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2005 IEEE International Conference on robotics and Biomimetics, ROBIO

作者： Hua, Zhong Zhenwei, Wu Chunguang, Bu Robotics Lab. Shenyang Institute of Automation Chinese Academy of Sciences Graduate School Chinese Academy of Sciences Robotics Lab. Shenyang Institute of Automation Chinese Academy of Sciences 114# Nanta Street Shenyang 110016 China

ISBN: (纸本)0780393155

Aimed at structure of Humanoid Robot and requirements for control performance, this paper designs and realizes joint controller based on CAN bus, and structures an effective credible control system by connecting all joint controllers, force sensors, task management computer and upper limbs control computer together;and realizes the transmission of audio and video information by wireless LAN;constitutes whole control system of humanoid robot. Characteristics of the system are simple structure, high reliability, good real-time, and friendly human-machine interface. This paper includes mainly: overall structure of the humanoid robot, design and implement of controller, topology of control system, and bring forward some imaginations to enhance performance of the control system. ©2005 IEEE.

关键词： Intelligent robots

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Rh-0 humanoid full size robot's control strategy based on the Lie logic technique

Rh-0 humanoid full size robot's control strategy based on th...

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2005 5th IEEE-RAS International Conference on Humanoid Robots

作者： Arbulú, Mario Pardos, José M. Cabas, Luis Staroverov, Pavel Kaynov, Dmitry Pérez, Carlos Rodriguez, Miguel Balaguer, Carlos Robotics Lab. Department of Systems Engineering and Automation University Carlos III of Madrid Av. De la Universidad 30 Leganes-Madrid 28911 Spain

ISBN: (纸本)0780393201

This paper presents the experimental results of the full size Rh-0 humanoid robot developed by the University Carlos III of Madrid. The robot has 21 DOF, 1.350 mm height and 40kg weight including the on-board batteries and hardware. The robot's control architecture is formed by the distributed dual CAN bus system. The bus is used for joints' control and supervision, and also for sensing different global robots features. The key innovation is the kinematics control strategy based on the Lie logic technique. Using the Product of Exponentials (PoE) and the Paden-Kahan sub-problem techniques, the Sagital Kinematics Division (SKD) algorithm for robot's kinematics control had been implemented. The results of this implementation are shown in the final part of the paper. © 2005 IEEE.

关键词： Intelligent robots

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The potential of touch technology

The potential of touch technology

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： H. Mochiyama A. Sano N. Takesue R. Kikuuwe H. Fujimoto Touch Technology Laboratory funded by Toyota Nagoya Institute of Technology Nagoya Japan Lab. of Touch Technol. Nagoya Inst. of Technol. Japan Robotics and Automation Laboratory Nagoya Institute of Technology Nagoya Japan

In this paper, we provide a perspective of touch technology. Two illustrative examples are shown here to explain the potential of touch technology. One is TouchLens, a new type of haptic devices different from tactile sensors and displays. Through this haptic device by our hand we can perceive geometric information of tiny bumps and holes that are difficult to be detected by our bare hand. TouchLens is not only useful for inspections in manufacturing but also attractive as a fun haptic tool by which everyone can understand the power of haptic technology easily. The other relates to a haptic illusion called the velvet hand illusion in which we can feel an illusory surface with strange velvety, slippery or oily texture when we lightly rub a wire mesh of hexagonal pattern between our hands, keeping our hands pressed gently together. We found that moving line stimuli were also effective for eliciting the velvet hand illusion. The observed illusory phenomena caused by a variety of moving line stimuli allow us to see the underlying mechanism of human tactile information processing. Because the obtained illusory sensation is very impressive, it is expected that the illusion can be utilized as a main effect of a new type of haptic display.

关键词： Haptic interfaces Skin lab.ratories Information processing Auditory displays robotics and automation Tactile sensors Inspection Manufacturing Surface texture

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Study on autonomous control of the snake-like robot movement on a plane

Gaojishu Tongxin/Chinese High Technology Letters

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Gaojishu Tongxin/Chinese High Technology Letters 2005年第2期15卷 29-33页

作者： Li, Bin Ye, Changlong Robotics Lab. Shenyang Inst. of Automation Shenyang 110016 China Sch. of Mechanical Engineering Shenyang Univ. of Technology Shenyang 110023 China Graduate Sch. Chinese Acad. of Sciences Beijing 100039 China

Sideslip along with forward movement always occurs to affect the moving direction of snake-like robots. Aimed to solve it, a new method that enables snake-like robot to turn its direction is presented and then validated in both experiment and simulation. To measure the sideslip error and the orientation error, distance sensors are applied to one unit of the snake-like robot. Based on presented turning method and sensor information, a control method is derived to enable the robot to locomote autonomously. The computer simulation is performed to show the validity of the control method.

关键词： Autonomous control Snake-like robot Turning motion

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Two-stage learning algorithm for fuzzy cognitive maps

Two-stage learning algorithm for fuzzy cognitive maps

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2004 2nd International IEEE Conference 'Intelligent Systems' - Proceedings

作者： Papageorgiou, Elpiniki I. Groumpos, Peter P. Lab. for Automation and Robotics University of Patras Patras 26500 Greece

ISBN: (纸本)0780382781

A two-stage learning algorithm based on Hebbian learning rule and evolutionary computation technique is presented in this paper for training Fuzzy Cognitive Maps. Fuzzy Cognitive Maps is a soft computing technique for modeling complex systems, which combines the synergistic theories of neural networks and fuzzy logic. The methodology of developing Fuzzy Cognitive Maps (FCMs) relies on human expert experience and knowledge, but still exhibits weaknesses in utilization of learning methods. We investigate in this work a coupling of Differential Evolution algorithm and Unsupervised Hebbian learning algorithm, using both the global search capabilities of Evolutionary techniques and the effectiveness of the Nonlinear Hebbian learning rule. The proposed algorithm applied successfully in a real-world process control problem. Experimental results suggest that the two-stage learning strategy Is capable to train FCMs effectively leading the system to desired steady states and determining the apprpriate weight matrix.

