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How Does a Robot Find Redundancy by Itself? [chapter]

Koh Hosoda, Minoru Asada
2000 Lecture Notes in Computer Science  
A hybrid architecture consisting of several adaptive controllers is effective to control a multi-degree-of-freedom robot acting in unknown/dynamic environment.  ...  In this paper, we propose an adaptive sub-controller which have an ability to finding out its redundancy automatically.  ...  Therefore, by observing the covariance matrix P , which represents the variation of ∆θ, the robot can find out its redundancy by itself.  ... 
doi:10.1007/3-540-40044-3_4 fatcat:v5ttlqiftbbtzpdgtlellu7no4

Letting the Brain Speak for itself [article]

Gerhard Werner
2011 arXiv   pre-print
Metaphors of Computation and Information tended to detract attention from the intrinsic modes of neural system functions, uncontaminated by the observer's role for collection and interpretation of experimental  ...  Recognizing the self-referential mode of function, and the propensity for self-organization to critical states requires a fundamental re-orientation with emphasis on the conceptual approaches of Complex  ...  But as Neurophysiologist, you face an unknown Ontology; the best you can do is to try finding an epistemic access that, by some criterion of your choice, is optimal: a kind of inverse problem.  ... 
arXiv:1107.4028v1 fatcat:gumi4p3e3nep7k3c26xwnnklsi

Letting the Brain Speak for Itself

Gerhard Werner
2011 Frontiers in Physiology  
Metaphors of Computation and Information tended to detract attention from the intrinsic modes of neural system functions, uncontaminated by the observer's role in collection, and interpretation of experimental  ...  Recognizing the self-referential mode of function, and the propensity for self-organization to critical states requires a fundamentally new orientation, based on Complex System Dynamics as non-ergodic,  ...  It can also be characterized at a macroscopic level: that is how it appears to an observer who "coarse grains" the microscopic state by lumping elements to larger aggregates.  ... 
doi:10.3389/fphys.2011.00060 pmid:21960973 pmcid:PMC3178033 fatcat:xhbmd5v3a5gqdeiwcs2wii2wdm

The logicist manifesto: At long last let logic-based artificial intelligence become a field unto itself

Selmer Bringsjord
2008 Journal of Applied Logic  
This paper is a sustained argument for the view that logic-based AI should become a self-contained field, entirely divorced from paradigms that are currently still included under the AI "umbrella"-paradigms  ...  The paper includes a self-contained summary of logic-based AI, as well as rebuttals to a number of objections that will inevitably be brought against the declaration of independence herein expressed.  ...  For example, a few minutes ago I built such an agent by using the Otter [93] automated theorem prover; the agent responds to a query as to whether the formula in question is a theorem by finding and  ... 
doi:10.1016/j.jal.2008.09.001 fatcat:ifonuea7zfgube4nmlrenbbugi

SmartData: Make the data "think" for itself

George J. Tomko, Donald S. Borrett, Hon C. Kwan, Greg Steffan
2010 Identity in the Information Society  
The SmartData agent (which 'houses' the data and its permitted uses) would be transmitted to, or stored in a database, not the personal data itself.  ...  of the data by only disclosing it in accordance with instructions authorized by the data subject.  ...  In effect, the personal or proprietary data would be empowered to protect itself from secondary or unauthorized uses. But how, one might ask, can data protect itself?  ... 
doi:10.1007/s12394-010-0047-x fatcat:24lpzfmqsrexvo6oncfem6ekeu

Human-Derived Disturbance Estimation and Compensation (DEC) Method Lends Itself to a Modular Sensorimotor Control in a Humanoid Robot

Vittorio Lippi, Thomas Mergner
2017 Frontiers in Neurorobotics  
Secondary tasks can be performed in parallel with this primary task exploiting the kinematic redundancy of the robot, e.g., by projecting the secondary task into the null space of the FIGURE 10 | Lucy  ...  For example, a concept of how humans may deal with inter-link coupling forces using Eigenmovements has recently been tested in a robot of this laboratory, where it successfully passed the "real world"  ...  Future Steps and Developments Expected for the Extended DEC Concept To develop the robotic model of the human sensorimotor system further, we consider the following steps important: (A) Installing the  ... 
doi:10.3389/fnbot.2017.00049 pmid:28951719 pmcid:PMC5599790 fatcat:f5w6i55zpjbgrgkpbafayfex5i

Robot Handwriting: Why and How? [chapter]

Veljko Potkonjak
2012 Interdisciplinary Applications of Kinematics  
When feeling fatigue in some joint, a human reconfigures itself : by engaging other joints more, the exhausted joint is given a chance to rest.  ...  If the task is not too tough, the robot will finally find a steady state in which it can operate for a longer time. • To control the robot we still use the PD regulator. ▪▪ "Penalty functions" ) ( j j  ...  • The concept of distributed positioning (DP), was suggested as a good model of arm motion in the phase where fatigue does not appear.  ... 
doi:10.1007/978-94-007-2978-0_2 fatcat:mow5hfkvs5gp3h6xgmk5xq7xsq

Inverse Kinematics of a 10 DOF Modular Hyper-Redundant Robot Resorting to Exhaustive and Error-Optimization Methods: A Comparative Study

