Multi-agent system based fuzzy controller design with genetic tuning for a service mobile manipulator robot in the hand-over task

Date

2002-01-01

Author

Erden, Mustafa Suphi
Leblebicioglu, Kemal
Halıcı, Uğur

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

188
views

0
downloads

Copyright © 2002 IFAC.This paper presents an application of the multi-agent system approach to a service mobile manipulator robot that interacts with a human during an object delivery and hand-over task in two dimensions. The base, elbow and shoulder of the robot are identified as three different agents, and are controlled using fuzzy control. The fuzzy rules of each agent are written considering the state of other agents besides its own state. While writing the rules effective delivery and avoiding the contact with human not to cause physical harm is considered. The membership functions of the fuzzy controllers are tuned using genetic algorithms. In tuning, the performance is calculated considering the deviation from the optimum path, time spent to reach the human hand and energy consumed by the actuators. The proposed multi agent system structure based on fuzzy control for the object delivery task succeeded in both effective and safe delivery.

Subject Keywords

Agents , Distributed control, Fuzzy control, Genetic algorithms, Membership functions, Delivery systems, Robot arm

URI

https://hdl.handle.net/11511/57285

DOI

https://doi.org/10.3182/20020721-6-es-1901.00896

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Multi-agent system-based fuzzy controller design with genetic tuning for a mobile manipulator robot in the hand over task Erden, MS; Leblebicioğlu, Mehmet Kemal; Halıcı, Uğur (Springer Science and Business Media LLC, 2004-03-01) This paper presents an application of the multi-agent system approach to a service mobile manipulator robot that interacts with a human during an object delivery and hand-over task in two dimensions. The base, elbow and shoulder of the robot are identified as three different agents, and are controlled using fuzzy control. The control variables of the controllers are linear velocity of the base, angular velocity of the elbow, and angular velocity of the shoulder. Main inputs to the system are the horizontal ...
OBJECT-ORIENTED REPRESENTATION OF A ROBOT MANIPULATOR Zontul, H; Ersak, Aydın (1994-04-14) The paper presents an object-oriented representation of a robot manipulator. The representation developed here is appropriate to implement a robot simulation package. The software package is easy to use and gives insight to the robot kinematics, the dynamics and the control subjects. The robot representation has been tested in resolved motion rate control and hybrid position/force control applications.
Designing Social Cues for Collaborative Robots: The Role of Gaze and Breathing in Human-Robot Collaboration Terzioglu, Yunus; Mutlu, Bilge; Şahin, Erol (2020-01-01) In this paper, we investigate how collaborative robots, or cobots, typically composed of a robotic arm and a gripper carrying out manipulation tasks alongside human coworkers, can be enhanced with HRI capabilities by applying ideas and principles from character animation. To this end, we modified the appearance and behaviors of a cobot, with minimal impact on its functionality and performance, and studied the extent to which these modifications improved its communication with and perceptions by human collab...
Swarm-Bot: Pattern Formation in A Swarm Of Self-Assembling Mobile Robots Şahin, Erol; Trianni, Vito; Deneubourg, Jean-louis; Rasse, Philip; Floreano, Dario; Gambardella, Luca; Mondada, Francesco; Nolfi, Stefano; Dorigo, Marco (2002-12-01) In this paper we introduce a new robotic system, called swarm-bot. The system consists of a swarm of mobile robots with the ability to connect to/disconnect from each other to self-assemble into different kinds of structures. First, we describe our vision and the goals of the project. Then we present preliminary results on the formation of patterns obtained from a grid-world simulation of the system.
Optimal initialization of manipulation dynamics by vorticity model of robot hand preshaping. Part I: Vorticity model Erkmen, Aydan Müşerref; Tekkaya, E (Wiley, 2000-04-01) The manipulation phase of a multifingered robot hand is initialized, upon contact, by the impact force patterns imparted to the object at contact points, in the final state of a preshaped hand closure. The object then inherits from contacts different helix motion tendencies (translation, rotation) as the initial conditions of manipulation. These motion tendencies are caused by the forces/torques imparted to the object upon impact, and are generated by changes of momenta of the closing hand preshape at the c...

Citation Formats

M. S. Erden, K. Leblebicioglu, and U. Halıcı, “Multi-agent system based fuzzy controller design with genetic tuning for a service mobile manipulator robot in the hand-over task,” 2002, vol. 15, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/57285.