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IEEE International Conference on robotics and Automation (ICRA)

作者： Joon-Soo Lee Il Hong Suh Bum-Jae You Sang-Rok Oh Intelligent Control and Robotics Laboratory Hanyang University Ansan Gyeonggi South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

This paper proposes a visual serving method based on QR decomposition and disturbance observer. The QR decomposition factorizes the image feature Jacobian into a unitary matrix and an upper triangular matrix. It is shown that several performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability can be improved for any general image feature Jacobian by OR decomposition and disturbance observer. To show the validities of the proposed approach, visual servoing with stereo cameras is experimented on Samsung FARAMAN 6-axis industrial manipulator.

关键词： Visual servoing Cameras Jacobian matrices Matrix decomposition controllability Manipulators Intelligent control Intelligent robots Robot vision systems Robot sensing systems

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Intelligent compliance control for robot manipulators using adaptive stiffness characteristics

Intelligent compliance control for robot manipulators using ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Byoung-Ho Kim Nak Young Chong Sang-Rok Oh Il Hong Suh Young-Jo Cho Intelligent System Control Research Center KIST Seoul South Korea Biorobotics Division Robotics Department MEL Limited Japan Intelligent Control and Robotics Laboratory Hanyang University Seoul South Korea

A compliance control strategy for robot manipulators is proposed by employing a self-adjusting stiffness function. To be specific, each entry of the diagonal stiffness matrix corresponding to task coordinate in Cartesian space is adaptively adjusted during contact along the corresponding axis based on the contact force with its environment. It can also be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end-effector. The experimental results show the effectiveness of the proposed method by employing a two-link direct drive manipulator interacting with an unknown environment.

关键词： Intelligent robots Intelligent control Robot control Manipulators Programmable control Adaptive control Robot kinematics Force control Orbital robotics Servomechanisms

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A novel visual servoing approach involving disturbance observer

A novel visual servoing approach involving disturbance obser...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joon-Soo Lee Il Hong Suh Bum-Jae You Sang-Rok Oh Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea Intelligent Control and Robotics Laboratory Hanyang University Ansan Gyeonggi South Korea

To improve the visual servoing performance, several strategies have been proposed by using redundant feature points, by using a point with different height, and by a weighted selection of image features. The performance of these visual servoing methods depends on the configuration between the camera and objects. And redundant feature points require much computational efforts. The paper proposes a visual servoing method based on a disturbance observer which compensates the effect of the off-diagonal component of the image feature Jacobian to be null. The performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise, and controllability are improved when an image feature Jacobian is given as a block diagonal matrix. The proposed approach is applied to the PUMA560 and Samsung FARAMAN 6-axis industrial robot manipulators successfully.

关键词： Visual servoing Jacobian matrices Robot sensing systems Manipulators Service robots Image sensors Intelligent control Intelligent robots Cameras controllability

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Experiments on a visual servoing approach using disturbance observer

Experiments on a visual servoing approach using disturbance ...

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Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

作者： Joon-Soo Lee Il Hong Suh Bum-Jae You Sang-Rok Oh Intelligent Control and Robotics Laboratory Hanyang University Ansan Kyunggi South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

A visual servoing method has been proposed based on a disturbance observer to eliminate the effect of the off-diagonal component of the image feature Jacobian, since performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise, and controllability could be improved when an image feature Jacobian was given as a block diagonal matrix. In this paper, experimental results of disturbance observer-based visual servoing are discussed, where a Samsung FARAMAN-ASI 6-axis industrial robot manipulator is employed. Also, the feature saturator is proposed to stabilize the disturbance observer loop by saturating the differential changes of the image features.

关键词： Visual servoing Jacobian matrices Manipulators Robot sensing systems Intelligent control Intelligent robots control systems controllability Service robots Image sensors

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Assist system for carrying a long object with a human-analysis of a human cooperative behavior in the vertical direction

Assist system for carrying a long object with a human-analys...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Y. Hayashibara T. Takubo Y. Sonoda H. Arai K. Tanie Department of Control and System Engineering Toin University of Yokohama Yokohama Kanagawa Japan System Electronics Tokyo Engineering University Hachioji Tokyo Japan Institute of Engineering Mechanics University of Tsukuba Tsukuba Ibaraki Japan Robotics Department Mechanical Engineering Laboratory AIST-MITI Tsukuba Ibaraki Japan

Deals with an assist system for carrying a long object with a human operator. When we carry such an object, we often grasp both ends and move it cooperatively. Our purpose is to establish how to design the assist system which can achieve such a task. It is difficult to apply conventional control laws. On the other hand, humans can achieve such a task. Therefore, we measure the human cooperative behaviors and analyze them to find the cooperative rules. Based on the rules, we propose a control law of the assist system. Furthermore, we construct a prototype system and verify the validity of the control law.

