Incremental Robot Shaping I Title : Incremental Robot

Evolving Monolithic Robot Controllers Through Incremental Shaping

Evolutionary robotics has been shown to be an effective technique for generating robot behaviors that are difficult to derive analytically from the robot’s mechanics and task environment. Moreover, augmenting evolutionary algorithms with environmental scaffolding via an incremental shaping method makes it possible to evolve controllers for complex tasks that would otherwise be infeasible. In th...

Incremental Robot Shaping

Control of Flexible Link Robot using a Closed Loop Input-Shaping Approach

This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a  vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop c...

A museum guide robot: Dealing with multiple participants in the real-world

Using video-recordings from a real-world field trial of a museum guide robot, we show how a robot’s gaze influences the visitors’ state of participation in group constellations. Then, we compare the robot’s conduct to a human tour guide’s gaze strategies. We argue that a robot system, to deal with real-world everyday situations, needs to be equipped with knowledge about interactional coordinati...

Toward an exact incremental geometric robot motion planner

In this paper we introduce a new class of geometric robot motion planning problems that we call incremental problems. W e also introduce the concept of incremental algorithms to solve this class of problems. As a n example, we describe an incremental critical curve based exact cell decomposition algorithm for a line segment robot moving freely amidst polpgonal obstacles. In the example, after c...