A formal model of computation for sensory-based robotics

Lyons, Damian M.; Arbib, Michael A.

doi:10.1109/70.34764

Cited by 146 publications

(77 citation statements)

References 15 publications

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“…In particular, there is a process algebra controlling the execution and evolution of the states. This formal model of computation was developed by Lyons and Arbib [10].…”

Section: Control Systemmentioning

confidence: 99%

Visually guided manipulation tasks

Kragić

Petersson

Christensen

2002

Robotics and Autonomous Systems

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“…In particular, there is a process algebra controlling the execution and evolution of the states. This formal model of computation was developed by Lyons and Arbib [10].…”

Section: Control Systemmentioning

confidence: 99%

Visually guided manipulation tasks

Kragić

Petersson

Christensen

2002

Robotics and Autonomous Systems

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“…Ordinary control systems for robots are based on having a controller which continuously calculates the inverse kinematics for the robots [1,2]. We present a new approach, where the inverse kinematics is solved ahead of time.…”

Section: Introductionmentioning

confidence: 99%

A Closed Loop Inverse Kinematics Solver Intended for Offline Calculation Optimized with GA

Bjørlykhaug

2018

Robotics

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This paper presents a simple approach to building a robotic control system. Instead of a conventional control system which solves the inverse kinematics in real-time as the robot moves, an alternative approach where the inverse kinematics is calculated ahead of time is presented. This approach reduces the complexity and code necessary for the control system. Robot control systems are usually implemented in low level programming language. This new approach enables the use of high level programming for the complex inverse kinematics problem. For our approach, we implement a program to solve the inverse kinematics, called the Inverse Kinematics Solver (IKS), in Java, with a simple graphical user interface (GUI) to load a file with desired end effector poses and edit the configuration of the robot using the Denavit-Hartenberg (DH) convention. The program uses the closed-loop inverse kinematics (CLIK) algorithm to solve the inverse kinematics problem. As an example, the IKS was set up to solve the kinematics for a custom built serial link robot. The kinematics for the custom robot is presented, and an example of input and output files is also presented. Additionally, the gain of the loop in the IKS is optimized using a GA, resulting in almost a 50% decrease in computational time.

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“…Schemas are represented using the RS (Robot Schemas) language [8,9], and are activated by spreading activation. RS provides a powerful language for distributed control of concurrent processes.…”

Section: Introductionmentioning

confidence: 99%

Using a virtual world for robot planning

et al. 2012

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We are building a robot cognitive architecture that constructs a real-time virtual copy of itself and its environment, including people, and uses the model to process perceptual information and to plan its movements. This paper describes the structure of this architecture.The software components of this architecture include PhysX for the virtual world, OpenCV and the Point Cloud Library for visual processing, and the Soar cognitive architecture that controls the perceptual processing and task planning. The RS (Robot Schemas) language is implemented in Soar, providing the ability to reason about concurrency and time. This Soar/RS component controls visual processing, deciding which objects and dynamics to render into PhysX, and the degree of detail required for the task.As the robot runs, its virtual model diverges from physical reality, and errors grow. The Match-Mediated Difference component monitors these errors by comparing the visual data with corresponding data from virtual cameras, and notifies Soar/RS of significant differences, e.g. a new object that appears, or an object that changes direction unexpectedly.Soar/RS can then run PhysX much faster than real-time and search among possible future world paths to plan the robot's actions. We report experimental results in indoor environments.

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A formal model of computation for sensory-based robotics

Cited by 146 publications

References 15 publications

Visually guided manipulation tasks

Visually guided manipulation tasks

A Closed Loop Inverse Kinematics Solver Intended for Offline Calculation Optimized with GA

Using a virtual world for robot planning

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