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In this paper, an impedance control strategy is proposed for a rigid robot collaborating with human by considering impedance learning and human motion intention estimation. The least square method is used in human impedance identification, and the robot can adjust its impedance parameters according to human impedance model for guaranteeing compliant collaboration. Neural networks (NNs) are employed...
In this paper, an adaptive dynamic surface control (DSC) method is proposed for the flexible robotic system with unmodeled dynamics and time-varying output constraints. The dynamic disturbances are effectively dealt with by introducing a dynamic signal. The unknown continuous functions are approximated by using radial basis function neural networks (RBFNNs). An asymmetric time-varying barrier Lyapunov...
This paper addresses the assist-as-needed (AAN) control problem for robotic orthoses. The objective is to design a stable AAN controller with an adjustable assistance level. The controller aims to follow a desired trajectory while allowing an adjustable tracking error with low control effort to provide a freedom zone for the user. By ensuring the stability of the system and providing the freedom zone,...
The study of Human-Robot interaction faces one of the biggest challenges in measuring the trustworthiness of the robots. The enhancement and the augmentation of the human capabilities using the human robot integration are dependent on the reliability and dependability of the robots. These factors become more significant when the participation of the robot is the human robot integration is active and...
We propose a training method for multiple sound source localization (SSL) based on deep neural networks (DNNs). Such networks function as posterior probability estimator of sound location in terms of position labels and achieve high localization correctness. Since the previous DNNs' configuration for SSL handles one-sound-source cases, it should be extended to multiple-sound-source cases to apply...
The present work is part of the “Hand of Hope” project, which seeks to develop low-cost robotic prostheses with the aim of contributing to the social and labor inclusion of people with motor disabilities of their upper extremities. The specific objective to address in this work is the design and development of the system architecture to recognition of EMG (Electromyography) signal patterns, the purpose...
Is it possible that paintings created by an artificial agent touch a human? We investigate how an artificial agent “creates” paintings and what elements of paintings influence the human feeling. This paper presents the challenge of creating paintings by an artificial agent: a painting creating system. We propose the impression feedback so that an artificial agent can create impressive paintings, not...
In the field of human-robot interaction, it is important to attract user's interests. In this regard, it is useful to use gaze and pointing gesture to read and lead to intentions. However, there are not sufficient to studies that generate behaviors according to recognized users' intentions. Furthermore, it is difficult to select suitable behavior considering changing user's state. In this paper, we...
This paper is concerned with design of an adaptive neural network (NN)-based controller for a class of multi-input multi-output (MIMO) nonlinear systems. Unlike most of the previous methods, the MIMO system under study is assumed to be in nonaffine form with unknown nonlinear functions in which the nonlinearities are completely coupled with system states and inputs. The system dynamics are first transformed...
In this paper, an algorithm called transverse contracting dynamic system primitive (CDSP) to learn the dynamics of periodic motions from demonstrations is presented. Learning motion plans is essential in making robot programming possible by non-expert programmers as well as realizing human-robot collaboration. The complex periodic motion of the human arm is generated by an orbitally stable closed-loop...
A ball-bot is an extremely agile mobile robotic platform due to its inherent instability. In order to maneuver at high speeds, a specialized controller is needed. A ball-bot can be modelled as two decoupled, 2-DOF pendulum on a cart systems. These systems comprise a classical and frequently encountered problem in the area of control theory. This paper proposed a novel technique for adaptive control...
Evolutionary Algorithms are metaheuristic optimization algorithms which are based on a population of individual candidate solutions. These solutions are evolved with the aim to solve a given problem. We compare two types of Evolutionary Algorithms, one with a panmictic population and one with a spatially-structured population. Previous works indicate that evolutionary algorithms with a spatially-structured...
This paper suggests an artificial neural network approach to an object locator and picker. A robotic arm with two joints and a rotating base will function as a pick-and-place machine. The system follows the following constraints: (1) the base of the robotic arm will be situated at a predetermined and fixed position, hence limiting the area at which it can locate and pick an object and; (2) the object...
We present a study on the tradeoffs between three design parameters for robotic task systems that function in partially unknown and unstructured environments, and under timing constraints. The design space of these robotic tasks must incorporate at least three dimensions: (1) the amount of training effort to teach the robot to perform the task, (2) the time available to complete the task from the...
Current trends in evolutionary robotics (ER) involve training a neuro-controller using one of the various population based algorithms. The most popular technique is to learn the optimal weights for the neural network. There is only a limited research into techniques that can be used to fully encode a neural network (NN) and therefore evolve the architecture, weights and thresholds as well as learning...
An adaptive feedback velocity control laws is proposed for the kinematic system of nonholonomic mobile robot to guarantee that the posture error of tracking a reference trajectory asymptotically stable in optimally way. We transformed the tracking problem into a regulation problem by redefining new system states and inputs to make the pre-defined cost function finite, then proposed an online policy...
First, the basic structure and principle of quadrotor UAV and its practical applications are introduced. Then, some control algorithms are also presented, such as, PID, LQR/LQG, H∞, sliding mode, feedback linearization, back stepping, model predictive, robust, adaptive, nested saturation, fuzzy logic, neural network, reinforcement learning, iterative learning, memory and brain emotional learning-based...
High-mix and low-volume wafer fabrication leads to more and more lot switches in cluster tools. Practitioners must thus deal with more transient processes during such switches, including start-up and close-down. To obtain higher throughput, it is critical to shorten these processes. Much effort has been put into the steady state modeling and scheduling of cluster tools and some for start up processes...
We propose a discriminative compact scene descriptor for single-view cross-season place recognition. Unlike previous bag-of-words approaches which rely on a library of vector quantized visual features, the proposed scene descriptor is based on a library of raw image data (such as available visual experience, images shared by other colleague robots, and publicly available image data on the web) that...
In this paper, a recently suggested adaptive online optimal control algorithm for the infinite-horizon tracking problem of continuous-time non-linear systems with partially unknown system dynamics is modified and empirically evaluated. Since we lack complete systems knowledge a parameter identifier, which works simultaneously with the updating of the online optimal control algorithm, is introduced...
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