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IFAC Proceedings Volumes 1995年第20期28卷 1-6页

作者： Holger Friedrich Michael Kaiser Rüdiger Dillmann Institute for Real-Time Computer Systems & Robotics University of Karlsruhe D- 76128 Karlsruhe Germany.

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.

关键词： Robots Man-Machine systems Programming Support Machine Learning

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Designing neural networks for adaptive control

Designing neural networks for adaptive control

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IEEE Conference on Decision and Control

作者： M. Kaiser A. Retey R. Dillmann Institute for Real-Time Computer Systems & Robotics University of Karlsruhe Karlsruhe Germany

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.

关键词： Neural networks Adaptive control Force control Control systems Programmable control Manipulators Robot sensing systems Robot control Force sensors State-space methods

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real-time map refinement by fusing sonar and active stereo-vision

Real-time map refinement by fusing sonar and active stereo-v...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Wallner R. Graf R. Dillmann Institute for Real-Time Computer Systems & Robotics University of Karlsruhe Karlsruhe Germany

A good map of its environment is essential for efficient task execution of a mobile robot. real time 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.

关键词： Sonar navigation Layout Stereo vision Mobile robots Working environment noise Surface reconstruction Robot sensing systems Sonar applications Robustness Indoor environments

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An adaptive fuzzy control for a three fingered robot gripper 3

An adaptive fuzzy control for a three fingered robot gripper

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3rd Australian and New Zealand Conference on Intelligent Information systems, ANZIIS 1995

作者： Doersam, Thomas Hammerschmidt, Oliver University of Karlsruhe Department for Computer Science Institute for Real-Time Computer Systems and Robotics Kaiserstr. 12 KarlsruheD-76128 Germany University of Karlsruhe Department for Computer Science Institute for Microcomputers and Automation Kaiserstr. 12 KarlsruheD-76128 Germany

ISBN: (纸本)0864224303

Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly non-linear friction problems and plant uncertainties require intensive fine-tuning of the controller. An adaptive fuzzy control which allows automatic controller tuning during plant operation is proposed and was added to an existing process control system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented. © 1995 IEEE. All rights reserved.

关键词： real time systems

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On-line collision-free path planning for service and assembly tasks by a two-arm robot

On-line collision-free path planning for service and assembl...

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IEEE International Conference on robotics and Automation (ICRA)

作者： X. Cheng Institute for Real-Time Computer Systems ancl Robotics University of Karlsruhe Karlsruhe Germany

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.

关键词： Path planning Motion planning Manipulators Robot kinematics Robotic assembly Solid modeling System recovery Dynamic scheduling Robot motion Mobile robots

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A parallel control computer structure for complex high speed applications

A parallel control computer structure for complex high speed...

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IEEE International Conference on Engineering of Complex computer systems

作者： B. Magnussen Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Karlsruhe Germany

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.

关键词： Concurrent computing Application software Control systems computer architecture Velocity control Hardware Communication system control Robot sensing systems computer science Timing

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Process automation using adaptive fuzzy control 2

Process automation using adaptive fuzzy control

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2nd New Zealand International Two-Stream Conference on Artificial Neural Networks and Expert systems, ANNES 1995

作者： Hammerschmidt, O. Doersam, T. Inst. for Microcomput. and Autom. Karlsruhe Univ. Kaiserstr. 12 Karlsruhe0-76128 Germany Institute for Real-Time Computer Systems and Robotics Karlsruhe Univ. Kaiserstr. 12 Karlsruhe0-76128 Germany

ISBN: (纸本)0818671742

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. © 1995 IEEE.

关键词： Controllers

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Actuation in microsystems: problem field overview and practical example of the piezoelectric robot for handling of microobjects

Actuation in microsystems: problem field overview and practi...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： B. Magnussen S. Fatikow U. Rembold Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Institute for Redl-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

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.

关键词： Robots Transportation Piezoelectric actuators Legged locomotion Leg Needles Grippers Applicators Piezoelectric effect Microscopy

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Process automation using adaptive fuzzy control

Process automation using adaptive fuzzy control

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New Zealand International Two-Stream Conference on Artificial Neural Networks and Expert systems

作者： O. Hammerschmidt T. Doersam Institute for Microcomputers and Automation Department of Computer Science University of Karlsruhe Karlsruhe Germany Institute for Real-Time Computer Systems and Robotics Deparfmenf of Computer Science University of Karlsruhe Karlsruhe Germany

关键词： Programmable control Adaptive control Fuzzy control Automatic control robotics and automation Process control Uncertainty Fuzzy systems Kernel Grippers

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THE CONTROL ARCHITECTURE OF THE PRIAMOS MOBILE SYSTEM

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CONTROL ENGINEERING PRACTICE 1994年第2期2卷 341-346页

作者： DILLMANN, R KREUZIGER, J WALLNER, F Department of Computer Science University of Karlsruhe Institute for Real-Time Computer Control Systems and Robotics P.O. Box 6980 76128 Karlsruhe Germany

In this paper the control architecture of the PRIAMOS mobile robot system is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environment. A solution for the problem of how to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more detail. The architecture presented allows motion tasks to be executed in partially unknown or changing environment in an efficient manner. Especially, the time-critical reflexive level is computationally less expensive than in previous approaches.

关键词： INTELLIGENT MACHINES NAVIGATION HIERARCHICALLY INTELLIGENT CONTROL ARCHITECTURE OBSTACLE AVOIDANCE ROBOTS SENSORS

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