关键词： Humans control systems Anthropometry Force sensors Force measurement Computer displays systems engineering and theory Prototypes Robot sensing systems Torque

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Artificial immune network-based cooperative control in collective autonomous mobile robots

Artificial immune network-based cooperative control in colle...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Dong-Wook Lee Kwee-Bo Sim Robotics and Intelligent Information System Laboratory Department of Control and Instrumentation Engineering Chung Ang University Seoul South Korea

In this paper, we propose a method of cooperative control based on immune system in distributed autonomous robotic system (DARS). Immune system is living body's self-protection and self-maintenance system. Thus these features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For the purpose of applying the immune system to DARS, a robot is regarded as a B lymphocyte (B cell), each environmental condition as an antigen and a behavior strategy as an antibody respectively. The executing process of proposed method is as follows: when the environmental condition changes, a robot selects an appropriate behavior strategy, and its behavior strategy is stimulated and suppressed by other robot using communication. Finally, such stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and idiotopic network hypothesis, and it is used for decision making of an optimal swarm strategy.

关键词： Intelligent networks Mobile robots Immune system control systems Intelligent robots Mobile communication Decision making Humans Robot sensing systems Intelligent systems

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Behavior learning and evolution of collective autonomous mobile robots based on reinforcement learning and distributed genetic algorithms

Behavior learning and evolution of collective autonomous mob...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Hyo-Byung Jun Kwee-Bo Sim Robotics and Intelligent Information System Laboratory Department of Control and Instrumentation Engineering Chung Ang University Seoul South Korea

In this paper, we present the reinforcement learning and distributed genetic algorithm based behavior learning of the distributed autonomous mobile robots. The internal reinforcement signal for the reinforcement learning is generated by fuzzy inference, and dynamic recurrent neural networks are used as action generation module. We adopt the distributed genetic algorithms for the cooperative behavior emergence. We show the validity of the proposed learning and evolution algorithm by computer simulation.

关键词： Mobile robots Learning Genetic algorithms Inference algorithms Signal generators Intelligent robots Animals Mobile communication Education Intelligent systems

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A methodology for geometric design of closed kinematic chain mechanisms

A methodology for geometric design of closed kinematic chain...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.D. Bryfogle C.C. Nguyen Z.-L. Zhou S.S. Antrazi Intelligent Systems Division Robotics System Engineer SAIC Germantown MD USA Robotics and Control Laboratory Catholic University of America Washington D.C. DC USA

This paper presents a methodology for the geometric design of those closed-kinematic chain mechanisms consisting of two platforms connected by six linear actuators. The methodology provides a guideline for the placement of the linear actuator joints which can maximize the mechanism workspace and forces/torques. The paper explains how the presented methodology was applied in the design of two real-world robotic systems, a force reflecting hand controller of a teleoperation system and a fine motion mechanism of a munition loading system.

关键词： Design methodology Leg Payloads Robot kinematics Coaxial components Legged locomotion Force control Motion control Jacobian matrices Intelligent systems

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Development of power assist system with individual compensation ratios for gravity and dynamic load

Development of power assist system with individual compensat...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Y. Hayashibara K. Tanie H. Arai H. Tokashiki Department of Control and System Engineering Toin University of Yokohama Yokohama Kanagawa Japan Robotics Department Mechanical Engineering Laboratory M.I.T.I. Tsukuba Ibaraki Japan Institute of Engineering Mechanics University of Tsukuba Tsukuba Japan

This paper present the design concept of a power assist system. In such system, when the controller is designed without considering the maximum torque of the actuators, the actuators can sometimes become saturated, resulting in a loss of stability and manoeuvrability. We propose a method for dealing with this problem. The load force is divided into gravitational and dynamic component, and each component is attenuated by an individual ratio. These ratios are determined considering the maximum power of the operator and the actuators.

关键词： Gravity Actuators control systems Force control Force sensors Stability Power engineering and energy Laboratories Torque control Aerodynamics

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Measuring the distance and orientation of a planar surface using nonstructured lighting

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systemS AND COMPUTERS IN JAPAN 1996年第8期27卷 83-92页

作者： Tsukiyama, T Member Electrotechnical Laboratory Tsukuba Japan 305 Tosbifumi Tsukiyama:graduated in 1972 from the Biological Engineering Department Osaka University where he also received his Dr. of Eng. degree. He joined Electrotechnical Laboratory Ministry of Tread and Industry (Japan) in 1972. At present he is Senior Researcher at Computer Vision Section Intelligent Systems Division ETL. He was a Visiting Researcher at University of Illinois during 1984–1985. He has been interested in vision system for mobile robots and image processing architectures. He is a member of the Society of Instrumental and Control Engineers Japan Robotics Society of Japan and Information Processing Society of Japan.

This paper proposes a method of 3-dimensional measurement of a planar surface by using two fixed light sources and a TV camera. A set of two images is recorded by the camera switching on each light alternately. The peak of the luminance distribution in each image is detected, and the orientation and distance of the planar surface are calculated. The position of the peak of a luminance distribution can be estimated accurately by using an image processing. The light sources can be conventional apparatus with no particular structure. The method is simple and suitable for a vision system on an indoor mobile robot.

关键词： distance to surface orientation of planar surface point light source luminance distribution ring light

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