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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： G. Wohlke Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

In this paper the framework of an intelligent control system of a multi-finger robot hand is described, that is especially tailored for sensor-based object handling and assembly. The research has concerned with the Karlsruhe dextrous hand, a modular three-finger hand with 9 degrees of freedom, independent finger modules and integrated sensors. The total system structure consists of three embedded subsystems, with a planning and supervisory system on the top, which has a blackboard-like architecture to exchange information with a distributed real-time control system that provides force/position control strategies for dextrous grasping and manipulating of arbitrary objects. A programming and simulation system supports the object/task-based description of all robot and gripper actions required to perform a specific operation.< >

关键词： Robot programming Robotic assembly Force control Intelligent control Robot sensing systems Intelligent robots Assembly systems Fingers Intelligent sensors Strategic planning

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Object manipulation with dextrous multi-finger hands: improved computation method

Object manipulation with dextrous multi-finger hands: improv...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： G. Wohlke Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

This paper deals with the two fundamental problems that occur when objects are manipulated with multi-finger robot hands: the determination of the joint motions to perform a manipulation according to a given object trajectory, and the optimization of the joint torques needed to ensure a stable and secure grip. The consideration of the effect of rolling and slipping of the fingertips at the contact points on the object surface leads to a set of linear differential equations for the joint angles and to a partly nonlinear optimization problem for the joint torques solved by the Hooke-Jeeves algorithm. The removal of redundant information reduces the computational effort to about 40% of the operations required for the standard procedure. Especially, the resulting object motions are demonstrated at an example: the rotation of an ellipsoid object with the fingers of the Karlsruhe dextrous hand.< >

关键词： Robots real time systems Equations Motion control Control systems Fingers Grippers Automatic control Flowcharts Torque control

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KANTRA-human-machine interaction for intelligent robots using natural language

KANTRA-human-machine interaction for intelligent robots usin...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： T.C. Lueth T. Laengle G. Herzog E. Stopp U. Rembold Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Project VITRA-FB 14 Informatik University of Saarland Saarbrucken Germany

In this paper, a new natural language interface is presented that can be applied to make the use of intelligent robots more flexible. This interface was developed for the autonomous mobile two-arm robot KAMRO, which uses several camera systems to generate an environment model and to perform assembly tasks. A fundamental requirement in human-machine interaction for intelligent robots is the ability to refer to objects in the robot's environment. Hence, the interface and the intelligent system need similar environment models and it is necessary to provide current sensor information. Additional flexibility can be achieved by integrating the man-machine interface into control architecture of the robot and to give it an access to all internal information and to the models that the robot uses for an autonomous behaviour. In order to fully exploit the capabilities or a natural language access, we present a dialogue-based interface KANTRA, in which the human-machine interaction is not restricted to unidirectional communication.< >

关键词： Intelligent robots Robot sensing systems Natural languages Robotic assembly Man machine systems Intelligent sensors Mobile robots Robot vision systems Cameras Assembly systems

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Robust subgoal planning and motion execution for robots in fuzzy environments

Robust subgoal planning and motion execution for robots in f...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Jianwei Zhang J. Raozkowsky Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Germany Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany

In this paper, a fuzzy environment includes obstacles in the vicinity of robot motion, which cannot be modelled exactly or are entirely unknown, and a vague description of the relationship between the robot and the obstacles. An integrated concept for solving the problem of motion planning and control of robots in fuzzy environments is proposed. First, critical points for the desired motion are found in a connectivity network on the boundary of static obstacles. By considering the degree of uncertainty of the obstacles, the local geometry, the available free space and the path shape, these points are further adjusted to form subgoals which reliably decide the global motion direction. During on-line motion execution, a fuzzy controller evaluates sensor data, realizes the motion towards subgoals and avoids local unexpected collisions. Simulations with mobile robots show some control results using this concept.< >

关键词： Robustness Motion planning Motion control Robot control Fuzzy control Robot motion Orbital robotics Uncertainty Computational geometry Shape

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time-delay neural networks for control

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IFAC Proceedings Volumes 1994年第14期27卷 967-972页

作者： M. Kaiser University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Systems & Robotics Prof. Dr.-Ing. U. Rembold and Prof. Dr.-Ing. R. Dillmann D-76128 Karlsruhe Germany

This paper presents results regarding the Application of time-Delay Neural Networks (TDNNs), up to now mainly used in speech recognition, for control tasks. A set of examples taken from a model-based robot controller is used to validate the suitability of the TDNN and to show its superiority to standard multilayer perceptrons. Afterwards, a new algorithm is presented that shows how the inherent capability of the TDNN to deal with time-variant signals can be employed to directly generate a TDNN from a PID control law. This synthesized neural controller is operational from the very beginning and can be tuned on-line using existing learning techniques. The advantages of this design procedure are shown for a simple control task.

