Development of a Mobile Home Robot System Based on RECS Concept and its Application to Setting and Clearing the Table

2007 ◽  
Vol 19 (6) ◽  
pp. 646-655 ◽  
Author(s):  
Seiji Aoyagi ◽  
◽  
Takahiro Yamaguchi ◽  
Kazuo Tsunemine ◽  
Hiroshi Kinomoto ◽  
...  
Keyword(s):  
Speech Synthesis ◽  
Social Needs ◽  
Mobile Home ◽  
Robot System ◽  
Human Interface ◽  
Indoor Mobile Robot ◽  
Docking Mechanism ◽  
Home Robot ◽  
Robot Performance ◽  
Robot Tasks

A multipurpose robot conducting domestic tasks should be indispensable for social needs, and this type of robot requires sophisticated technologies. A humanoid robot is not really practical at present for actual home or hospital use, considering its reliability and cost. To develop a practical multipurpose robot, we previously proposed the robot-environment compromise system (RECS) concept, which involves technology to modify a robot’s environment to increase robot performance. This concept aims to share the technical difficulties between the robot and the environment so that robot tasks are possible and facilitated. The present paper reports the development of an indoor mobile robot system based on the RECS concept that has a wheel mechanism to traverse steps. We propose a navigation system based on image recognition of landmarks on the ceiling and evaluated its effectiveness in experiments. We also propose a positioning system using a docking mechanism. We demonstrate our proposal’s feasibility using domestic tasks of setting a meal on a table and clearing away the dishes. We also developed a human interface system based on speech synthesis and recognition.

scholarly journals Correlation between stability and energy variations in control strategies for mobile base robot with manipulators subjected to external disturbances

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141984465
Author(s):  
Changman Son
Keyword(s):  
Control Strategies ◽  
Control Problems ◽  
Robot System ◽  
External Disturbances ◽  
Comprehensive Comparison ◽  
Degree Of Control ◽  
Robot Tasks ◽  
And Control ◽  
Mobile Base ◽  
Load Mass

The correlation between stability and energy variations in control strategies for a mobile base robot with manipulators subjected to external disturbances is introduced. The correlation results can be used to stabilize and control problems when a mobile base robot is subjected to various types of external disturbances. This is because different robot system energy values display different stability distribution curves. Mobile base robot stability based on varying system’s energy is described. Two control strategies, computed force/torque and adaptive compensators, are applied to minimize uncertainties accompanied by the robot’s movements. The two compensators are then compared by simulating applied external disturbances, such as mobile base tipping motion and load mass changes on the robot end-effector. A comprehensive comparison with other methods is also described. The proposed technique is a useful tool in the maintenance of the degree of control and stability of the system and has various applications in the mobile robot tasks including choosing and placing operations, maneuvering around the workspace with protruding obstacles on sinuous shape paths, and manufacturing tasks.

scholarly journals Periodic and Chaotic Motions of a Two-Bar Linkage with OPCL Controller

2010 ◽  
Vol 2010 ◽  
pp. 1-15 ◽  
Author(s):  
Qingkai Han ◽  
Xueyan Zhao ◽  
Xiaoguang Yang ◽  
Bangchun Wen
Keyword(s):  
Control Method ◽  
Surrogate Data ◽  
External Input ◽  
Dynamical Equations ◽  
Robot System ◽  
Chaotic Motions ◽  
Performance Control ◽  
System Parameters ◽  
Robot Performance ◽  
Nonlinear Behaviors

A two-bar linkage, which is described in differential dynamical equations, can perform nonlinear behaviors due to system parameters or external input. As a basic component of robot system, the investigation of its behavior can improve robot performance, control strategy, and system parameters. An open-plus-close-loop (OPCL) control method therefore is developed and applied to reveal and classify the complicated behaviors of a two-bar linkage. In this paper, the conception and stability of OPCL are addressed firstly. Then it is applied to the dynamical equations of two-bar linkage. Different motions including single-periodic, multiple-periodic, quasiperiodic, and chaotic motions are unfolded by numerical simulations when changing the controller parameters. Furthermore, the obtained chaotic motions are sorted out for qualitative and quantificational study using Lyapunov exponents and hypothetic possibilities of surrogate data method.

Validating extended neglect tolerance model for human robot interactions in humanoid soccer robots

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 421-432 ◽  
Author(s):  
R. E. Mohan ◽  
W. S. Wijesoma ◽  
C. A. A. Calderon ◽  
C. J. Zhou
Keyword(s):  
False Alarm ◽  
Task Complexity ◽  
Human Robot Interaction ◽  
False Alarms ◽  
Robot Interaction ◽  
Tolerance Model ◽  
Robot Performance ◽  
Robot Tasks ◽  
The Impact ◽  
Soccer Robots

SUMMARYEstimating robot performance in human robot teams is a vital problem in human robot interaction community. In a previous work, we presented extended neglect tolerance model for estimation of robot performance, where the human operator switches control between robots sequentially based on acceptable performance levels, taking into account any false alarms in human robot interactions. Task complexity is a key parameter that directly impacts the robot performance as well as the false alarms occurrences. In this paper, we validate the extended neglect tolerance model for two robot tasks of varying complexity levels. We also present the impact of task complexity on robot performance estimations and false alarms demands. Experiments were performed with real and virtual humanoid soccer robots across tele-operated and semi-autonomous modes of autonomy. Measured false alarm demand and robot performances were largely consistent with the extended neglect tolerance model predictions for both real and virtual robot experiments. Experiments also showed that the task complexity is directly proportional to false alarm demands and inversely proportional to robot performance.

scholarly journals Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator

2011 ◽  
Vol 21 (3) ◽  
pp. 269-285 ◽  
Author(s):  
Bidyadhar Subudhi ◽  
Subhakanta Ranasingh ◽  
Ajaha Swain
Keyword(s):  
Evolutionary Computation ◽  
Controller Design ◽  
Flexible Manipulator ◽  
Pd Controller ◽  
Flexible Robot ◽  
Robot System ◽  
Global Parameter ◽  
Position Controller ◽  
Robot Performance ◽  
Tip Position

Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator Controlling multi-link flexible robots is very difficult compared rigid ones due to inter-link coupling, nonlinear dynamics, distributed link flexure and under-actuation. Hence, while designing controllers for such systems the controllers should be equipped with optimal gain parameters. Evolutionary Computing (EC) approaches such as Genetic Algorithm (GA), Bacteria Foraging Optimization (BFO) are popular in achieving global parameter optimizations. In this paper we exploit these EC techniques in achieving optimal PD controller for controlling the tip position of a two-link flexible robot. Performance analysis of the EC tuned PD controllers applied to a two-link flexible robot system has been discussed with number of simulation results.

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