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A Fuzzy Logic Controller for Autonomous Wheeled Vehicles InTech
Mohamed B. Trabia; Linda Z. Shi; Neil E. Hodge.
This chapter presents a fuzzy logic control system for steering a two-axle vehicle. Two controllers are presented individually: the steering controller and the velocity controller. Each fuzzy controller is divided into several modules to represent the distributed way in which humans deal with different driving tasks. All of these modules are of the Mamdanitype and use sigmoid or product of sigmoid membership functions. The outputs of the various modules are added together to control the steering angle and the speed of the vehicle, respectively. Two fuzzy modules in the steering controller are designed to meet the basic driving requirement: Target Steering Fuzzy module and Collision Avoidance Steering Fuzzy module. The first module steers the vehicle toward...
Tipo: 10 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/a_fuzzy_logic_controller_for_autonomous_wheeled_vehicles
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A Reusable UART IP Design and its Application in Mobile Robots InTech
Ching-Chang Wong; Yu-Han Lin.
A reusable UART IP design and its application in mobile robots are presented in this chapter. The UART IP is composed of a baud rate generator, a receiver module, and a transmitter module. These modules are reusable and synthesizable and they are used to be a data detector of IR ranging system to receive the distance information of objects, a data detector of digital compass to receive the head direction of robot, and a transceiver of a wireless modem to communicate with the other robots and host computer. These application circuits have been implemented on a FPGA chip to illustrate the robot can detect data from the IR ranging system and the digital compass exactly and communicate with the host computer and other robots successfully.
Tipo: 8 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/a_reusable_uart_ip_design_and_its_application_in_mobile_robots
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Acquisition of Obstacle Avoidance Actions with Free-Gait for Quadruped Robots InTech
Tomohiro Yamaguchi; Keigo Watanabe; Kiyotaka Izumi.
We experimentally have proved a method for acquiring a path to a destination and obstacle avoidance of a quadruped robot. Robot actions were determined through an RBFNN, whose input consisted of destination information, obstacle configuration, and current robot status. Using training data on environmental conditions, focusing on x-, y-, and z-coordinates of different obstacles and certain destinations, RBFNN design parameters were optimized using a GA so that the robot reached the destination with a minimum number of walking cycles. For an untrained (unknown) environment, we found that the RBFNN was useful for acquiring an obstacle avoidance path to the destination. Effectiveness of this approach was examined by actual experiments. However, free-gait...
Tipo: 27 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/acquisition_of_obstacle_avoidance_actions_with_free-gait_for_quadruped_robots
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Acromovi Architecture: A Framework for the Development of Multirobot Applications InTech
Patricio Nebot; Enric Cervera.
In this work, the Acromovi architecture has been explained. This architecture is the support for all the programming and interaction of the agents that manages our team of robots. The Acromovi architecture is basically an agent-based distributed architecture for the programming and controlling of teams of mobile robots. This architecture allows the use of native components, by means of agent wrappers. The agents add the distributed capabilities, with message interchange for cooperation between robots. This makes possible an important reutilization of code, this being a basic principle in software engineering. Also, it allows the scalability of the system. That is, if one tested application is of interest for the whole system, it can easily converted in a...
Tipo: 21 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/acromovi_architecture__a_framework_for_the_development_of_multirobot_applications
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Biologically-Plausible Reactive Control of Mobile Robots InTech
Zapata Rene; Lepinay Pascal.
This chapter addressed the problem of controlling the reactive behaviours of a mobile robot evolving in unstructured and dynamic environments. We have carried out successful experiments for determining the distance field of a mobile robot using two
Tipo: 14 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/biologically-plausible_reactive_control_of_mobile_robots
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Bio-Mimetic Finger: Human Like Morphology, Control & Motion Planning for Intelligent Robot & Prosthesis InTech
Emanuele Lindo Secco; Giovanni Magenes.
We would like to thank professor Antonio Visioli for scientific advice.
Tipo: 17 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/bio-mimetic_finger__human_like_morphology__control__amp__motion_planning_for_intelligent_robot__amp_
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Combined Torque and Velocity Control of a Redundant Robot System InTech
Damir Omrcen; Leon Zlajpah; Bojan Nemec.
The use of the robots in the real world mostly depends on the development of a autonomous robotic systems that integrate mobility and manipulability. This chapter has presented a new approach to the robot control. The control is called combined control since it combines (integrates) two different types of robot control, i.e. the torque and the velocity control in a single robot system. Later on the mathematical analysis of the proposed combined control has been shown. Verification has been done on a simulated and a real system composed of a velocity controlled mobile platform and a torque controlled manipulator. The results show good tracking of the desired trajectory in the task space and in the null space depending on the controller gains. Controller...
