Supervised learning technique for a mobile robot controller in a visual line tracking task

This article deals with the development of learning methods for an intelligent control system for an autonomous mobile robot. On the basis of visual servoing, an approach to learning the skill of tracking colored guidelines is proposed. This approach utilizes a robust and adaptive image processing method to acquire features of the colored guidelines and convert them into the controller input. The supervised learning procedure and the neural network controller are discussed. The method of obtaining the learning data and training the neural network are described. Experimental results are presented at the end of the article. This work was presented, in part, at the Sixth International Symposium on Artificial Life and Robotics, Tokyo, Japan, January 15–17, 2001     

A Social Robot that Stands in Line

Recent research in mobile robot navigation make it feasible to utilize autonomous robots in service fields. But, such applications require more than just navigation. To operate in a peopled environment, robots should recognize and act according to human social behavior. In this paper, we present the design and implementation of one such social behavior: a robot that stands in line much as people do. The system employs stereo vision to recognize lines of people, and uses the concept of personal space for modeling the social behavior. Personal space is used both to detect the end of a line and to determine how much space to leave between the robot and the person in front of it. Our model of personal space is based on measurements from people forming lines. We demonstrate our ideas with a mobile robot navigation system that can purchase a cup of coffee, even if people are waiting in line for service.     

Robust Linear Control of Flexible Joint Robot Systems

This paper presents the development and design of a robust linear controller for a flexible joint robot. First, a realistic model is developed taking into account the effects of stick-slip friction, nonlinear spring force characteristic, the rotors' Coriolis and centrifugal acceleration due to the velocities of the precedent links and rotors, and measurement noise. Second, a robust controller is designed using LQG/LTR techniques. Extensive simulation was performed on an experimental robot system using several trajectories. The results demonstrate that the proposed model/controller provides excellent tracking and regulation performance.     

A Gesture Based Interface for Human-Robot Interaction

Service robotics is currently a highly active research area in robotics, with enormous societal potential. Since service robots directly interact with people, finding natural and easy-to-use user interfaces is of fundamental importance. While past work has predominately focussed on issues such as navigation and manipulation, relatively few robotic systems are equipped with flexible user interfaces that permit controlling the robot by natural means. This paper describes a gesture interface for the control of a mobile robot equipped with a manipulator. The interface uses a camera to track a person and recognize gestures involving arm motion. A fast, adaptive tracking algorithm enables the robot to track and follow a person reliably through office environments with changing lighting conditions. Two alternative methods for gesture recognition are compared: a template based approach and a neural network approach. Both are combined with the Viterbi algorithm for the recognition of gestures defined through arm motion (in addition to static arm poses). Results are reported in the context of an interactive clean-up task, where a person guides the robot to specific locations that need to be cleaned and instructs the robot to pick up trash.     

Using Real-Time Stereo Vision for Mobile Robot Navigation

This paper describes a working vision-based mobile robot that navigates and autonomously explores its environment while building occupancy grid maps of the environment. We present a method for reducing stereo vision disparity images to two-dimensional map information. Stereo vision has several attributes that set it apart from other sensors more commonly used for occupancy grid mapping. We discuss these attributes, the errors that some of them create, and how to overcome them. We reduce errors by segmenting disparity images based on continuous disparity surfaces to reject spikes caused by stereo mismatches. Stereo vision processing and map updates are done at 5 Hz and the robot moves at speeds of 300 cm/s.     

利用触觉传感器实现滑觉的机器人抓握控制系统的研究

本文提出一种利用阵列式触觉传感器实现滑觉检测的方法.在此基础上,设计了机器人抓握控制系统,仿真结果表明,此方案是可行的.     

确定柔性机器人主动控制力的一种新算法

提出一种计算柔性机器人铰上主动控制力的程式化方法，在已知柔性机器人铰上运动学规律的前提下求产生这种规律的主劝控制规律通常需先通过求解系统动力学正总是俐到部件变形规律，然后通过动力学逆问题得到。本文在不破坏原方程程式化的形式的前提下将原动力学方程转化为另一种等价的程式化形式将上述两个过程合并在一起求解，减化了计算步骤，并提高了计算效率。     

气囊式密封垫弹性刚度的计算

系统地讨论了单吸盘真空吸附式爬壁机器人吸盘系的弹性性能，从气体流变过程的角度，推导出气囊式密封垫弹性刚度理论计算公式。最后提供了实验结果，证明了上述方法和结论的正确性。     

操作机器人自由项的四元数算法

提出了操作机器人自由项由盾运动自由项和线运动自由项所组成，并利用四无数方法构造了这两种自由项的算法，在此基础上，进一步将此两种自由项的算法联立一即构成了操作机器人自由项的算法．     

基于单片计算机的卫生陶瓷机器人喷釉自动线协调控制器

本文针对卫生陶瓷机器人喷釉自动线的工艺要求，提出了基于单片计算机的协调控制器，以实现ＭＯＴＯＭＡＮＫ６工业机器人与喷釉过程中坯体传送与旋转运动的协调处理