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Generation of New Robot Skills from Learned Skills

IFAC Proceedings Volumes 2014年第3期47卷 3030-3035页

作者： Daniel Hernández García Concepción A. Monje Carlos Balaguer Universidad Carlos III de Madrid. Robotics Lab. Department of Systems and Automation Engineering. Av. de la Universidad 30 Leganés Madrid Spain. 28911

Future humanoid robots, working beside humans in complex dynamic environments, would be required to perform a wide repertoire of task. To this end traditional methods for deriving a control policy won't succeed, learning approaches are fundamental. Learning from demonstrations (LfD) techniques have appear as a means for developing intuitive control methods and generalize a skill based on a set of demonstrations. However, learning appropriate skills for every conceivable scenario the robot may encounter would still be a daunting undertaking. In this work we propose a framework for the generation and adaptation of new robot skills from previously learned skill models. Using previously learned models of a robot skill, and knowledge of the current task, the models of a skill is adapted to generate a new task by a merger or combination operation over the given robot skill models.

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Learning Stable Robotic Skills on Riemannian Manifolds

arXiv

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arXiv 2022年

作者： Saveriano, Matteo Abu-Dakka, Fares J. Kyrki, Ville Automatic Control Lab. Department of Industrial Engineering University of Trento Trento Italy Intelligent Robotics Group Department of Electrical Engineering and Automation Aalto University Finland

In this paper, we propose an approach to learn stable dynamical systems evolving on Riemannian manifolds. The approach leverages a data-efficient procedure to learn a diffeomorphic transformation that maps simple stable dynamical systems onto complex robotic skills. By exploiting mathematical tools from differential geometry, the method ensures that the learned skills fulfill the geometric constraints imposed by the underlying manifolds, such as unit quaternion (UQ) for orientation and symmetric positive definite (SPD) matrices for impedance, while preserving the convergence to a given target. The proposed approach is firstly tested in simulation on a public benchmark, obtained by projecting Cartesian data into UQ and SPD manifolds, and compared with existing approaches. Apart from evaluating the approach on a public benchmark, several experiments were performed on a real robot performing bottle stacking in different conditions and a drilling task in cooperation with a human operator. The evaluation shows promising results in terms of learning accuracy and task adaptation capabilities. Copyright © 2022, The Authors. All rights reserved.

关键词： robotics

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Time Delay Sliding Mode Control of nonholonomic wheeled mobile robot: Experimental validation

Time Delay Sliding Mode Control of nonholonomic wheeled mobi...

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IEEE International Conference on robotics and automation (ICRA)

作者： Spandan Roy Sambhunath Nandy Ranjit Ray Sankar Nath Shome Robotics and Automation Lab. CSIR-Central Mechanical Engineering Research Institute Durgapur India Central Mechanical Engineering Research Institute CSIR Durgapur West Bengal IN

In this endeavor, a hybrid control strategy has been proposed for composite path tracking control of a nonholonomic wheeled mobile robotic (WMR) system under parametric and nonparametric uncertainties. A WMR, often in practical circumstances, undergoes through various parametric changes. Moreover, modeling of WMR in presence of friction, slip or skid, backlash etc. is very difficult. These factors, which make the system model more cumbersome, are normally ignored but their effects are compensated through appropriate control methods. Conventional Sliding Mode Control (SMC) is such a method but it is susceptible to chattering due to high switching gains and reasonable tracking accuracy is sacrificed to avoid chattering. On the other hand, Time Delay Control (TDC) technique is highly efficient to assure robustness against unknown dynamics but it is unable to eliminate approximation errors that arise due to introduced delay. Considering the aforesaid difficulties of SM and TD controllers a hybrid control methodology christened as Time Delay Sliding Mode Control (SMC-TD) is adopted in this work for accurate path tracking of nonholonomic WMR. The SMC-TD is absolutely a judicious blending of SMC and TDC strategies aiming at elimination of the individual shortcomings while retaining the positive advantages. Detail features and advantages of the proposed controller are presented in greater length along with the experimental results, which are very promising.