关键词： Neural nets control system design control system synthesis adaptive control knowledge engineering

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Utilizing spatial relations for natural language access to an autonomous mobile robot 18th

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18th Annual German Conference on Artificial Intelligence, KI 1994

作者： Stopp, Eva Gapp, Klaus-Peter Herzog, Gerd Laengle, Thomas Lueth, Tim C. SFB 314-Project VITRA FB 14 Informatik Universität des Saarlandes SaarbrückenD-66041 Germany Institute for Real-Time Computer Systems and Robotics Prof. Dr.-Ing. U. Rembold and Prof. Dr.-Ing. R. Dillmann Universität Karlsruhe KarlsruheD-76128 Germany

ISBN: (纸本)9783540584674

Natural language, a primary communication medium for humans, facilitates better human-machine interaction and could be an efficient means to use intelligent robots in a more flexible manner. In this paper, we report on our joint efforts at providing natural language access to the autonomous mobile two-arm robot KAMRO. The robot is able to perform complex assembly tasks. To achieve autonomous behaviour, several camera systems are used for the perception of the environment during task execution. Since natural language utterances must be interpreted with respect to the robot’s current environment the processing must be based on a referential semantics that is perceptually anchored. Considering localization expressions, we demonstrate how, on the one hand, verbal descriptions, and on the other hand, knowledge about the physical environment, i.e., visual and geometric information, can be connected to each other. © 1994, Springer Verlag. All rights reserved.

关键词： Intelligent robots

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APPLICATIONS OF FUZZY-LOGIC CONTROL IN AUTONOMOUS ROBOT systems

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INTERNATIONAL JOURNAL OF systems SCIENCE 1993年第10期24卷 1885-1904页

作者： ZHANG, JW Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany

The development of autonomous robots involves the imitation of human decision-making abilities with the aid of diverse sensor information. Fuzzy logic, which is based on fuzzy modelling and approximate reasoning, can be applied in different levels of control tasks. We first present the research results of applying fuzzy logic control in the motion execution of mobile systems and sensor-guided fine-motion of a manipulator. To realize real-time 'reactive' control, suitable hardware which supports the acceleration of fuzzy inference should be developed. The design and development of a VME-bus compatible fuzzy co-processor is also described.

关键词： Fuzzy inference

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CONTACT ANALYSIS AND VERIFICATION IN A 2D ENVIRONMENT WITH UNCERTAINTIES

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JOURNAL OF INTELLIGENT & ROBOTIC systems 1993年第2期7卷 175-193页

作者： HORMANN, K HUBNER, T SPRENG, M 1. Institute for Real-Time Computer Systems and Robotics Universit?t Karlsruhe Postfach 6980 W-7500 Karlsruhe Germany

This contribution presents results of a research project concerned with the planning and execution of motions in uncertain environments. In particular, the problem of a moving convex polygon within an uncertain two-dimensional environment has been investigated. The essential sub-problem of how to analyse unexpected contacts is treated. Using a set-oriented model of the uncertainties, the motion possibilities of the polygon is investigated for the different contact types. Also based on the model of the uncertainties, the potential locations of the geometric elements are constructed and intersected, giving us the contact hypotheses. With the help of exploratory motions, an attempt is made to decide between ambiguous hypotheses. The question of which exploratory motions are useful for the different contact types is also investigated. After an exploratory motion has been executed, its results must be evaluated with respect to the validity of the hypotheses. The system has been implemented and is also described in this paper.

关键词： UNCERTAINTY CONTACTS TEST MOTIONS FREEDOMS OF MOTION

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A probabilistic method to analyze ambiguous contact situations

A probabilistic method to analyze ambiguous contact situatio...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Spreng Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

An approach to analyzing ambiguous contact situations in an uncertain robotic environment is presented. When invoked by the occurrence of a contact, the analysis proceeds by generating a set of hypotheses on the contact, out of which the valid one is detected by testing the feasibility of certain motions, i.e., performing movability tests. Emphasis is placed on the generation of the hypotheses. All parts of the analysis are based upon the same probabilistic uncertainty model, which is given.< >

关键词： Testing Uncertainty Motion analysis real time systems Motion detection Performance evaluation Robot motion End effectors Information analysis Tactile sensors

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A fuzzy control approach for executing subgoal guided motion of a mobile robot in a partially-known environment

A fuzzy control approach for executing subgoal guided motion...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Zhang P. Bohner Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Germany

A fuzzy control approach is proposed for controlling a mobile robot by effectively using the static knowledge of a partially-known environment and the dynamic sensor data. To describe the global structure of the static environment, a tangent-graph is first constructed and a sequence of subgoals is generated for guiding the global path direction. During the execution of these subgoals, a motion executor using the concept of fuzzy control evaluates the sensor data and the robot current status, and adjusts the moving speed and direction of the robot.< >

关键词： Fuzzy control Mobile robots Robot sensing systems Path planning Control systems Humans Motion control Robot control Roads Robot motion

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