Tipo: 3 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/combined_torque_and_velocity_control_of_a_redundant_robot_system
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Decentralized Robust Tracking Control for Uncertain Robots InTech
Zongying Shi; Yisheng Zhong; Wenli Xu.
The controller designed by the method proposed in this chapter consists of a feedforward and a two-loop linear time-invariant robust controller. Because the robust compensation signal is generated based on the inner signals, there is no need to know the format of uncertainties. In addition, only using local joint position feedbacks, the noise problem possibly caused by velocity measurement is avoided. The most important is that the parameter tuning is monotonic which provides the unique superiority: tuning on-line is realizable, and the bound estimation of uncertainties is not needed. These characteristics enable the controller possess favorable adaptability and be prone to be realized easily.
Tipo: 6 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/decentralized_robust_tracking_control_for_uncertain_robots
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Design and Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels InTech
Jae-Bok Song; Kyung-Seok Byun.
In this chapter, an omnidirectional mobile robot with steerable omnidirectional wheels (OMRSOW) has been proposed and the kinematic and dynamic analysis of a proposed robot has been conducted. The motion control system of a robot was developed and various experiments were conducted. As a result of this research, the following conclusions are drawn. 1. The OMR-SOW has 4 DOFs which consist of 3 DOFs for omnidirectional motion and 1 DOF for steering. This steering DOF functions as a continuously variable transmission (CVT). Therefore, the OMR-SOW can be also considered as an omnidirectional mobile robot with CVT. 2. The proposed steering control algorithm for CVT can provide a significant reduction in driving energy than the algorithm using a fixed steering...
Tipo: 12 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/design_and_control_of_an_omnidirectional_mobile_robot_with_steerable_omnidirectional_wheels
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Dynamic Model, Control and Simulation of Cooperative Robots: A Case Study InTech
Jorge Gudino-Lau; Marco A. Arteaga.
In this chapter, we developed the model for two cooperative industrial robots holding a rigid object without friction. The dynamic model for the manipulators is obtained independently from each other with the Lagrangian approach. Once the robots are holding the object, their joint variables are kinematically and dynamically coupled. These coupling equations are combined with the dynamic model of the object to obtain a mathematical description for the cooperative system. Besides, the tracking control problem for cooperative robots without velocity measurements is considered. The control law is a decentralized approach which takes into account motion constraints rather than the held object dynamics. By assuming that fingers dynamics are well known and that...
Tipo: 13 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/dynamic_model__control_and_simulation_of_cooperative_robots__a_case_study
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Dynamics and Control for Nonholonomic Mobile Modular Manipulators InTech
Yangmin Li; Yugang Liu.
In this chapter, 3-wheeled nonholonomic mobile modular manipulators are investigated. First, an integrated modelling method is proposed in consideration of the nonholonomic constraints and the interactive motions. Second, a model based controller and a robust adaptive controller are presented in task space directly. Third, simulations are carried out on a mobile modular manipulator composed of a 3-wheeled mobile platform and a 4-DOF onboard modular manipulator, and the simulation results demonstrate the effectiveness of the proposed algorithms. The proposed algorithms can be easily extended to some other mobile manipulators as well.
Tipo: 2 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/dynamics_and_control_for_nonholonomic_mobile_modular_manipulators
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EMOBOT: A Robot Control Architecture Based on Emotion-Like Internal Values InTech
Nils Goerke.
Getting autonomous robots to do the things we want them to do is still a challenge. Even the definition of parameters for a given controller type is very hard or realise for interesting robotic tasks. Designing controllers that are easily configured in an adequate way is far more complicated. The idea to make a controller learn an adequate set of parameters and functions for a given task is not completely new, but still not solved sufficiently. Biological entities demonstrate that it is in principle possible to realise such a system. Based on these ideas, a hierarchical robot control structure, with three main information processing branches: a sensory upstream, an actuatory downstream, and a controller was developed. The controller consists of two main...
Tipo: 4 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/emobot__a_robot_control_architecture_based_on_emotion-like_internal_values
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Fault-Tolerant Gait Planning of Multi-Legged Robots InTech
Jung-Min Yang; Yong-Kuk Park; Jin-Gon Kim.
In this article, gait planning for static walking of hexapod robots has been considered from a different point of view. The notion of a locked joint failure is introduced and its effect on robot walking is analyzed based on manipulator kinematics and gait study. A locked joint failure does not reduce stability of a gait but constrain the workspace of the failed leg to a restricted area. We have shown that there is a range of kinematic constraint on the configuration of the failed leg which guarantees the existence of post-failure walking on the straight-line and crab-walking trajectory, respectively. A strategy of fault tolerance for a locked joint failure has been proposed for the hexapod robot, in which the hexapod has discontinuous movement of the body...