关键词： Wheels Trajectory Uncertainty Switches Vectors Mobile robots

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous robotics Systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Emotional Intelligence 1

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丛书名： Studies in Computational Intelligence

1000年

作者： Aruna Chakraborty Amit Konar

ISBN: (数字)9783540686095

ISBN: (纸本)9783540686064;9783642261268

Emotional Intelligence is a new discipline of knowledge, dealing with modeling, recognition and control of human emotions. The book Emotional Intelligence: A Cybernetic Approach, to the best of the authors’ knowledge is a first compreh- sive text of its kind that provides a clear introduction to the subject in a precise and insightful writing style. It begins with a philosophical introduction to E- tional Intelligence, and gradually explores the mathematical models for emotional dynamics to study the artificial control of emotion using music and videos, and also to determine the interactions between emotion and logic from the points of view of reasoning. The later part of the book covers the chaotic behavior of - existing emotions under certain conditions of emotional dynamics. Finally, the book attempts to cluster emotions using electroencephalogram signals, and d- onstrates the scope of application of emotional intelligence in several engineering systems, such as human-machine interfaces, psychotherapy, user assistance s- tems, and many others. The book includes ten chapters. Chapter 1 provides an introduction to the s- ject from a philosophical and psychological standpoint. It outlines the fundamental causes of emotion arousal, and typical characteristics of the phenomenon of an emotive experience. The relation between emotion and rationality of thoughts is also introduced here. Principles of natural regulation of emotions are discussed in brief, and the biological basis of emotion arousal using an affective neu- scientific model is introduced next.

关键词： Mathematical and Computational Engineering Artificial Intelligence Cognitive Psychology Image Processing and Computer Vision

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Impedance control of a rehabilitation robot for interactive training

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4th International Conference on Social robotics, ICSR 2012

作者： He, Wei Ge, Shuzhi Sam Li, Yanan Chew, Effie Ng, Yee Sien Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore Division of Neurology National University Hospital Singapore 119074 Singapore Department of Rehabilitation Medicine Singapore General Hospital Singapore 169608 Singapore

ISBN: (纸本)9783642341021

In this paper, neural networks based impedance control is developed for a wearable rehabilitation robot in interactions with humans and the environments. The dynamics of the robot are represented by an n-link rigid robotic manipulator. To deal with the system uncertainties and improve the robustness of the system, the adaptive neural networks are used to approximate the unknown model of the constrained robot. With the proposed control, uniform ultimate boundedness of the closed loop system is achieved based on the Lyapunov method. The states of the system converge to a small neighborhood of zero by properly choosing control gains. Extensive simulations are conducted to verify the proposed control. © 2012 Springer-Verlag.

关键词： Lyapunov methods

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Evolutionary approaches to the linear machine layout problem

Evolutionary approaches to the linear machine layout problem

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作者： Mohagheghi, Salman Georgoulas, George Stylios, Chrystostomos Groumpos, Peter ABB Inc. US Corporate Research Center Raleigh NC 27606 United States Dept. of Computer Applications in Finance and Management TEI of Ionian Islands Lefkas Greece Dept. of Informatics and Communications Technology TEI of Epirus Kostakioi Artas Greece Lab. of Automation and Robotics Dept. of Electrical and Computer Eng. Patras Greece

ISBN: (纸本)9783902661432

Flexible Manufacturing Systems (FMSs) cope with multi-product, usually small sized production. In this research work we investigate the use of evolutionary methods to solve the linear or single-row layout problem, which is the most commonly implemented layout in FMSs. Three different approaches, based on Ant Colony Optimization, Genetic Algorithms and Particle Swarm Optimization are tested. The experimental results show that a near optimal solution can be found for all three methods, exploiting only a small portion of the feasible solution space, pinpointing once more the merit of using evolutionary algorithms to tackle difficult combinatorial problems. © 2009 IFAC.

