer and Systems Science Department of the University of Calabria. Italy. Hiscurrent research interests concern electric power system analysis real-time control and automation. (University of Calabria Electronic Computer and Systems Science Dep. Arcavacataji Rende (CS). 1-87036 CosenzdItaly T +39984/494707. Fax +39984/4947 13) Alfredo Testa (1950) received the degree in Electrical Engineering from the University of Naples/Italy
in 1975. He is an Associate Professor in Electrical Power Systems at the Department of Electrical Engineering of the University of Naples. He is engaged in researches on electrical power systems reliability and harmonic analysis. (University of Naples Federico 11. Electrical Engineering Dep. via Claudio '2 1 1-80 I25 NapleslItaly T + 39 8 I/7 68 3'2 11. Fax+3981/2396897) Ciro Picardi (1949) received the degree in Electronics Engineering from the University of Naples/Italy
in 1975. He is currently Associate Professor in Process Control at the Department of Electronic Computer and System Science of the University of Calabria. Italy. His current research interests are in the area of electrical drives robotics neural networks and fuzzy control. (University of Calabria Electronic. Compu
An artificial‐neural‐network (ANN) application for steady‐state security evaluation of electrical power systems is presented. Such application is based upon a combined use of a multilayer back‐propagation neural n...
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