共查询到20条相似文献,搜索用时 31 毫秒
1.
This article describes a methodology, together with an associated series of experiments employing this methodology, for the
evolution of walking behavior in a simulated humanoid robot with up to 20 degrees of freedom. The robots evolved in this study
learn to walk smoothly in an upright or near-upright position and demonstrate a variety of different locomotive behaviors,
including “skating,” “limping,” and walking in a manner curiously reminiscent of a mildly or heavily intoxicated person. A
previous study demonstrated the possible potential utility of this approach while evolving controllers based on simulated
humanoid robots with a restricted range of movements. Although walking behaviors were developed, these were slow and relied
on the robot walking in an excessively stooped position, similar to the gait of an infirm elderly person. This article extends
the previous work to a robot with many degrees of freedom, up to 20 in total (arms, elbows, legs, hips, knees, etc.), and
demonstrates the automatic evolution of fully upright bipedal locomotion in a humanoid robot using an accurate physics simulator.
This work was presented in part at the 11th International Symposium on Artificial Life and Robotics, Oita, Japan, January
23–25, 2006 相似文献
2.
Malachy Eaton 《Artificial Life and Robotics》2008,12(1-2):133-137
The field of evolutionary humanoid robotics is a branch of evolutionary robotics specifically dealing with the application
of evolutionary principles to humanoid robot design. Previous studies demonstrated the possible future potential of this approach
by evolving walking behaviors for simulated humanoid robots with up to 20 degrees of freedom. In this paper we examine further
the evolutionary process by looking at the changes in diversity over time. We then investigate the effect of the immobilization
of an individual joint or joints in the robot. The latter study may be of potential future use in prosthetic design. We also
explore the possibility of the evolution of humanoid robots which can cope with different environmental conditions. These
include reduced ground friction (ice) and modified gravitation (moon walking). We present initial results on the implementation
of our simulated humanoid robots in hardware using the Bioloid robotic platform, using a model of this robot in order to evolve
the desired motion patterns, for subsequent transfer to the real robot. We finish the article with a summary and brief discussion
of future work.
This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January
25–27, 2007 相似文献
3.
Recently, autonomous robots which are designed on the basis of biological mechanism have attracted much attention. In this
paper, we focus on the mechanism of timing control studied by ecological psychology, and apply the framework to timing control
of a mobile robot. Experiments using real robots have been conducted and effective behaviors have been realized.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献
4.
Hideki Hashimoto 《Artificial Life and Robotics》2007,11(1):1-7
In the latest advances in network sensor technology and state-of-the-art mobile robots, artificial intelligence research can
be employed to develop autonomous and distributed monitoring systems. “Intelligent Space” is a platform on which we can easily
implement advanced technologies to realize smart services for humans. We have developed and reported a vision system based
on color information, a hand-over scheme networking multicameras, a human-following mobile robot system, a path generator
based on human-watching, etc. Here, I will summarize the present state of intelligent space, and try to describe the future
from the viewpoint of system integration. We are now introducing RT (robot technology) to develop intelligent-space as an
actual standard platform which could be approved by the robotics community. I will discuss how to use RT in our intelligent
space, and show our new results.
This work was presented in part at the 11th International Symposium on Artificial Life and Robotics, Oita, Japan, January
23–25, 2006 相似文献
5.
An obstacle-avoidance algorithm is presented for autonomous mobile robots equipped with a CCD camera and ultrasonic sensors.
This approach uses segmentation techniques to segregate the floor from other fixtures, and measurement techniques to measure
the distance between the mobile robot and any obstacles. It uses a simple computation for the selection of a threshold value.
This approach also uses a cost function, which is combined with image information, distance information, and a weight factor,
to find an obstacle-free path. This algorithm, which uses a CCD camera and ultrasonic sensors, can be used for cases including
shadow regions, and obstacles in visual navigation and in various lighting conditions.
This work was presented in part at the 7th International Symposium on Artificial Life and Robotics, Oita, Japan, January 16–18,
2002 相似文献
6.
We are attempting to develop an autonomous personal robot that has the ability to perform practical tasks in a human living
environment by using information derived from sensors. When a robot operates in a human environment, the issue of safety must
be considered in regard to its autonomous movement. Thus, robots absolutely require systems that can recognize the external
world and perform correct driving control. We have thus developed a navigation system for an autonomous robot. The system
requires only image data captured by an ocellus CCD camera. In this system, we allow the robot to search for obstacles present
on the floor. Then, the robot obtains distance recognition necessary for evasion of the object, including data of the obstacle’s
width, height, and depth by calculating the angles of images taken by the CCD camera. We applied the system to a robot in
an indoor environment and evaluated its performance, and we consider the resulting problems in the discussion of our experimental
results.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献
7.
