Motion planning for a robotic system with structured intelligence

Author

Kubota, Naoyuki ; Arakawa, Takemasa ; Fukuda, Toshio ; Shimojima, Koji

Author_Institution

Dept. of Mech. Eng., Osaka Inst. of Technol., Japan

fYear

1997

fDate

10-11 Jul 1997

Firstpage

60

Lastpage

65

Abstract

This paper deals with a robotic system with structured intelligence. Recently, behavior engineering has been discussed as a new technological discipline. The intelligence of a robot depends on the structure of hardware and software for processing information, that is, the structure determines the potentiality of intelligence. Based on perceptual information, a structured intelligent robot makes action from four levels in parallel. In addition, the robot generates its motion through the interaction with environment and at the same time gradually acquires its skill based on the generated motion. To acquire skill and motion, the robot requires internal and external evaluations at least. Actually, a virus-evolutionary genetic algorithm is applied to motion planning for a redundant manipulator and discuss its effectiveness through computer simulation results

Keywords

genetic algorithms; intelligent control; path planning; behavior engineering; motion planning; redundant manipulator; robotic system; structured intelligence; virus-evolutionary genetic algorithm; Genetic algorithms; Humans; Intelligent robots; Intelligent structures; Intelligent systems; Learning; Motion planning; Robot sensing systems; Robotics and automation; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 1997. CIRA'97., Proceedings., 1997 IEEE International Symposium on

Conference_Location

Monterey, CA

Print_ISBN

0-8186-8138-1

Type

conf

DOI

10.1109/CIRA.1997.613839

Filename

613839