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    A Case Study on a Capsule Robot in the Gastrointestinal Tract to Teach Robot Programming and Navigation

    Yi Guo ; Shubo Zhang ; Ritter, A. ; Hong Man
    Education, IEEE Transactions on

    Volume: 57 , Issue: 2
    DOI: 10.1109/TE.2013.2281025
    Publication Year: 2014 , Page(s): 112 - 121

    IEEE Journals & Magazines

    Despite the increasing importance of robotics, there is a significant challenge involved in teaching this to undergraduate students in biomedical engineering (BME) and other related disciplines in which robotics techniques could be readily applied. This paper addresses this challenge through the development and pilot testing of a bio-microrobotics case study that can be integrated into curricula in BME, electrical and computer engineering (ECE), and other disciplines. This case study is based on the existing technology of wireless capsule endoscopy and centered on a “grand challenge” of building a capsule robot to navigate the human gastrointestinal tract to detect abnormality or to destroy malignant tissues. First, a conceptual design example for building such a capsule robot is presented, followed by a laboratory module that demonstrates robot navigation techniques using Webots simulation. The case study introduces robotic technologies, including robot building components, operating modes, and behavior-based programming, and students experience robot simulation in the laboratory module. The case study developed was pilot tested in three BME and ECE courses at the authors' institution. The evaluation results demonstrate the effectiveness of the case study in enhancing students' understanding of robotics, interdisciplinary skills, and critical thinking. The case study is shown to support challenge-based learning, which promotes adaptive expertise through rapid knowledge building and innovation. View full abstract»

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    Evolutionary-Optimized Central Pattern Generator for Stable Modifiable Bipedal Walking

    Chang-Soo Park ; Young-Dae Hong ; Jong-Hwan Kim
    Mechatronics, IEEE/ASME Transactions on

    Volume: 19 , Issue: 4
    DOI: 10.1109/TMECH.2013.2281193
    Publication Year: 2014 , Page(s): 1374 - 1383

    IEEE Journals & Magazines

    In this paper, an evolutionary-optimized central pattern generator (CPG) considering equality constraints is proposed for stable modifiable bipedal walking. The proposed CPG generates the position trajectories of the swing foot and the center of pelvis in the Cartesian coordinate system at single and double support phases. The significance of the proposed CPG is that it can change the sagittal and lateral step lengths just before the beginning of each single support phase while maintaining the desired values of single and double support times, which are set in the beginning of bipedal walking. To deal with environmental perturbations, the sensory feedbacks in the CPG are designed using the force sensing resistors such that the bipedal robot can maintain its balance. For the optimized parameters of the CPG, a two-phase evolutionary programming is employed. The effectiveness of the method is demonstrated by computer simulation with the Webots model of a small-sized humanoid robot, HSR-IX, and the experiment with HSR-IX developed in the RIT Laboratory, KAIST, Daejeon, Korea. View full abstract»

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    A visual compass for robot soccer

    Asik, Okan ; Akin, H.Levent
    Signal Processing and Communications Applications Conference (SIU), 2014 22nd

    DOI: 10.1109/SIU.2014.6830651
    Publication Year: 2014 , Page(s): 2003 - 2006

    IEEE Conference Publications

    This paper proposes a cheap image processing method for visual compass in the robot soccer context. An offline map is constructed by using color transition histogram features. When a feature is extracted, we calculate maximum likelihood orientation of that feature over the pre-calculated map. This instantaneous orientation information updates orientation belief with given mixing constant. We presented a fast method to disambiguate goals in symetric field in RoboCup standart platform league. The method can correctly identify the goals with 94% accuracy for Webots simulations experiments and 86% accuracy for real robot experiments. View full abstract»

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    Braitenberg swarm vehicles for odour plume tracking in laminar airflow

    Mamduh, S.M. ; Kamarudin, K. ; Saad, S.M. ; Shakaff, A.Y.M. ; Zakaria, A. ; Abdullah, A.H.
    Computers & Informatics (ISCI), 2013 IEEE Symposium on