关键词： Learning algorithms

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Research on a new multiobjective combinatorial optimization algorithm

Research on a new multiobjective combinatorial optimization ...

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Proceedings - 2004 IEEE International Conference on robotics and Biomimetics, IEEE ROBIO 2004

作者： Qin, Yong-Fa Zhao, Ming-Yang Qn, Yong-Fa Robotics Open Lab. Shenyang Institute of Automation CAS Shenyang China Graduate School Chinese Academy of Sciences Beijing China

ISBN: (纸本)0780386418

An real world engineering design problem is usually with multiple conflicting objectives, and it is easily lead to the difficulty to optimize these objectives at the same time. Multiobjective combinatorial optimization is not only an open theory problem, but also with an important practical significance. After modeling the constrained multiobjective combinatorial optimization problem, a new optimization algorithm is presented in detail. The algorithm is different from existing multiobjective evolutionary algorithms in three aspects. The first is the two-layer encoding method. The second is that it hybrids the simulated annealing algorithm with the genetic algorithm to improve the global searching ability while maintaining the parallel computing ability. The third is the decision making mechanism to evaluate candidate solutions with several design objectives. A numerical example study shows that the proposed algorithm is capable of dealing with multiobjective combinatorial optimization problems. © 2004 IEEE.

关键词： Evolutionary algorithms

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Design and realization of a wireless drive microrobot

Design and realization of a wireless drive microrobot

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WCICA 2004 - Fifth World Congress on Intelligent Control and automation, Conference Proceedings

作者： Zhu, Tao Tan, Dalong Shi, Pu Yan, Chunli Robotics Lab. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province China Traffic and Transport Institute Northeast Forestry University Harbin Heilongjiang Province China

ISBN: (纸本)0780382730

With the increasing of micro parts, much attention has been paid to development of micro devices, which can handle those micro parts. We present a novel wireless microrobot based on the deformation of piezoelectric. The microrobot can fulfill both long distance transport and precise positioning. With three drive units arranged at apexes of an equilateral triangle, omnidirectional motion can be achieved. The author mainly discusses its driving principle and wireless control strategies. Some experimental results are also given to examine the effects of related parameters on its kinematics characteristics.

关键词： Mobile robots

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Novel micro gripping, probing, and sensing devices for single-cell surgery

Novel micro gripping, probing, and sensing devices for singl...

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Conference Proceedings - 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2004

作者： Li, Wen J. Xi, Ning Centre for Micro and Nano Systems Chinese University of Hong Kong Shatin N.T. Hong Kong Robotics and Automation Laboratory Department of Electrical Engineering Michigan State University East Lansing MI United States Micro/Nano Robotics Automations Lab. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning China Chinese University of Hong Kong Michigan State University Shenyang Institute of Automation

Several novel devices under development in our lab.ratories to ultimately realize a micro robotic system for single cell nano-scale probing, injection, imaging and surgery is described in this paper. Thus far, we have 1) developed MEMS polymer grippers that can be actuated under water with very large deflection and are capable of gripping 500um embryonic cells in water with ∼2V input;2) developed a probe-etching technique to controllab.y shape fiber probes into various tip geometries, Le., fibers with initial diameter of 125um were sharpened into tips with angles ranging from <2.7 - 9.7° and with nano-scale tip diameters of <1um;3) developed a novel PVDF force sensing system with resolution in the sub-uN range for applications in bio-manipulation, bio-injection, and potentially single cell surgery. Details of these technologies are discussed in this paper.

关键词： Medical imaging

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Path planning of a snake-like robot based on serpenoid curve and genetic algorithms

Path planning of a snake-like robot based on serpenoid curve...

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World Congress on Intelligent Control and automation (WCICA)

作者： Jinguo Liu Yuechao Wang Bin Ii S. Ma Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences China Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation (SIA) China Robotics Lab. Chinese Acad. of Sci. China Department of Systems Engineering Ibaraki University JAPAN

The path of the snake-like robot has no repetition because its motion is influenced by manifold indeterminate factors such as ground condition, mechanism's vibration and motor voltage's variety. A novel path planning technique based on serpenoid curve and genetic algorithms (GAs) has been proposed to control the snake-like robot in Shenyang Institute of automation (SIA, China). First, the ranges of the path and the curvature deviation have been calculated approximately and set as the bounds of genetic algorithms. Then using real time dual genetic algorithms, this path planning technique not only can decide the shortest path and the minimum curvature deviation, but also can limit the motion error's influence. Simulation results show that the results of the second layer of GAs are more availab.e than that of the first layer of GAs and this novel technique is effective for the path planning of the SIA snake-like robot.

关键词： Path planning Genetic algorithms robotics and automation Automatic control Robot control Orbital robotics Motion control lab.ratories Genetic engineering Manifolds

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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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