In this article we explore some of the issues currently facing researchers in the interface between the twin fields of Artificial
Life and Robotics, and the challenges and potential synergy of these two areas in the creation of future robotic life forms.
There are three strands of research which we feel will be of key importance in the possible development of future embodied
artificial life forms. These are the areas of evolutionary robotics and evolutionary humanoid robotics in particular, probabilistic
robotics for deliberation, and robot benchmarking with associated metrics and standards. We briefly explore each of these
areas in turn, focusing on our current research in each field and what we see as the potential issues and challenges for the
future.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献
8.
A classifier system for the reinforcement learning control of autonomous mobile robots is proposed. The classifier system
contains action selection, rules reproduction, and credit assignment mechanisms. An important feature of the classifier system
is that it operates with continuous sensor and action spaces. The system is applied to the control of mobile robots. The local
controllers use independent classifiers specified at the wheel-level. The controllers work autonomously, and with respect
to each other represent dynamic systems connected through the external environment. The feasibility of the proposed system
is tested in an experiment with a Khepera robot. It is shown that some patterns of global behavior can emerge from locally
organized classifiers.
This work was presented, in part, at the Third International Symposium on Artificial Life and Robotics, Oita, Japan, January
19–21, 1998 相似文献
9.
Kenji Makino Yutaka Nakamura Tomohiro Shibata Shin Ishii 《Artificial Life and Robotics》2008,12(1-2):129-132
Adaptability to the environment is crucial for mobile robots, because the circumstances, including the body of the robot,
may change. A robot with a large number of degrees of freedom possesses the potential to adapt to such circumstances, but
it is difficult to design a good controller for such a robot. We previously proposed a reinforcement learning (RL) method
called the CPG actor-critic method, and applied it to the automatic acquisition of vermicular locomotion of a looper-like
robot through computer simulations. In this study, we developed a looper-like robot and applied our RL method to the control
of this robot. Experimental results demonstrate fast acquisition of a vermicular forward motion, supporting the real applicability
of our method.
This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January
25–27, 2007 相似文献
10.
ATR Media Information Science Laboratories has developed a humanoid-type robot that can work in our daily life and fit naturally
into human society. This robot will be a platform for developing various types of service robots, such as cleaning robots,
security patrol robots, and entertainment robots, based on a rich communication ability.
This work was presented, in part, at the Sixth International Symposium on Artificial Life and Robotics, Tokyo, Japan, January
15–17, 2001 相似文献
11.
This paper deals withspontaneous behavior for cooperation through interaction in a distributed autonomous robot system. Though a human gives the robots evaluation
functions for the relation of cooperation among robots, each robot decides its behavior depending on its environment, its
experience, and the behavior of other robots. The robot acquires a model of the behavior of the other robots through learning.
Inspired by biological systems, the robot's behaviors are interpreted as emotional by an observer of the system. In psychology,
the emotions have been considered to play important roles for generation of motivation and behavior selection. In this paper,
the robot's behaviors are interpreted as follows: each robot feels frustration when its behavior decision does not fit its
environment. Then, it changes its behavior to change its situation actively and spontaneously. The results show potential
of intelligent behavior by emotions.
This work was presented, in part, at the International Symposium on Artificial Life and Robotics, Oita, Japan, February 18–20,
1996 相似文献
12.
Recently autonomous robot that is designed based on biological mechanism has attracted much attention. In this paper we focus
on mechanism of timing control which is studied in ecological psychology, and we apply it for controlling of multi mobile
robot. Simulations have been conducted and various flock behaviors have been realized. In addition, we have confirmed that
by using two leader robots, separation of flock is also possible. We can conclude that it is possible to realize flock behaviors
by using the timing control without information of distance.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献
13.
This article describes a prototype autonomous mobile robot, KANTARO, designed for inspecting sewer pipes. It is able to move
autonomously in 200–300-mm-diameter sewer pipes, to turn smoothly through 90° at a junction, and to go down a 5-cm step. KANTARO
carries all the resources required, such as a control unit, a camera, a 2D laser, and an IR sensor. Damage or abnormalities
in sewer pipes are detected based on recorded sensory data. KANTARO has demonstrated its effectiveness in inspection and in
autonomous navigation in a dry sewer test field at the FAIS–Robotics Development Support Office (FAIS–RDSO).
This work was presented in part at the 11th International Symposium on Artificial Life and Robotics, Oita, Japan, January
23–25, 2006 相似文献
14.
This paper reports recent results in controllability theory for a class of positive linear discrete-time systems which were
employed to examine and analyse the reachability and controllability properties of cohort-type population models representing
the dynamics of autonomous intelligent robot communities.
This work was presented in part at the Fourth International Symposium on Artificial Life and Robotics, Oita, Japan, January
19–22, 1999 相似文献
15.