    DOI: 10.1109/ISCI.2013.6612365
    Publication Year: 2013 , Page(s): 1 - 6

    IEEE Conference Publications

    This paper presents an algorithm to trace an odour plume using swarm robots in laminar airflow. The algorithm proposed here aims to bridge the gap between single and multiple element systems by mimicking and enhancing biologically derived strategies for odor plume tracking. Simulations were carried out on Webots to verify the potential of the algorithm. A simple gas sensor model was introduced to mimic the response of a real metal oxide sensor in the simulation. A gas sensor model was introduced based on the response of metal oxide sensor (MOS) to closely mimic and provide real environment condition. Different weightage configurations of the gas sensor, kg and wind sensor, kw are compared to find its effects on the performance and behavior of the purposed algorithm. It was found that robots separated from the swarm can still perform the plume tracking task. Also, multiple entity systems show an increase in performance compared to single entity robots. View full abstract»

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    The integration of fuzzy logic and artificial neural network methods for mobile robot obstacle avoidance in a static environment

    Jeffril, M.A. ; Sariff, N.
    System Engineering and Technology (ICSET), 2013 IEEE 3rd International Conference on

    DOI: 10.1109/ICSEngT.2013.6650193
    Publication Year: 2013 , Page(s): 325 - 330

    IEEE Conference Publications

    This paper describes the development of E-Puck mobile robot obstacle avoidance controller using fuzzy logic control and artificial neural network. Fuzzy logic control is used to collect data from the environment based on infrared sensor and then fed them into artificial neural network for training process. The simulation softwares used in this research are Webots PRO and MATLAB. The mobile robot is expected to start moving and then exploring the environment from starting point without hitting any obstacles. The obstacles are set to be static in the environment. The mobile robot's performance based on specific rules created was recorded and validated. Overall performance shows that these approaches are efficient to avoid few numbers and shapes of static obstacles in the environment. View full abstract»

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    A new “grasping by caging” solution by using eigen-shapes and space mapping

    Weiwei Wan ; Rui Fukui ; Shimosaka, M. ; Sato, T. ; Kuniyoshi, Y.
    Robotics and Automation (ICRA), 2013 IEEE International Conference on

    DOI: 10.1109/ICRA.2013.6630779
    Publication Year: 2013 , Page(s): 1566 - 1573
    Cited by:  Papers (1)

    IEEE Conference Publications

    Multimedia

    “Grasping by caging” has been considered as a powerful tool to deal with uncertainty. In this paper, we continue to explore into “grasping by caging” and propose a new solution by using eigen-shapes and space mapping. For one thing, eigen-shapes fix dexterous hands into a series of finger formations and help to reduce dimensionality and computational complexity. For the other, space mapping builds a mapping between rasterized grids in 2-D Work space (W space) and rasterized voxels in 3-D Configuration space (C space) and helps to rapidly reconstruct C space so that we can efficiently measure the robustness of caging and find an optimal caging configuration for grasping. Our algorithm can work rapidly and squeezingly cage any 2-D shapes, including objects with either convex boundaries, concave boundaries, 1-order or high-order boundaries and even objects with inner holes. We implement the algorithm with MATLAB and carry out experiments with WEBOTS simulation to test its robustness to uncertainties. The results show that our algorithm can work well with various object shapes and can be robust to noisy control and noisy perception. It is promising in the power grasping tasks of dexterous hands. View full abstract»

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    Standing posture modeling and control for a humanoid robot

    Ahmed, S.M. ; Chee Meng Chew ; Bo Tian
    Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on

    DOI: 10.1109/IROS.2013.6696951
    Publication Year: 2013 , Page(s): 4152 - 4157

    IEEE Conference Publications

    This paper presents a novel approach employing nonlinear control for stabilization of standing posture for a humanoid robot using only hip joint. The robot is modeled as an acrobot where model parameters are estimated through adaptive algorithm. A `non-collocated partial feedback' controller is applied. This is integrated with a linear feedback control, through LQR. Improved robustness to external push is demonstrated through evaluation in Webots simulator and on a physical humanoid robot, NUSBIP-III ASLAN. Performance comparison with other controllers verifies the effectiveness of the proposed control system. View full abstract»

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    Mobile robot obstacle avoidance by using Fuzzy Logic technique

