ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.最新文献_第5页

A bio-inspired sensory-motor neural model for a neuro-robotic manipulation platform 神经机器人操作平台的仿生感觉-运动神经模型

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507471

G. Asuni, G. Teti, C. Laschi, Eugenio Guglielmelli, Paolo Dario

{"title":"A bio-inspired sensory-motor neural model for a neuro-robotic manipulation platform","authors":"G. Asuni, G. Teti, C. Laschi, Eugenio Guglielmelli, Paolo Dario","doi":"10.1109/ICAR.2005.1507471","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507471","url":null,"abstract":"This paper presents a neural model for visuo-motor coordination of a redundant robotic manipulator in reaching tasks. The model was developed for, and experimentally validated on, a neurobotic platform for manipulation. The proposed approach is based on a biologically-inspired model, which replicates the human brain capability of creating associations between motor and sensory data, by learning. The model is implemented here by self-organizing neural maps. During learning, the system creates relations between the motor data associated to endogenous movements performed by the robotic arm and the sensory consequences of such motor actions, i.e. the final position of the end effector. The learnt relations are stored in the neural map structure and are then used, after learning, for generating motor commands aimed at reaching a given point in 3D space. The approach proposed here allows to solve the inverse kinematics and joint redundancy problems for different robotic arms, with good accuracy and robustness. In order to validate this, the same implementation has been tested on a PUMA robot, too. Experimental trials confirmed the system capability to control the end effector position and also to manage the redundancy of the robotic manipulator in reaching the 3D target point even with additional constraints, such as one or more clamped joints, tools of variable lengths, or no visual feedback, without additional learning phases","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127615532","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

Dielectrophoretic micro/nanoassembly with microtweezers and nanoelectrodes 微镊子和纳米电极的介电泳微/纳米组装

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507414

A. Subramanian, B. Vikramaditya, B. Nelson, D. Bell, Lixin Dong

引用次数: 13

Unsupervised probabilistic segmentation of motion data for mimesis modeling 模拟建模中运动数据的无监督概率分割

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507443

B. Janus, Y. Nakamura

引用次数: 33

Robot experiment of torque learning for biped balance with respect to periodic external force 周期性外力作用下两足平衡转矩学习机器人实验

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507444

S. Ito, Haruhisa Kawasaki, Kohei Moriki, Minoru Sasaki

引用次数: 5

Modular behavior control for a cognitive robot 认知机器人的模块化行为控制

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507487

P. Ratanaswasd, W. Dodd, Kazuhiko Kawamura, D. Noelle

引用次数: 12

A new algorithm for construction of discretized configuration space obstacle and collision detection of manipulators 一种离散构形空间的构造与机器人碰撞检测算法

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507396

Xiaojun Wu, Qing Li, K. H. Heng

{"title":"A new algorithm for construction of discretized configuration space obstacle and collision detection of manipulators","authors":"Xiaojun Wu, Qing Li, K. H. Heng","doi":"10.1109/ICAR.2005.1507396","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507396","url":null,"abstract":"A novel approach for configuration space obstacle(C-obstacle) construction and collision detection of manipulators by precompiling the global topology of a robot's free space is proposed in this paper. The approach consists of an off-line phase plus an on-line phase. In the off-line phase, a C-obstacle database (COD) for a given robot is setup in which the C-obstacle bitmaps are stored and indexed by the cells of the workspace; in the on-line phase, when the same robot is operated in a real environment, those maps whose indexes match the real obstacle cells in the environment are identified and then extracted from the COD database. The superposition of these maps forms the required on-line C-obstacle in the application scenario. Based on the COD database, collision can also be detected for any given configurations of the robot in a dynamic environment. The proposed approach is a general one which is applicable to manipulators with any kinematic structure and geometric shape. Since the time-consuming construction of the COD database is implemented in off-line phase, the on-line running time is only for the identification of components in the COD database, hence the proposed approach for C-obstacle construction and collision detection is applicable for robot manipulation in dynamic environments. Simulations involving different types of manipulators are studied and the results have verified the feasibility and efficiency of the proposed approach","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"28 10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125689070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Mobile robot localization based on consecutive range sensor scanning and optical flow measurements 基于连续距离传感器扫描和光流测量的移动机器人定位

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507385

S. Baek, Hyunwoong Park, Sooyong Lee

引用次数: 16

Goal-directed imitation with self-adjusting adaptor based on a neural oscillator network 基于神经振荡器网络的自调节适配器目标定向仿真

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507442

Woosung Yang, N. Chong

{"title":"Goal-directed imitation with self-adjusting adaptor based on a neural oscillator network","authors":"Woosung Yang, N. Chong","doi":"10.1109/ICAR.2005.1507442","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507442","url":null,"abstract":"An innovative framework of imitation between dissimilar bodies is proposed to automatically achieve the goal of the perceived behavior. Biologically inspired control based on central pattern generators currently gains increasing attention to embody human-like rhythmic motions to humanoid robots. However, this control approach suffers from highly nonlinear dynamics of neural systems, difficulty of motion pattern generation, uncertainty of behavior between neural systems and biomechanics, and so on. To cope with these problems, the imitation technique is employed in this work. We first propose the self-adjusting adaptor to easily generate an appropriate motion pattern by modifying the perceived motion toward attaining the goal of the behavior. Secondly, we verify the property of entrapment of neural oscillator network in the proposed adaptor to duplicate the regenerated motion pattern. In the numerical simulations of biped locomotion, the perceived pattern data is regenerated to keep the direction of the foot contact force identical between the demonstrator and the imitator Also, the neural oscillator is entrained by external signals under stable conditions. To the best of the authors' knowledge, this paper is the first work to validate the advantages of neural oscillator networks as a tool of imitation","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"335 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124712458","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

A novel obstacle avoidance and navigation method of outdoor mobile robot 一种新型户外移动机器人避障导航方法

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507478

Yunchong Li, K. He

引用次数: 5

Wide-baseline stereo experiments in natural terrain 自然地形宽基线立体实验

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. Pub Date : 2005-07-18 DOI: 10.1109/ICAR.2005.1507438

C. Olson, H. Abi-Rached

引用次数: 9