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

Volume

3

fYear

2001

fDate

2001

Firstpage

1299

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.977162

Filename

977162