    Mohammad, S.H.A. ; Jeffril, M.A. ; Sariff, N.
    System Engineering and Technology (ICSET), 2013 IEEE 3rd International Conference on

    DOI: 10.1109/ICSEngT.2013.6650194
    Publication Year: 2013 , Page(s): 331 - 335

    IEEE Conference Publications

    This paper present an obstacle avoidance approach for e-puck module by using Fuzzy Logic controller. The input from eight (8) IR sensors and the output of the motor speed will be used to construct the Fuzzy Logic rules. Test environment, e-puck robot and Fuzzy algorithm was model and programmed by as a Webots Pro Simulation software. The Fuzzy system for e-puck robot was validated in a few environments. The result shows the e-puck module can avoid that static obstacles successfully until it reach a goal point. The robot performance in term of distance and time was recorded when the robot works in simple, average and complex obstacle environments. View full abstract»

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    Navigation architecture for mobile robots with temporal stabilization of movements

    Silva, J. ; Santos, C. ; Sequeira, J.
    Robot Motion and Control (RoMoCo), 2013 9th Workshop on

    DOI: 10.1109/RoMoCo.2013.6614610
    Publication Year: 2013 , Page(s): 209 - 214

    IEEE Conference Publications

    Path modulation and generation are classical issues in navigation architectures for autonomous mobile robots. However, a relevant issue arises in the path planning problem if temporal stabilization of the robot's movement is considered, i.e., all movements of the robot should be compensated when disturbances accelerate or decelerate the robot so that the total mission time reaches a target value. This work extends previous work by the authors on navigation architectures by including a global path planning level into the architecture. Simulations using the Webots software demonstrate the ability of the architecture to generate paths with temporal stabilization while avoiding obstacles detected in the environment. The experiments suggest that this extension preserves good formal properties such as stability which can be identified with the ability of the control architecture to drive the robot successfully to the goal. View full abstract»

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    Designing a fuzzy logic controller for a quadruped robot using human expertise extraction

    Zand, R.M. ; Shouraki, S.B.
    Electrical Engineering (ICEE), 2013 21st Iranian Conference on

    DOI: 10.1109/IranianCEE.2013.6599537
    Publication Year: 2013 , Page(s): 1 - 6

    IEEE Conference Publications

    Many actions have been taken by researchers to design an appropriate controller for a quadruped robot. These efforts can be divided into two main categories: analytical and intelligent methods. The analytical method is based on the motion equations of the robot which are mostly complicated. These complication leads to difficulty in implementation. In contrast, there exists intelligent method which is based on the learning algorithms. Despite lots of improvements in the controlling of the quadruped robots, their ability of walking is still far less from the four legged animals' capability. Many researchers believe that four legged animals owe this priority to the “learning” attribute. Therefore In this paper, we used human learning ability to propose a linguistic controller. First a human without having any information about the dynamics of a quadruped robot, simulated by Webots software, tried to control it by means of a keyboard. After he gained enough experience to control the robot properly, we extracted his knowledge as 28 fuzzy rules. Fuzzy controllers can control the quadruped robot with lower cost and better quality. The extracted rules fed to the robot and the results determined that the applied fuzzy controller can appropriately control the walking of the robot. View full abstract»

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    Biped model based on human Gait pattern parameters for sagittal plane movement

    Semwal, V.B. ; Katiyar, S.A. ; Chakraborty, P. ; Nandi, G.C.
    Control, Automation, Robotics and Embedded Systems (CARE), 2013 International Conference on

