Extended evolutionary fast learn-to-walk approach for four-legged robots

Anshar, Muh; Williams, Mary-Anne

doi:10.1016/s1672-6529(07)60039-0

Cited by 6 publications

(2 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Earlier studies, reported in [1], [2], [3] provide the foundation for the importance of incorporating failure detection into robot planning mechanisms. Various aspects of robot motion planning are investigated in [4], [5], [6], [7], [8] and extensions the scope to multiple robot planning [9], [10]. All of these studies assume that the robot is fully functional.…”

Section: Introductionmentioning

confidence: 99%

Evolving artificial pain from fault detection through pattern data analysis

Anshar

Williams

2017

2017 IEEE International Conference on Real-Time Computing and Robotics (RCAR)

Self Cite

View full text Add to dashboard Cite

Fault detection is a classical area of study in robotics and extensive research works have been dedicated to investigate its broad applications. As the breath of robots applications requiring human interaction grow, it is important for robots to acquire sophisticated social skills such as empathy towards pain. However, it turns out that this is difficult to achieve without having an appropriate concept of pain that relies on robots being aware of their own body machinery aspects. This paper introduces the concept of pain, based on the ability to develop a state of awareness of robots own body and the use of the fault detection approach to generate artificial robot pain. Faults provide the stimulus and defines a classified magnitude value, which constitutes artificial pain generation, comprised of synthetic pain classes. Our experiment evaluates some of synthetic pain classes and the results show that the robot gains awareness of its internal state through its ability to predict its joint motion and generate appropriate artificial pain. The robot is also capable of alerting humans whenever a task will generate artificial pain, or whenever humans fails to acknowledge the alert, the robot can take a considerable preventive actions through joint stiffness adjustment.

show abstract

Section: Introductionmentioning

confidence: 99%

Evolving artificial pain from fault detection through pattern data analysis

Anshar

Williams

2017

2017 IEEE International Conference on Real-Time Computing and Robotics (RCAR)

Self Cite

View full text Add to dashboard Cite

show abstract

“…In last years, a lot of studies on legged robots have been published (Pretto et al , 2008; Soyguder and Alli, 2007; Delcomyn and Nelson, 2000; Huang and Nonami, 2003; Ohnishi and Asakura, 2004a, b; Siegwart and Nourbakhsh, 2004; Saranli et al , 2001; Yang et al , 2009; Hirukawa et al , 2005). People have considered in manufacturing legged robots whose designs are based at least in part of biological principles (Ho and Lee, 2009; Anshar and Williams, 2007; Ho et al , 2007; Luk et al , 2005; Norton, 2004; Angle, 1989). The basic advantage of legged robots is to be capable of going where wheeled robots are not capable of.…”

Section: Introductionmentioning

confidence: 99%

Motion mechanism concept and morphology of a single actuator tetrapod walking spider robot: the ROBOTURK SA‐2 Robot

Soygüder

Alli

2011

Industrial Robot: An International Journal

View full text Add to dashboard Cite

PurposeThis study seeks to develop a novel eight‐legged robot. Additionally, this study defines design and control of an eight‐legged single actuator walking ROBOTURK SA‐2 spider robot based on the features of a creatural spider.Design/methodology/approachFirst, the single actuator eight‐legged tetrapod walking spider robot was modeled on solid works and then the animation of the model was realized to ensure the accurate walking patterns and more stable walking. Based on this model, the novel prototype of the single actuator eight‐legged walking spider robot was constructed.FindingsA novel motion mechanism uses only one actuator for driving the system.Originality/valueThe modeled single actuator eight‐legged robot is original in terms of the developed motion mechanism.

show abstract