Tipo: 28 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/fault-tolerant_gait_planning_of_multi-legged_robots
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Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 1: Overview and Force Sensing InTech
A. Schneider; U. Schmucker.
The control system algorithms and their technical realization for the robots "Masha" and "Katharina" are described in (Schmucker et al., 1996; Schmucker, 2002). Each leg of "Katharina" has its own controller based on a microcontroller INTEL 87C196KR which only controls the respective leg. The controller includes the CPU, FLASH-memory and RAM, a PWM output unit (PWM-U), analog input unit (AIU) and a synchronous serial communication unit (SSCU) on the chip. All microcontroller units are connected by a synchronous serial bus.
Tipo: 23 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/force_sensing_for_multi-legged_walking_robots__theory_and_experiments_part_1__overview_and_force_sen
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Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 2: Force Control of Legged Vehicles InTech
A. Schneider; U. Schmucker.
Initial research began at the Institute of Mechanics together with the Institute for Problems of Information Transmission (Moscow) at the initiative of Professors D.E. Okhotsimsky, V.S. Gurfinkel, members of the Russian Academy of Sciences and Professor E.A. Devjanin. Research is continuing at the Fraunhofer Institute for Factory Operation and Automation (IFF, Magdeburg) and is being supported by the Germany Research Foundation DFG. We would like to express special thanks to Professor D. M. Gorinevsky, together with whom the basic results of the force distribution algorithms have been achieved and also Professors A. Formalsky, and Yu. Golubev. The author is deeply grateful to Doctors A. Lensky, E. Gurfinkel and L. Shtilman.
Tipo: 24 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/force_sensing_for_multi-legged_walking_robots__theory_and_experiments__part_2__force_control_of_legg
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Force Sensors in Hexapod Locomotion InTech
Sathya Kaliyamoorthy; Sasha N. Zill; Roger D. Quinn.
Finite element analysis (FEA) was used to develop a detailed structural model of the cockroach trochanter, a small segment connecting the coxa and femur that incorporates four groups of strain receptors. The detailed structure of the exoskeleton was first reproduced by imaging the cuticle via confocal microscopy. The images were assembled and the cuticle
Tipo: 25 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/force_sensors_in_hexapod_locomotion
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Gauging Intelligence of Mobile Robots InTech
Ka C. Cheok.
The paper illustrates three means for gauging the intelligence of mobile robots: The qualitative perception of intelligence based on extending Turing test to the systems at hand; the quantitative measure that gauges task-specific intelligence from its performance in uncertain environments; the comparative measure that calibrates difficulty levels of what the system has to do against levels of human skills. The framework of an agent, an environment and a goal was applied to two case studies was helpful in gauging the intelligence of the mobile robots. An important field experiment reveals that the autonomous obstacle course challenge in the IGVC requires the sensory-motor-decision skill of at least a four-year old. As frontiers of and education efforts on...
Tipo: 7 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/gauging_intelligence_of_mobile_robots
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Grid Technologies for Intelligent Autonomous Robot Swarms InTech
Fabio P. Bonsignorio.
From a certain respect what is described above can be seen as a generalized grid where some of the resource managed are various kind of intelligent autonomous robotic agents. This seems to show some inherent advantages.
Tipo: 20 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/grid_technologies_for_intelligent_autonomous_robot_swarms
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Intelligent Pose Control of Mobile Robots Using an Uncalibrated Eye-in-Hand Vision System InTech
T. I. James Tsay; Y. F. Lai.
Mobile robots commonly need a guidance control system to navigate the mobile base and a method for performing the pick-and-place operations. The guidance control system and the non-planar ground inevitably cause the position and orientation errors of the mobile base. Therefore, this study proposes a behavior-based control strategy that employs an uncalibrated eye-in-hand vision system to control the end-effector of the manipulator to approach and grasp the target workpiece. All the designed behaviors are defined from the perspective of the camera and are mediated through fuzzy rules with a look-and-move control structure. The presented neural fuzzy controllers map image features in image space to relative motion commands in the camera frame. These motion...
Tipo: 9 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/intelligent_pose_control_of_mobile_robots_using_an_uncalibrated_eye-in-hand_vision_system
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Mechanism and Control of Anthropomorphic Biped Robots InTech
Hun-ok Lim; Atsuo Takanishi.
The mechanism of a 43 DOF biped humanoid robot WABIAN-RII was described to simulate human motions was described. For the humanoid robot to walk stably on various terrains, its functions should be separated. Its waist and trunk carries out the function of stability, while its legs work out the function of the locomotion. A locomotion pattern generation was discussed which used a polynomial. In the pattern generation, the direction of the walking and the length of the step can be determined by visual and auditory information. Also, a moment compensation control was presented to balance its body, which was based on the motion of the waist and trunk. In addition, an impedance control method was discussed to absorb the impact/contact forces generated between...
Tipo: 16 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/mechanism_and_control_of_anthropomorphic_biped_robots
Registros recuperados: 28
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