    DOI: 10.1109/CARE.2013.6733750
    Publication Year: 2013 , Page(s): 1 - 5

    IEEE Conference Publications

    The present research as described in this paper tries to impart how imitation based learning for behavior-based programming can be used to teach the robot. The simulated model tries to imitate human GAIT pattern and negotiate push with efficient recovery [1]. This paper also proposes the HOAP2 [2] based biped model to achieve gait cycle imitation and push recovery on humanoid. The proposed model follows the Gait cycle [1] and can be further used for developing a model capable to recover from push similar to human biology. This development is a big step in way to prove that push recovery is a software engineering problem and not hardware engineering problem. The walking algorithm used here aims to select a subset of push recovery problem i.e. disturbance from environment. We applied the physics at each joint of Halo with some degree of freedom. The proposed model, Halo is different from other models as previously developed model were inconsistent with data for different persons. This would lead to development of the generalized biped model in future and will bridge the gap between performance and inconsistency. In this paper the proposed model is applied to data of different persons. Accuracy of model, performance and result is measured using the behavior negotiation capability of model developed. In order to improve the performance, proposed model gives the freedom to handle each joint independently based on the belongingness value for each joint. The development can be considered as important development for future world of robotics. The accuracy of model is 70% in one go. In this paper, we achieve to imitate the human gait cycle for HOAP-2 [2] robots model Halo. We validate our model by giving different input configuration parameter i.e. CoM, CoP and joint angle of different samples to HOAP-2[2] model designed in Webots, which can demonstrate the behavior as per new configuration provided for different person. View full abstract»

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    Human-robot communication through visual game and gesture learning

    Siddharth, S. ; Akash, A. ; Nandi, G.C.
    Advance Computing Conference (IACC), 2013 IEEE 3rd International

    DOI: 10.1109/IAdCC.2013.6514338
    Publication Year: 2013 , Page(s): 852 - 857

    IEEE Conference Publications

    Human Machine Interaction and Gesture Recognition is a very challenging field. Scientists and researchers are trying to make communications with machines as easy, smooth and reliable as possible. With the help of learning techniques we present a vision based simulation of CHALK, BLACKBOARD, DUSTER game in which Robot plays this game with human identifying the moves generated by him in the form of gestures and also learns new gestures. Also with presented approach we are able to perform forearm deletion. We have verified our work using Webots simulation platform. View full abstract»

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    Fuzzy logic controller for robot navigation in an unknown environment

    Shayestegan, M. ; Din, S.
    Control System, Computing and Engineering (ICCSCE), 2013 IEEE International Conference on

    DOI: 10.1109/ICCSCE.2013.6719934
    Publication Year: 2013 , Page(s): 69 - 73

    IEEE Conference Publications

    This study aims to allow the robot to move safely without colliding with obstacles to reach a specified position in an unknown environment. To achieve the aim of the study, a fuzzy controller was proposed and employed in intelligent mobile robot navigation strategies within unknown environments. This fuzzy controller has four inputs (one target angle and three obstacle distance), two outputs (left and right speed) and 9 numbers of rules. A virtual mobile robot, E-puck robot in the Webots simulator was used to evaluate the performance of the proposed method. Few features such as time travelling, distance travelling of the output responses were analyzed. Comparisons are made between proposed fuzzy logic and Motlagh fuzzy controller. The simulation results were presented to verify the effectiveness of the proposed architectures in an unknown environment. View full abstract»

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    Modular robot locomotion based on a distributed fuzzy controller: The combination of modred's basic module motions

    Baca, J. ; Dasgupta, P. ; Hossain, S.G.M. ; Nelson, C.
    Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on

    DOI: 10.1109/IROS.2013.6696973
    Publication Year: 2013 , Page(s): 4302 - 4307

    IEEE Conference Publications

    Multimedia

    We describe a distributed and autonomous technique for dynamic gait adaptation for a chain-type, modular self-reconfigurable robot (MSR) using a fuzzy logic based, closed-loop controller. To maneuver itself, each module of the MSR is provided with a set of basic or fundamental gaits within a gait control table(GCT). A relevant problem in locomotion of a chain-type MSR is how to coordinate the gait of the individual modules with each other so that the desired locomotion of the MSR can be achieved. To address this problem, our proposed controller maps the inputs from the sensors of each module to an appropriate gait for the module determined from the goal and position of the module in the configuration, using a fuzzy technique. An inertial measurement unit (IMU) is used to close the loop between the goal and the module. We have verified the operation of our controller on a simulated 3-D model of an MSR called ModRED within the Webots robot simulator and also implemented it on the physical ModRED MSR. Our results illustrate that our controller can successfully adapt ModRED's locomotion by dynamically combining basic gaits from the individual modules in the configuration, regardless of the number of modules in the configuration and in the presence of noisy sensor inputs. View full abstract»

