Title :
New method for integration of multi-sensor and multi-actuator robot system
Author :
Suehiro, Takashi ; Onda, Hiromu ; Kitagaki, Kosei
Author_Institution :
AIST Tsukuba Central 2, Ibaraki, Japan
Abstract :
Describes a unified method for integrating different kinds of sensor-based control. We introduced "control space", which is smoothly related to actuator space. Each sensor-based control law is described in the control space. The integration is done automatically by mapping the control space to the actuator space based on local linear relations between them. We also proposed the multi-agent-based implementation of the control system. Simulation and experiment show the effectiveness of this new method
Keywords :
Jacobian matrices; actuators; feedback; intelligent control; multi-agent systems; robots; sensor fusion; sensors; actuator space; control space; event driven control; intelligent robot systems; local linear relations; multi-agent-based implementation; multi-sensor multi-actuator robot system; sensor feedback control; sensor-based control; sequence control; Automatic control; Control systems; Feedback control; Hydraulic actuators; Intelligent sensors; Jacobian matrices; Orbital robotics; Robot kinematics; Robot sensing systems; Sensor systems;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.977162
