TITLE

Iterative Design of Advanced Mobile Robots

AUTHOR(S)
Michaud, Fran�ois; L�tourneau, Dominic; Beaudry, �ric; Fr�chette, Maxime; Kabanza, Froduald; Lauria, Michel
PUB. DATE
March 2009
SOURCE
Journal of Computing & Information Technology;Mar2009, Vol. 17 Issue 1, p1
SOURCE TYPE
Academic Journal
DOC. TYPE
Article
ABSTRACT
Integration of hardware, software and decisional components is fundamental in the design of advanced mobile robotic systems capable of performing challenging tasks in unstructured and unpredictable environments. We address such integration challenges following an iterative design strategy, centered on a decisional architecture based on the notion of motivated selection of behavior-producing modules. This architecture evolved over the years from the integration of obstacle avoidance, message reading and touch screen graphical interfaces, to localization and mapping, planning and scheduling, sound source localization, tracking and separation, speech recognition and generation on a custom-made interactive robot. Designed to be a scientific robot reporter, the robot provides understandable and configurable interaction, intention and information in a conference setting, reporting its experiences for on-line and off-line analysis. This paper presents the integration of these capabilities on this robot, revealing interesting new issues in terms of planning and scheduling, coordination of audio/visual/graphical capabilities, and monitoring the uses and impacts of the robot's decisional capabilities in unconstrained operating conditions. This paper also outlines new design requirements for our next design iteration, adding compliance to the locomotion and manipulation capabilities of the platform, and natural interaction through gestures using arms, facial expressions and the robot's pose.
ACCESSION #
38024801

 

Related Articles

  • Learning behavior fusion from demonstration. Nicolescu, Monica; Jenkins, Odest Chadwicke; Olenderski, Adam; Fritzinger, Eric // Interaction Studies;2008, Vol. 9 Issue 2, p319 

    A critical challenge in robot learning from demonstration is the ability to map the behavior of the trainer onto a robot’s existing repertoire of basic/primitive capabilities. In part, this problem is due to the fact that the observed behavior of the teacher may consist of a combination...

  • Control of a Lightweight Flexible Robotic Arm Using Sliding Modes. Etxebarria, Victor; Sanz, Arantza; Lizarraga, Ibone // International Journal of Advanced Robotic Systems;Jun2005, Vol. 2 Issue 2, p103 

    This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust...

  • A Visibility-based Algorithm for Multi-robot Boundary Coverage. Linan Jiao; Zhenmin Tang // International Journal of Advanced Robotic Systems;Mar2008, Vol. 5 Issue 1, p63 

    Cell decomposition is often used in autonomous area coverage. We propose a visibility-based decomposition algorithm for single robot boundary coverage and a corresponding multi-robot algorithm in unknown environment. A graph data structure is exploited for completeness of coverage and...

  • EXPERT SYSTEM ARCHITECTURE DESIGNED FOR FLEXIBLE ROBOTIC ARMS. CALANGIU, Gabriela Andreea; STOICA, Mihai; SISAK, Francisc // Annals of DAAAM & Proceedings;Jan2009, p957 

    The present paper proposes the development of an expert system designed for a flexible robotic arm on the basis of real sensor data acquired. The aim is to make the robotic arm understand the environment and act independently in its environment, by developing a neuro-fuzzy model for the flexible...

  • Fuzzy Balancing Control of a Small-size Humanoid Robot based on Accelerometer. Chi-Tai Cheng; Hao-Che Chen; Yue-Yang Hu; Ching-Chang Wong // International Journal of Fuzzy Systems;Sep2009, Vol. 11 Issue 3, p146 

    A fuzzy balancing control method is proposed and implemented on a small-size humanoid robot named TWNHR-IV in this paper. The robot TWNHR-IV is able to stand and balance on an inclined plane by the proposed method. A 3-axis accelerometer is mounted on the robot TWNHR-IV, which has 26...

  • Time Optimal Hybrid Sliding Mode-PI Control for an Autonomous Underwater Robot. Chatchanayuenyong, Theerayuth; Parnichkun, Manukid // International Journal of Advanced Robotic Systems;Mar2008, Vol. 5 Issue 1, p91 

    This paper presents an underwater robot control system using combination principle among sliding mode control (SMC), Pontryagin maximum principle and linear PI control. The SMC switches according to the Pontryagin's time optimal control principle, in which the solution is obtained by using...

  • A System Analysis Approach to Robot Gripper Control Using Phase Lag Compensator Bode Designs. Khin Muyar Aye; Htin Lin; Hla Myo Tun // AIP Conference Proceedings;10/7/2008, Vol. 1052 Issue 1, p137 

    In this paper, we introduce the result comparisons that were developed for the phase lag compensator design using Bode Plots. The implementation of classical experiments as MATLAB m-files is described. Robot gripper control system can be designed to gain insight into a variety of concepts,...

  • Accurate part location is key to successful use of machine vision. Boatner, Bryan // Laser Focus World;Jan2007, Vol. 43 Issue 1, p73 

    The article provides information on the factors considered in vision-guided robotic (VGR) applications. The one that can reduce integration time is a VGR package from robot supplier. In locating the part within the camera's field of view is the first step in any machine-vision application. This...

  • Navigating Dynamic Environments with Trajectory Deformation. Fraichard, Thierry; Delsart, Vivien // Journal of Computing & Information Technology;Mar2009, Vol. 17 Issue 1, p27 

    Path deformation is a technique that was introduced to generate robot motion wherein a nominal path, that had been computed beforehand, was continuously deformed on-line in response to unforeseen obstacles. In an effort to improve path deformation, this paper presents a trajectory deformation...

Share

Read the Article

Courtesy of VIRGINIA BEACH PUBLIC LIBRARY AND SYSTEM

Sorry, but this item is not currently available from your library.

Try another library?
Sign out of this library

Other Topics