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    An OpenViBE-based brainwave control system for Cerebot

    Jing Zhao ; Qinghao Meng ; Wei Li ; Mengfan Li ; Fuchun Sun ; Genshe Chen
    Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on

    DOI: 10.1109/ROBIO.2013.6739622
    Publication Year: 2013 , Page(s): 1169 - 1174
    Cited by:  Papers (1)

    IEEE Conference Publications

    In this paper, we develop a brainwave-based control system for Cerebot, consisting of a humanoid robot and a Cerebus™ Data Acquisition System up to 128 channels. Under the OpenViBE programming environment, the control system integrates OpenGL, OpenCV, WEBOTS, Choregraph, Central software, and user-developed programs in C++ and Matlab. The proposed system is easy to be expanded or upgraded. Firstly, we describe the system structures for off-line analysis of acquired neural signals and for on-line control of a humanoid robot via brainwaves. Secondly, we discuss how to use the toolboxes provided with the OpenViBE environment to design three types of brainwave-based models: SSVEPs, P300s, and mu/beta rhythms. Finally, we use the Cerebot platform to investigate the three models by controlling four robot-walking behaviors: turning right, turning left, walking forward, and walking backward. View full abstract»

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    Research autonomous motion control for snake robot based on bionic learning strategy

    Cai, Jian xian ; Sun, Xuguang ; Ma, Hong rui ; Wang, Quan sheng
    Modelling, Identification & Control (ICMIC), 2012 Proceedings of International Conference on

    Publication Year: 2012 , Page(s): 826 - 831

    IEEE Conference Publications

    To solve the problems of difficultly making certain the control parameters and the unideal motion performance of snake robot, we develop a bionic autonomous strategy based on operant conditioning mechanism, which can realize autonomously optimize and adjust control parameters. The designed strategy is a 5-tupe and mainly contains: 1) state space; 2) action space; 3) state transfer function, meaning the consequence after action; 4) tendency function; 5) action selection strategy, adjusting the selected probability of each action. The designed bionic strategy is applied to motion control of snake robot. The experiment analysis is carried out combined with webots robot simulation software. The results of the simulation experiment indicate that the skill of autonomous optimization adjustment control parameters will gradually be enhanced with the learning proceeding. View full abstract»

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    A new collision warning system for lead vehicles in rear-end collisions

    Cabrera, A. ; Gowal, S. ; Martinoli, A.
    Intelligent Vehicles Symposium (IV), 2012 IEEE

    DOI: 10.1109/IVS.2012.6232244
    Publication Year: 2012 , Page(s): 674 - 679

    IEEE Conference Publications

    Collision Warning Systems (CWS) are safety systems designed to warn the driver about an imminent collision. A CWS monitors the dynamic state of the traffic in realtime by processing information from various proprioceptive and exteroceptive sensors. It assesses the potential threat level and decides whether a warning should be issued to the driver through auditory and/or visual signals. Several measures have already been defined for threat assessment and various CWS have been proposed in literature. In this paper, we will focus on two time-based measures that assess both front and rear collision threats. In particular, a new threat metric, the time-to-last-second-acceleration (Tlsa), for lead vehicles in rear-end collision is proposed and compared with its counterpart, the time-to-last-second-braking (Tlsb) [18]. The Tlsa is a novel time-based approach that focuses on the lead vehicle (as opposed to the following vehicle). It inherits the properties of the Tlsb and, as such, is coherent with the human judgement of urgency and severity of threats. It directly quantifies the threat level of the current dynamic situation before a required evasive action (i.e. maximum acceleration) needs to be applied. Furthermore, different warning thresholds are proposed by considering the average driver reaction time. Its effect on decreasing the severity of a rear-end collision is studied and its reliability is tested using a well-established physics-based robotics simulator, namely Webots [13]. View full abstract»

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    Minimal persistence control on dynamic directed graphs for multi-robot formation

    Hua Wang ; Yi Guo
    Robotics and Automation (ICRA), 2012 IEEE International Conference on

    DOI: 10.1109/ICRA.2012.6224730
    Publication Year: 2012 , Page(s): 1557 - 1563
    Cited by:  Papers (1)