Mario Saenz Espinoza, Jose Goncalves, Paulo Leitao, Jose Luis Gonzalez Sanchez, Alberto Herreros
2012 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium  
This paper describes and compares several approaches applied to compute the inverse kinematics of a 10 degrees of freedom hyper-redundant robot.  ...  The mentioned hyper-redundant robot was projected to be used in biomedical applications. Brazilian Robotics Symposium and Latin American Robotics Symposium 978-0-7695-4906-4/12 $26.00  ...  ACKNOWLEDGMENT This work is part-funded by the ERDF European Regional Development Fund through the COMPETE Programme (operational programme for competitiveness) and by National Funds through the FCT -Portuguese  ... 
doi:10.1109/sbr-lars.2012.28 fatcat:bphckkmjxbczng724qdwbyjhbi

Human-Robot Analogy − How Physiology Shapes Human and Robot Motion

Veljko Potkonjak, Vladimir Petrović, Kosta Jovanović, Dragan Kostić
2013 Advances in Artificial Life, ECAL 2013  
The fast grow of expectations from robots and the technical obstacles the robot developers face when trying to meet the requests, force an orientation towards designing and controlling robots by following  ...  This tendency increases interest in human-robot analogy, and the present work is a part of this stream.  ...  What still remains an open question is: does and how fatigue influences the above formulated simulation procedure.  ... 
doi:10.7551/978-0-262-31709-2-ch021 dblp:conf/ecal/PotkonjakPJK13 fatcat:y75jxgdztraabhst5oc5tudyvy

A Comprehensive Review of Sensor Relocation

Wei Shi, Jean-Pierre Corriveau
2010 2010 IEEE/ACM Int'l Conference on Green Computing and Communications & Int'l Conference on Cyber, Physical and Social Computing  
Any A-node can find out its own role in the grid structure just by counting its number of A-node neighbors.  ...  In each bounded horizontal request zone, every redundant node registers itself with all the non-redundant nodes inside a vertical registration zone across the entire network.  ... 
doi:10.1109/greencom-cpscom.2010.42 dblp:conf/greencom/ShiC10 fatcat:xa2lkxkzsrfsjj7izhmeidhwhu

Self-healing and self-repairing technologies

Regina Frei, Richard McWilliam, Benjamin Derrick, Alan Purvis, Asutosh Tiwari, Giovanna Di Marzo Serugendo
2013 The International Journal of Advanced Manufacturing Technology  
It suggests a terminology and taxonomy for self-healing and selfrepair, and discusses the various related types of other self-* This work is supported by the EPSRC Centre for Innovative Manufacturing in  ...  This article reviews the existing work in selfhealing and self-repairing technologies, including work in software engineering, materials, mechanics, electronics, MEMS, self-reconfigurable robotics, and  ...  Note that the use of self-healing materials or self-healing electronics on a robot does not, according to the view taken by this article, qualify the robot as self-healing.  ... 
doi:10.1007/s00170-013-5070-2 fatcat:564mgebb6nebhis677eo43x23m

Gap Navigation Trees for Discovering Unknown Environments

Reem Nasir, Ashraf Elnagar
2015 Intelligent Control and Automation  
When a point robot is placed in a given (known) polygonal region, the focus of path planning research would be finding the path a robot would follow.  ...  The information reported from these sensors is used by the robot to build a map for the environment that will be used later to navigate through.  ...  The resulting GNT is a function of Rs, obstacle size and placement. Although, the algorithm reduces redundant gaps, it does not eliminate all redundancy.  ... 
doi:10.4236/ica.2015.64022 fatcat:d5s43z5m7fgfnlwdkkkyztommu


A. M. Zuiev
And how much time we have before AI systems advance so far that human supervisors will be replaced by some kind of decision system? There is book "I, Robot" by A. Asimov and samenamed film.  ...  A robot must protect its own existence as long as such protection does not conflict with the First or Second Laws. This rules are made primarily for robot servants with AI elements.  ... 
doi:10.17721/ucs.2020.2(7).16 fatcat:oztatmjpn5dkxprgqirk7tgtjq

Evolutionary Computation Based Real-time Robot Arm Path-planning Using Beetle Antennae Search

Ameer Tamoor Khan, Xinwei Cao, Zhan Li, Shuai Li
2022 EAI Endorsed Transactions on AI and Robotics  
This paper presents a model-free real-time kinematic tracking controller for a redundant manipulator.  ...  Swarm-based meta-heuristic algorithms have given a new direction to the solution of the redundancy resolution problem.  ...  The closed-loop zero-finding nature of ZNN along with the random search of a single beetle in continuous time makes it a perfect combination to optimize the 7-DOF redundant robotic manipulator such that  ... 
doi:10.4108/airo.v1i.6 fatcat:6t23h6plyjectcgdylheejqedm

Redundant Robot Assignment on Graphs with Uncertain Edge Costs [article]

Amanda Prorok
2018 arXiv   pre-print
., incrementally) compute the effective cost of assigning redundant robots.  ...  We provide a framework for the assignment of multiple robots to goal locations, when robot travel times are uncertain. Our premise is that time is the most valuable asset in the system.  ...  each robot to each goal, and an initial assignment O, find a matching A ⊆ F O of redundant robots to goals such that the average cost over all goals is minimized, and the total number of robots deployed  ... 
arXiv:1810.04016v2 fatcat:ma736tbjabfxheowenz3dke3r4
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