关键词： Genetic algorithms

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Production Planning for Complex Plants using Fuzzy Cognitive Maps

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IFAC Proceedings Volumes 2003年第3期36卷 81-86页

作者： Nikolinka G. Christova Peter P. Groumpos Chrysostomos D. Stylios Lab. for Automation & Robotics Dept. of Electrical & Computer Engineering University of Pat ras 26500 Rion Patras GREECE Computer Science Dept. University of loannina P.O. Box 1186 45510 Ioannina GREECE

This work emphasizes on the implementation of soft computing techniques for the production planning of complex manufacturing plants. A hierarchical control structure has been assumed to control and to optimize the chemical process of a complex plant with successful results and at the highest hierarchical level the production planning should meet the fluctuating demands in optimal way. This level integrates the operational and business management requirements where the soft computing technique of Fuzzy Cognitive Maps is proposed to model these tasks. The strategic planning for the hierarchical integrated system realizes the optimal total management at the corporate level. The obtained simulation results prove the applicability of the proposed methodology and the advantages of using soft computing modeling techniques for the sophisticated high level of hierarchical systems.

关键词： Complex Industrial Plant Production Planning Intelligent Integrated Control System Hierarchical Structure Fuzzy Cognitive Maps

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Mechanical Design, Fabrication, Kinematics and Dynamics Modeling, Multiple Impedance Control of a Wrist Rehabilitation Robot

Mechanical Design, Fabrication, Kinematics and Dynamics Mode...

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RSI/ISM International Conference on robotics and Mechatronics

作者： Mohammad Reza Sajadi Ali Nasr S. Ali A. Moosavian Hassan Zohoor Center of Excellence in Mechatronics University of Tabriz Tabriz Iran t Center of Excellence in Robotics and Control ARAS Lab. K.N. Toosi University of Technology Tehran Iran Center of Excellence in Robotics and Control ARAS Lab. K.N. Toosi University of Technology Tehran Iran Center of Excellence in Design Robotics and Automation Sharif Univ. of Tech. Tehran Iran

ISBN: (纸本)9781467372350

Rehabilitation is the best approach for patients who suffer physical disability of their upper-limbs. Maintaining the intensity of exercise during treatment is the main factor that makes the robots suitable for rehabilitation since robots do not get tired and do the exercises with constant intensity under supervision of the doctor. Two main categories of rehabilitation robots are End-Effector based robots and wearable robots. According to the fact that most problems occur in need of rehabilitation for hand wrist area, in this paper a wearable rehabilitation robot has been developed for the wrist. Nowadays, wearable robots attract more attention than the other group. Wearable robots are categorized into three types: Exoskeleton robots, Prosthetic robots and Orthotic robot. In this paper, a new structure for an Orthotic wearable robot is developed for human wrist rehabilitation. This structure has an automatic base that makes the robot suitable for both hands. This robot has three degrees of freedom that is similar to human wrist joint. In the remaining of the paper, Conceptual design, mechanical design, kinematics and dynamic analysis of the robot as well as multiple impedance control are presented.

关键词： Wrist Rehabilitation Robot Design and Fabrication Robot Kinematics and Dynamics Modeling Multiple Impedance Control

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Distributed form closure for convex planar objects through reinforcement learning with local information

Distributed form closure for convex planar objects through r...

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2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Elahibakhsh, Amir Hosein Ahmadabadi, Majid Nili Janabi-Sharifi, Farrokh Araabi, Babak N. Dept. of Electrical Eng. Ctr. Excellence Contr./I.P. University of Tehran Tehran Iran School of Cognitive Sciences Inst. Studs. Theor. Phys. and Math. Tehran Iran Robotics and Mfg. Automation Lab. Dept. of Mechanical Eng. Ryerson University Toronto Ont. Canada

ISBN: (纸本)0780384636

Many real world applications will involve grasp of large objects in unstructured environments. Agent-based approach to multi-robot grasp of objects would prove useful under the above circumstances. In this paper, the problem of form closure grasp for planar convex objects by multiple robots is tackled. Contrary to the previous approaches, no a priori information about the shape of the object is assumed, and the robots are not allowed to fully communicate among themselves. A distributed multi-agent-based approach using Q-learning is proposed. The state space, action set and learning algorithm are formulated. The results are verified through simulations using a developed Q-learning testbed.

关键词： Learning systems

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