A control architecture to achieve manipulation task goals for a humanoid robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 1998, Pages 206-212

  Cho, Young Jo ^a   Park, Jung Min ^a   Park, Jaehyun ^b   Oh, Sang Rok ^a   Lee, Chong Won ^a  

^a Korea Institute of Science and Technology   (South Korea)

^b Inha University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

ANTHROPOMORPHIC ROBOTS; CLOSED LOOP CONTROL SYSTEMS; CONTROLLERS; DISTRIBUTED PARAMETER CONTROL SYSTEMS; HARDWARE; ROBOTICS; SOFTWARE ARCHITECTURE; COMPUTER ARCHITECTURE; COMPUTER GRAPHICS; COMPUTER SOFTWARE; COMPUTER VIRUSES; CONTROL SYSTEM SYNTHESIS; DISTRIBUTED COMPUTER SYSTEMS; INTERFACES (COMPUTER); LOCAL AREA NETWORKS;

CONTROL ARCHITECTURE; COORDINATION METHODS; DISTRIBUTED CONTROL; GRAPHIC SIMULATORS; HARDWARE STRUCTURES; MULTIPLE SUBSYSTEMS; REAL TIME ETHERNET; VISION CONTROLLERS;

VISUAL SERVOING; ANTHROPOMORPHIC ROBOTS;

ETHERNET; HUMANOID ROBOTS;

EID: 0031640228     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.676374     Document Type: Conference Paper

References (15)

1. R. Volpe, J. Balaram, T. Ohm, and R. Ivlev, "The Rocky 7 Mars Rover Prototype, " Proc. of IEEE/RSJ Int 7 Conf. on Intelligent Robots and Systems, Osaka, Japan, 1996.
2. E. Gat, R. Desai, R. Ivlev, J. Loch, and D.P. Miller, "Behavior Control of Robotic Exploration of Planetary Surfaces, " IEEE Trans, on Robotics and Automation, Vol. 10, No. 4, pp. 490-503, 1994.
3. R.G. Simmons, "Structured Control for Autonomous Robots, " IEEE Trans, on Robotics and Automation, Vol. 10, No. 1, pp. 34-43, 1994.
4. H. Sato, et. ai, "Development of a Model-Based Remote Maintenance Robot System (I)(II)(III), " Proc. of IEEE/RSJ Int 7 Conf. on Intelligent Robots and Systems, 1225-1244, 1993.
5. I. Kato, T. Matsuno, and A. Takanishi, "Development of an Anthropomorphic Head-Eye Robot with Two Eyes-Coordinated Head-Eye Motion and Pursuing in the Depth Direction, " Proc. of IEEE/RSJ Int'I Conf. on Intelligent Robots and Systems, 1997.
6. Matthew M. Williamson, "Postural Primitives: Interactive Behavior for a Humanoid Robot Arm, " Proc. of Int'I Conf. on Simulation of Adaptive Behavior (SAB'96), Cape Cod, MA, USA, 1996.
7. Rodney A. Brooks, "A Robust Layered Control System for a Mobile Robot, " IEEE Journal of Robotics and Automation, Vol. RA-2, No. 1, pp. 14-23, 1986.
8. Jonathan H. Connell, "A Behavior-Based Arm Controller, " IEEE Trans, on Robotics and Automation, Vol.5, No. 6, pp. 784-791, 1989.
9. Myra S. Wilson, "Behaviour-Based Robotic Assembly Systems: Reliability of Behavioural Modules, " Proc. of the 23-rd ISIR Conference, Barcelona, Spain, 1992.
10. A. Lush, J. Rowland and M. Wilson, "Characteristics of Robot Behaviour, " Advanced Robotics & Intelligent Machines, IEE Control Engineering Series 51, Chapter 18, pp. 281-293, 1996.
11. R.A. Grupen, M. Huber, J.A. Coelho, and K. Souccar, "Distributed Control Representation for Manipulation Tasks, " IEEE Expert, pp. 9-16, Vol.10, No.2, 1995.
12. G.N. Saridis and K. P. Valavanis, "Analytical Design of Intelligent Machines, " Automatica, Vol. 24, No. 2, pp. 123-133, 1988.
13. F.-Y. Wang and G.N. Saridis, "Task Translation and Integration Specification in Intelligent Machines, " IEEE Trans, on Robotics and Automation, Vol. 9, No. 3, pp. 257-271, 1993.
14. F.R. Noreils and R.G. Chatila, "Plan Execution Monitoring and Control Architecture for Mobile Robots, " IEEE Trans, on Robotics and Automation, Vol. 11, No. 2, pp. 257-271, 1995.
15. J.H. Kim, I.H. Suh, S.R. Oh, Y.J. Cho, and Y.K. Chung, "Region-Based Q-learning using Convex Clustering Approach, " Proc. of IEEE/RSJ Int 7 Conf. on Intelligent Robots and Systems, Vol.2, pp. 601-607, 1997.