    IEEE Conference Publications

    Multimedia

    Given a multi-robot system, in order to preserve its geometric shape in a formation, the minimal persistence control addresses questions: (1) what pairwise communication connections have to be prescribed to minimize communication channels, and (2) which orientations of communication links are to be placed between robots. In this paper, we propose a minimal persistence control problem on multi-robot systems with underlying graphs being directed and dynamically switching. We develop distributed algorithms based on the rank of the rigidity matrix and the pebble game method. The feasibility of the proposed methods is validated by simulations on the robotic simulator Webots and experiments on e-puck robot platform. View full abstract»

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    Modeling a bipedal humanoid robot using inverted pendulum towards push recovery

    Akash, A. ; Chandra, S. ; Abha, A. ; Nandi, G.C.
    Communication, Information & Computing Technology (ICCICT), 2012 International Conference on

    DOI: 10.1109/ICCICT.2012.6398102
    Publication Year: 2012 , Page(s): 1 - 6

    IEEE Conference Publications

    Push recovery is an important technology needs to be developed for the effective use of bipedal humanoid robot in the household applications. In this paper, a three mass inverted pendulum model equivalent to Humanoid Open Architecture Platform (HOAP -2) has been developed and the effectiveness of the model has been demonstrated using a software framework known as WEBOTS. It has been developed as a test bed for the development of sophisticated Push recovery techniques for HOAP-2 humanoid robot. Functionality of this model is general and adaptable to any kind of three mass models. Ankle strategy technique has been implemented to verify the correctness of the model. The correctness of the model has been verified successfully by the simulation results. View full abstract»

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    Full-body imitation of human motions with kinect and heterogeneous kinematic structure of humanoid robot

    Van Vuong Nguyen ; Joo-Ho Lee
    System Integration (SII), 2012 IEEE/SICE International Symposium on

    DOI: 10.1109/SII.2012.6427340
    Publication Year: 2012 , Page(s): 93 - 98
    Cited by:  Papers (3)

    IEEE Conference Publications

    In this work, we propose a system that has the ability to reproduce imitated motions of human during continuous and online observation with a humanoid robot. In order to achieve this goal, the problems for imitation have to be solved. In this paper, we treat two main issues. One is mapping between different kinematic structures and the other is computing humanoid body pose that satisfies the static stability generated from the human motion obtained by visual motion capture of the humanoid. The experimental results based on Webots simulation and subsequent execution by a Darwin-OP humanoid robot show the validity of the proposed system in this paper. View full abstract»

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    Mobile robot safe navigation in unknown environment

    Shayestegan, M. ; Marhaban, M.H.
    Control System, Computing and Engineering (ICCSCE), 2012 IEEE International Conference on

    DOI: 10.1109/ICCSCE.2012.6487113
    Publication Year: 2012 , Page(s): 44 - 49
    Cited by:  Papers (4)

    IEEE Conference Publications

    This paper provides a mobile robot navigation strategy using fuzzy logic is developed for a two wheeled mobile robot in a static environment. The information about the target and the low-range sensory information are used by the controller to produce the commands that gives a favorable direction in terms of reaching to the target within the collision detection. Furthermore, the mobile robot does not suffer from typical u-shape environment by a planned local minimum trapping algorithm and also designed controller is easy to understand, simple, and not sensitive to the system model parameters. The resulting path, connecting a start point to a target position where in this method there is no information about the environment. Due to its ability and effortlessness for real-time implementation, fuzzy controller has been used for the proposed navigation strategy. The resulting navigation system is implemented on the e-puck robot in Webots software, and tested in several environments. Simulation results are presented which show the effectiveness of the proposed fuzzy controller and local minimum algorithm to safely navigate the mobile robot in various dead end trap environment. View full abstract»

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    CPG and Reflexes Combined Adaptive Walking Control for AIBO

    Xianchao Zhao ; Jiaqi Zhang ; Chenkun Qi
    Machine Learning and Applications (ICMLA), 2012 11th International Conference on

    Volume: 1
    DOI: 10.1109/ICMLA.2012.81
    Publication Year: 2012 , Page(s): 448 - 453

