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This paper proposes a method for constituting the formation of a multi-robot system according to dynamically changing environments. First, we apply a method of multi-objective behavior coordination for integrating behavior outputs from the fuzzy control for collision avoidance and target tracing. Second, we apply a spring model to calculate the temporary target position of each robot for the formation...
This paper discusses human preference learning by robot partners through interaction with a person. We use a robot music player; miuro, and we focus on the music selection for providing the person with comfortable sound field. First, we propose a control architecture of miuro based on autonomous behavior mode, interactive behavior mode, and human control mode. Next, we propose a learning method of...
Zero-Moment Point (ZMP) is the most popular concept that is applied to stabilize the gait motion of a biped robot. However, the computation of the ZMP position and the dynamic model is highly complex, and so requires a considerable time. Therefore, to eliminate complex computation, this work designs a new locomotion control system for humanoid robots, which yields walking gait characteristics that...
To enhance smooth throttle movement and maintain a special driving speed over various orchard road conditions, improve walking stability, we design the fuzzy controller to adjust the throttle open rate. According to the experimental data curve of throttle open rate and driving wheel speed on low-load test, speed sensor mounted on driving wheel to feedback the speed data converted to throttle open...
The path following control problem for mobile robots with nonholonomic constraints is discussed. According to the description of robot oriented positioning control, a novel path following fuzzy controller which based on human driving behavior has been designed. As the robot's direction error and orientation error relative to oriented goal are hardly coupled, so a position-orientation alternate control...
In this paper the design and development of a crawling robot for inspection of live water pipes are addressed. The mechanical design of the robot is described in detail. The governing dynamics equations of the robot moving against water flow as well as gravity in a straight pipe are also derived. Specifically, the hydrodynamic forces exerted on the robot when moving in a live pressurized pipe are...
Recently, multi-agent systems have been discussed to realize a large size of distributed autonomous system. This paper proposes an intelligent control method for formation behaviors of multi-robot. First of all, we discuss the current state of researches on formation behaviors in multi-robot. Next, we propose a multi-objective behavior coordination to realize formation behavior based on the integration...
This paper describes the control of an autonomous biped robot capable to be subjected to external pushing forces applied in the sagittal plane. A 1st order Takagi-Sugeno-Kang (TSK) type neuro fuzzy net, that was trained based on experimental and simulation data, is used. This net uses the zero moment point (ZMP) position and its variation as inputs, and the sagittal correction of the robotpsilas body...
This paper develops and experimentally demonstrates an automatic parallel parking control algorithm for autonomous ground vehicles (AGVs). The automatic parallel parking problem is described and fuzzy logic controllers are designed for each step of the parking process. Detailed membership functions and fuzzy reasoning rules are given for each fuzzy logic controller. The parking algorithm is tested...
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