Research and development of a behavior-based graphical robot programming system 動作ベースによるグラフィカルロボットプログラミングシステムの研究と開発
Access this Article
Search this Article
Author
Bibliographic Information
- Title
-
Research and development of a behavior-based graphical robot programming system
- Other Title
-
動作ベースによるグラフィカルロボットプログラミングシステムの研究と開発
- Author
-
Ojala, Jari
- Author(Another name)
-
オヤラ, ヤリ
- University
-
東京大学
- Types of degree
-
博士 (工学)
- Grant ID
-
甲第9463号
- Degree year
-
1992-03-30
Note and Description
博士論文
Table of Contents
- Contents / p5 (0007.jp2)
- Titlepage / p0 (0002.jp2)
- Acknowledgements / p1 (0003.jp2)
- Abstract / p3 (0005.jp2)
- Contents / p5 (0007.jp2)
- List of Figures / p6 (0013.jp2)
- List of Tables / p16 (0018.jp2)
- 1 Introduction / p1 (0019.jp2)
- 1.1 Overview / p1 (0019.jp2)
- 1.2 Robot control problem / p1 (0019.jp2)
- 1.3 Dissertation Goal and Scope / p4 (0022.jp2)
- 1.4 Dissertation contributions / p5 (0023.jp2)
- 1.5 Outline of the dissertation / p8 (0026.jp2)
- 1.6 Notation and terminology used in this dissertation / p11 (0029.jp2)
- 2 Model-based Robot Control / p13 (0031.jp2)
- 2.1 Introduction / p13 (0031.jp2)
- 2.2 Robot and environment modeling / p14 (0032.jp2)
- 2.3 Advantages and problems of model-based robot control / p18 (0036.jp2)
- 2.4 Conclusion / p20 (0038.jp2)
- 3 Behavior-Based Robot Control / p21 (0039.jp2)
- 3.1 Introduction / p21 (0039.jp2)
- 3.2 Background for the behavior-based robot control / p27 (0045.jp2)
- 3.3 Behavior-based robot control / p28 (0046.jp2)
- 3.4 Conclusion / p32 (0050.jp2)
- 4 Graphical behavior-based robot programming / p34 (0052.jp2)
- 4.1 Introduction / p34 (0052.jp2)
- 4.2 Behavior-structure and its graphical representation / p36 (0054.jp2)
- 4.3 Action selection mechanisms / p41 (0059.jp2)
- 4.4 Behavior-structure execution time analysis / p47 (0065.jp2)
- 4.5 Conclusion / p50 (0068.jp2)
- 5 JC-3 robot simulator / p51 (0069.jp2)
- 5.1 Introduction / p51 (0069.jp2)
- 5.2 JC-3 Model / p59 (0077.jp2)
- 5.3 JC-3 Agent-editor / p61 (0079.jp2)
- 5.4 JC-3 Simulator / p75 (0093.jp2)
- 5.5 Conclusion / p90 (0108.jp2)
- 6 JC-3 simulation results / p91 (0109.jp2)
- 6.1 Introduction / p91 (0109.jp2)
- 6.2 Position control / p92 (0110.jp2)
- 6.3 Obstacle avoidance / p97 (0115.jp2)
- 6.4 A-B-C block-world problem / p106 (0124.jp2)
- 6.5 Room navigation problem / p113 (0131.jp2)
- 6.6 Apple Problem / p118 (0136.jp2)
- 6.7 Conclusion / p136 (0154.jp2)
- 7 Experiments with a real mobile robot MORO-1 / p141 (0159.jp2)
- 7.1 Introduction / p141 (0159.jp2)
- 7.2 MORO-1 Hardware / p142 (0160.jp2)
- 7.3 Obstacle avoidance test / p148 (0166.jp2)
- 7.4 Conclusion / p150 (0168.jp2)
- 8 JC-3 evaluation / p164 (0182.jp2)
- 8.1 Overview / p164 (0182.jp2)
- 8.2 JC-3 and other robot control approaches / p164 (0182.jp2)
- 8.3 JC-3 simulator and Waltz's eight principles / p168 (0186.jp2)
- 8.4 JC-3 advantages and limitations / p169 (0187.jp2)
- 8.5 Conclusion / p171 (0189.jp2)
- 9 Conclusion / p172 (0190.jp2)
- 9.1 Dissertation summary / p172 (0190.jp2)
- 9.2 Discussion / p174 (0192.jp2)
- 9.3 Dissertation contributions / p177 (0195.jp2)
- 9.4 Future research possibilities / p177 (0195.jp2)
- 9.5 Conclusion / p181 (0199.jp2)
- A JC-3 modeling language / p184 (0202.jp2)
- A.1 Objects and sub-objects / p184 (0202.jp2)
- A.2 Global and local coordinate systems / p185 (0203.jp2)
- A.3 JC-3 Modeling language Syntax / p188 (0206.jp2)
- A.4 Model Visualization / p193 (0211.jp2)
- A.5 Graphics primitives / p194 (0212.jp2)
- A.6 Example:modeling of a mobile robot carrying a manipulator / p194 (0212.jp2)
- B JC-3 simulation language / p206 (0224.jp2)
- C JC-3 meta-software transfer format / p211 (0229.jp2)
- D JC-3 data structures / p215 (0233.jp2)
- D.1 JC-3 object / p215 (0233.jp2)
- Bibliography / p218 (0236.jp2)
- Publications / p225 (0243.jp2)