Tetsushi Oka Toyokazu Abe Kaoru Sugita Masao Yokota 《Artificial Life and Robotics》2009,13(2):455-459
This article describes a multimodal command language for home robot users, and a robot system which interprets users’ messages
in the language through microphones, visual and tactile sensors, and control buttons. The command language comprises a set
of grammar rules, a lexicon, and nonverbal events detected in hand gestures, readings of tactile sensors attached to the robots,
and buttons on the controllers in the users’ hands. Prototype humanoid systems which immediately execute commands in the language
are also presented, along with preliminary experiments of faceto-face interactions and teleoperations. Subjects unfamiliar
with the language were able to command humanoids and complete their tasks with brief documents at hand, given a short demonstration
beforehand. The command understanding system operating on PCs responded to multimodal commands without significant delay.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献
16.
This article presents simulation models of autonomous Khepera robots which are assumed to be running on a highway. Each robot
acts by following the fish-school algorithm. Although a school of fish does not need a special individual to lead it, an autonomous
movement emerges from interactions among neighboring bodies. Our goal is multirobots which behave safely, with no accidents,
solely through interactions with their surroundings. When Khepera robots run freely while sensing neighboring robots or the
guard rails along the road by means of an infrared ray, the efficiency of their running, such as the distance covered and
the number of accidents, is obtained with an evaluation function. Genetic algorithms (GA) with this evaluation function are
applied to both the optimization of the discernible region, and the development of driving-type. As a result of optimization
of the behavior models of a robot, multirobots could run smoothly while avoiding collisions with other robots or with guard
rails, and yet run as fast as possible. The present study of autonomous multirobots approaches the realization of the autonomous
control of vehicles running on a highway.
This work was presented in part at the 7th International Symposium on Artificial Life and Robotics, Oita, Japan, January 16–18,
2002 相似文献
17.
As service robots and other ubiquitous technology have evolved, an increasing need for the autonomous navigation of mobile
objects has arisen. In a large number of localization schemes, the absolute-position estimation method, which relies on navigation
beacons or landmarks, has been widely used as it has the advantages of being economical and accurate. However, only a few
of these schemes have expanded their application to complicated workspaces, or those that have many rooms or blocks. As the
navigation of mobile objects in complicated workspaces is vital for ubiquitous technology, multiblock navigation is necessary.
This article presents methodologies and techniques for the multiblock navigation of the indoor localization system with active
beacon sensors. This new indoor localization system design includes ultrasonic attenuation compensation, dilution-of-precision
analysis, and a fault detection and isolation algorithm using redundant measurements.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献
18.
In this paper, we suggest that one of the more crucial tasks currently facing researchers into the field of autonomous mobile
robotics is the provision of a common task, or set of tasks, as a means of evaluating different approaches to robot design
and architecture, and the generation of a common set of experimental frameworks to facilitate these different approaches.
This paper stars with a brief introduction to the field, and behavior-based control in particular. We then discuss the issue
of animal versus robot behavior, and focus on simulated experimentation versus embodied robotics. Finally, we move to the
feasibility of evaluating and benchmarking different architectures, with the aim of producing mobile robots of continuously
higher utility, with specific reference to our current four-layered robot control architecture.
This work was presented in part at the Fifth International Symposium on Artificial Life and Robotics, Oita, Japan, January
26–28, 2000 相似文献
19.
Toshihiko Takaya Hidenori Kawamura Yoshihiro Minagawa Masahito Yamamoto Azuma Ohuchi 《Artificial Life and Robotics》2006,10(2):177-184
Blimp robots are attractive as indoor flying robots because they can float in the air, land safely with low energy, and stay
in motion for a long time compared with other flying robots. However, controlling blimp robots is difficult because they have
nonlinear characteristics, are influenced by air streams, and can easily be influenced by inertia. Therefore, a robust and
adaptive control system is needed for blimp robots. The applied research that has studied the features of indoor flying robots
in recent years has prospered. Operating an indoor blimp robot for a long time is difficult because the payload is small,
multiple batteries cannot be stacked, and the design of a thruster that gives freedom to the entire blimp robot is difficult.
Therefore, an autonomous charge that allows operation for a long time is needed. We have developed a method of landing with
orbital control of the charge point that gives autonomy to a blimp robot. The possibility of landing with orbital control
is shown.
This work was presented in part at the 10th International Symposium on Artificial Life and Robotics, Oita, Japan, February
4–6, 2005
An erratum to this article is available at . 相似文献
20.
Recently, disasters such as earthquakes and so on occur at various places, and rescue operation using robots has attracted
much attention. In this paper, we propose a new rescue robot with duplex mechanism that is realized by connecting two manipulators
in parallel. We have demonstrated the validity and effectiveness of the proposed system by developing a prototype system.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献