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This article is concerned with autonomous planning of diverse cooperative robot actions. In this work complex cooperative actions are realized based upon the intelligent composite motion control, which is a learning methodology for intelligent robots that gradually realize complex actions from fundamental motions. For efficient construction of action intelligence multi-stage genetic algorithm, MGA,...
In this paper, we discuss the leader-following formation navigation (LFFN), which is one of the most important issues in formation control. In this formation, one leader is controlled by a human operator, while multiple followers pass along the leader's trajectory in the same motion to the leader. The collision avoidance problem in the LFFN has been discussed in a previous work. However, the problem...
This work is concerned with complex cooperative robot actions by recursive optimal motion composition. According to the intelligent composite motion control (ICMC), a complex action is gradually realized from fundamental motions. It, is not easy to obtain the action intelligence of such a complex cooperation at once, hence in this work the intelligence is constructed through multi-stage action intelligence...
High mobility and large payload capability are important abilities for wall climbing robots. Authors have proposed a new robot system can provide both of these abilities, named anchor climber. This robot system is composed of two or more child units and a parent unit. Authors also have proposed special wall climbing robots to use these robots as child units of anchor climber, named adhering mobile...
The Multi-stage Genetic Algorithm, MGA, is introduced to solve a class of compositional design problems. The problem with complicated constraints is formulated as a set of local subproblems with simple constraints and a supervising problem. Every subproblem is solved by GA to generate a set of suboptimal solutions. And in the supervising problem, the elements of each set are optimally combined by...
The strand-muscle actuator (StMA) easily realizes joint angle/stiffness control, even for multi-DOF joints, by antagonistic actuator installation on the joint. The actuator is suitable for complex and flexible motions in spite of their simple mechanism. This work is concerned with an StMA-based robot arm (StMA-RArm), a human-arm-like robot manipulator using StMAs. Its shoulder part realizes failure...
This article presents a method for cooperative robot actions through multi-stage construction of action intelligence. The intelligent composite motion control is a learning methodology for intelligent robots that gradually realizes complex actions from fundamental motions. It is not easy, however, to obtain the action intelligence of a complex cooperation at once, hence the intelligence is constructed...
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