    IEEE Conference Publications

    From basic neuro-physiological evidences, it is now generally accepted that animals' walking control is subject to the combination function of central pattern generator(CPG) located at the spinal cords and reflexes from the peripheral stimulus. Since phase oscillators have the advantage of mathematical tractability, it's convenient to adjust the phase relationship between them. In this paper, coupled phase oscillators were designed to simulate CPG's behavior and establish vestibular reflex with feedbacks from accelerator sensors. Afterward, the synchronization condition of this proposed CPG model was studied. Forward and backward walking, gait transfers between trot and walk were realized as well. With feedbacks, AIBO detected uphill and downhill terrain and changed its posture automatically to fit for the new environment. Simulations were done in Webots to verify this method. View full abstract»

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    Spatial and Perceptive Mapping Using Semantically Self-Organizing Maps Applied to Mobile Robots

    Figueiredo, M. ; Botelho, S. ; Drews, P. ; Haffele, C.
    Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2012 Brazilian

    DOI: 10.1109/SBR-LARS.2012.47
    Publication Year: 2012 , Page(s): 245 - 250
    Cited by:  Papers (1)

    IEEE Conference Publications

    Mapping is the technique used by robots to build up a map within an unknown environment, or to update previously build map within a known environment. The problem is related to integrate the information obtained by multiple sensors on a consistent model and describing it by a given representation. The main aspects of mapping are the interpretation of sensor data and the representation of the environment. Topological approaches divide the environment into significant areas, being the aim to capture the connectivity of these areas rather than creating a geometrically accurate map. In this context, this paper proposes a method for mapping generic environments (structured or not) based on several semantic maps. In our implementation, each map can be described as a topological map, which is modeled using self-organizing neural networks. The approach was implemented and validated in a set of environments using Pioneer robots, equipped with an omni directional camera and a GPS. All the results were obtained using the robot simulator We bots, due its facility to test extreme conditions. Issues related to high dimensionality, perceptive correspondence and dynamicity have been evaluated. The results show the capabilities of the method to reduce data dimensionality and the generalization of the proposal. View full abstract»

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    Dynamical systems in robot control architectures: A building block perspective

    Sequeira, J. ; Santos, C. ; Silva, J.
    Control Automation Robotics & Vision (ICARCV), 2012 12th International Conference on

    DOI: 10.1109/ICARCV.2012.6485138
    Publication Year: 2012 , Page(s): 82 - 87
    Cited by:  Papers (2)

    IEEE Conference Publications

    The paper reviews a known robot control architecture using nonlinear analysis and control theory viewpoints. The architecture is based on a mesh of dynamic systems and feedthrough maps and is able to drive the robot under temporal constraints. The analysis points to an intuitive, though innovative, conclusion that control architectures can be constructed from a methodological perspective by mixing (i) dynamical systems with fixed points carefully selected to match mission requirements, and (ii) feedthrough maps that perform memoryless transformations on input data. Experiments using the Webots environment are presented to illustrate the ideas developed. View full abstract»

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    Humanoid robot painter assisted by a human

    Gurpinar, C. ; Alasag, T. ; Kose, H.
    Advanced Robotics and its Social Impacts (ARSO), 2012 IEEE Workshop on

    DOI: 10.1109/ARSO.2012.6213403
    Publication Year: 2012 , Page(s): 79 - 82
    Cited by:  Papers (1)

    IEEE Conference Publications

    In this paper, we describe a NAO H25 humanoid robot painter assisted by a human. The aim of this study is to reproduce the whole painting process by a humanoid robot with a vision system and fingers. The novelty of the study lies in using a human assistant in interaction with the robot and filling regions in the picture. The painting process is performed by the humanoid robot in three phases: obtaining the image of the environment which the objects are in, extracting the objects to paint and painting them in interaction with its assistant. (i.e. Robot says to human:”Could you give me the blue color”). In this paper, the process is simulated within Webots. This study will be used in disabled children's rehabilitation where children will be asked to assist the robot in painting. There is an on-going study which aims to implement this study on real NAO H25 humanoid robot. View full abstract»

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