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A new method for global path planning of mobile robots is presented using an Evolutionary Strategy (ES). A two-dimensional autonomous path planning problem of a point mobile robot among polygonal obstacles is formulated as a constrained time-optimal control problem considering motions of the robot. From the visibility concept, each polygonal obstacle is enclosed by a circle so that the visible side...
In a stabilizing control for nonholonomic mobile robots with two independent driving wheels, a nonholonomic double integrator in the kinematic model is first considered as a controlled object model. Then, a quasi-continuous exponential stabilizing control method is proposed as one of underactuated control methods by using invariant manifold theory. Next, to extend the velocity input control in a kinematic...
Actor-critic method based on policy gradient is an effective method for problems with high-dimensional learning space. In walking behavior of robots, the movement of robot's joint is cyclic. For this purpose, we apply closed-loops of B-spline curve to cyclic movement. Hence, we propose a method combined actor-critic method based on policy gradient with B-spline curve. In this method, B-spline curve...
The challenge of this work is to study the design and development of human-robot collaboration (HRC) in cellular manufacturing. Based on the concept of human collaborative design, four main design factors are being identified and developed in an active HRC prototype production cell for cable harness assembly. Human collaborative design aims to optimize the system design for the advantage of collaboration...
This paper proposes a method to adapt robot behaviors toward user's perception by human teaching. Human-friendly robotic system should be able to understand the fuzzy linguistic information based on the user's guidance and the environmental conditions. The contextual meaning of fuzzy linguistic information depends on the conditions of the environment. Therefore, user's perception is acquired to evaluate...
This paper proposes a method for controlling posture of a robot manipulator by fuzzy voice commands. Human-friendly robotic system should be able to understand the fuzzy linguistic information based on the user's guidance and the environmental conditions. The contextual meaning of fuzzy linguistic information depends on the conditions of the environment. Therefore, the user's feedback is evaluated...
In this paper, an invariant manifold approach is applied for controlling chained form systems with four inputs and six states. This type of systems includes VTOL (vertical take off and landing) aerial robots such as X4-flyer, AUVs (autonomous underwater vehicles) such as a longitudinal or lateral X4 -AUV, etc. The present underactuated control method is composed of a two step method: the first step...
This paper proposes a method for evaluating fuzzy voice commands (FVCs) by user guided visual attention. FVCs inherit fuzzy linguistic information due to the inclusion of fuzzy linguistic terms such as ??very little.?? The contextual meaning of such information depends on the environmental arrangement. Therefore, visual attention system (VAS) is utilized to evaluate the fuzzy linguistic information...
An image related to three-dimensional movement is used for constructing a control system for a robotic forceps by voice instructions, together with use of auxiliary information such as, the information on the tip-position in three-dimension and on the distance of the previous movement. A degree-related adverb included in the voice instruction is quantified by using fuzzy reasoning, in which such auxiliary...
This paper describes the mechanism of KBR-1R (Kanagawa Biped Robot-1 Refined) that is able to walk on even and uneven terrain. The KBR-1R has 15 degrees of freedom (DOF) (two 6 DOF legs and a 3 DOF waist). It was designed with a large movable range like a human. Also, a compensatory motion control for stable walking is described which is based on the motion of the trunk. Using the KBR-1R, various...
The walking motion of a biped robot was improved through the use of piezoelectric ceramic sensors. Humans are able to walk stably on uneven ground by adjusting the ankle angle in response to tactile signals from the legs. To provide a similar capability for a biped robot, piezoelectric ceramic sensors were installed on the soles of the robot's feet.
This paper describes a control strategy for stable walking by a robot with six legs. While walking, the robot always has three legs in contact with the ground. Walking motion is controlled so that the center of gravity of the robot is within the triangle formed by the three contact points. It was confirmed that the proposed strategy enabled stable walking on a flat plane and on a plane with steps.
A new control strategy is presented for a VTOL aerial robot with four rotors. A kinematics control law is first derived using Astolfipsilas discontinuous control, after introducing a chained form transformation with one generator and three chains to the original model. This was motivated by the fact that the discontinuous kinematic-model without using a chained form transformation assures only a local...
This paper aims to develop a method for the locomotion of a snake-like robot, and proposes a control strategy based on the friction force between robotpsilas body and the ground. Our concept of a control system design is that a control law should be based on the friction force as a real snake is. Both the motion equation of the robot and the friction force are derived by the projection method proposed...
An emotion-based task sharing approach has been developed for a cooperative multiagent robotic system. A stochastic emotion model based on Markov theory is adopted to conform the emotional state of agents while performing task. The task assignment and then task sharing among the agents depend on the emotional state of each agent. Different emotional traits are considered as important factors for task...
Many researchers have focused on transferring human skills to robots by extracting those skills into the machine- understandable models. It is an important step towards creating an intelligent robot in a cooperative environment. These models not only can be employed to transfer human control strategy to robots, but also can be used to improve the new workers' performance. In this paper, we propose...
This paper describes the design and analysis of a biologically inspired central pattern generator (CPG) using a network of mutually coupled nonlinear oscillators to generate rhythmic walking pattern for biped robots. The paper examines the characteristics of a CPG model composed of a network of nonlinear oscillators, and the effect of assigning symmetrical and asymmetrical coupling mechanism among...
This paper describes the development of a dynamic, robust algorithm for tracking a walking human by a mobile robot. In order to follow a target individual, the proposed system employs a laser rangefinder and an omni-directional camera. The validity of the method was examined experimentally in an outdoor environment.
In this paper, speech commands based on natural spoken language are used so that two or more same colored objects are tracked by a robot manipulator. More precisely, after receiving a speech command regarding the color information, the end-effector of the robot is controlled to approach a desired object out of many objects by using image, in which the image information is further applied to the human...
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