Improving the Robustness of Evolved Robot Arm Control Programs with Multiple Configurations
نویسندگان
چکیده
This paper proposes a method to improve the robustness of a robot arm control program. The control program is generated in simulation by genetic programming. The robustness is measured in the real world. To improve the robustness, the control program is evolved with multiple robot arm configurations. The result shows that the robustness of a control program is improved by 10% compared to a control program evolved with a single configuration.
منابع مشابه
Improving the Robustness of Evolved Robot Arm Control Programs Generated by Genetic Programming
This paper proposes a method to improve the robustness of a robot arm control program generated by genetic programming. The idea is to evolve the control program with multiple targets in the uncertainty region. The result shows that the robustness of a control program is improved with the number of targets in the training region. The analysis showed that a program trained with more targets woul...
متن کاملOn-Line Evolution of Robot Arm Control Programs for Visual-Reaching Tasks using Memoized Function
This work applies an evolutionary algorithm called Genetic Programming to generate robot arm control programs for a visual-reaching task. The evolutionary method employs a probabilistic search of control programs that can perform a specified task. Starting with an initial set of programs, Genetic Programming evolves these programs using genetic operators until satisfactory solutions are found. ...
متن کاملAn Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload
In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...
متن کاملA New Type-2 Fuzzy Systems for Flexible-Joint Robot Arm Control
In this paper an adaptive neuro fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part is presented. The capability of the proposed method (we named ANFIS2) to function approximation and dynamical system identification is shown. The ANFIS2 structure ...
متن کاملStable Gait Planning and Robustness Analysis of a Biped Robot with One Degree of Underactuation
In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...
متن کامل