観測範囲に制限のあるセンサ同士の統合によるロボットの行動生成法  [in Japanese] Motion Generation by Integrating Multiple Sensor Information with Limited Observational Range  [in Japanese]

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Abstract

Sensors of robots that act in unstructured environment sometimes do not provide complete observation, due to occlusion or limitation of sensing range. This paper presents a motion generation method for robot with multiple sensors with limited sensing ranges. The proposed method introduce extension of the action-observation mapping to outside of the sensing range of a sensor, based on the diffusion-based learning of Jacobian matrices between control input and observation variable. Multiple observation spaces can be integrated by finding correspondence between the virtual observation spaces. When a target observation variable is given to the robot, it can generate a motion from an observation space toward the target with another observation space using the extended observation space. The proposed framework is verified by two robot tasks, reaching motion toward the floor with a manipulator and navigation of mobile robot around the wall. In both cases, observation space by camera with limited view was extended and appropriate motion trajectories were obtained.

Journal

  • Transactions of the Society of Instrument and Control Engineers

    Transactions of the Society of Instrument and Control Engineers 47(4), 191-199, 2011-04-30

    The Society of Instrument and Control Engineers

References:  21

Codes

  • NII Article ID (NAID)
    10028213639
  • NII NACSIS-CAT ID (NCID)
    AN00072392
  • Text Lang
    JPN
  • Article Type
    ART
  • ISSN
    04534654
  • NDL Article ID
    11136460
  • NDL Source Classification
    ZM11(科学技術--科学技術一般--制御工学)
  • NDL Call No.
    Z14-482
  • Data Source
    CJP  NDL  J-STAGE 
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