Intelligent power assistant manipulator usable for diseaster

Yingda Dai, Masami Konishi, Jun Imai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents experiments on assistant manipulator system for solving the problem of rescue activities. A dynamic neural network model was implemented in a humanoid robot manipulator, based on the recurrent neural network model (RNN model) evaluated by agent parts. The proposed robot manipulator system with dual 2-dof robot arms, can be tele-operated by human and are able to move cooperatively. Human operates the master arm that enlarge the action of human, and the slave arm based on the agent system follows the master cooperatively. Each joints of the manipulator are respectively provided a learning method to optimize its movement by training RNN model. The experiments showed that the proposed RNN model can regenerate each pattern synchronously with the master manipulator after the robot multiple trajectory movement. And the simulation results show the effectiveness of the approach, and that the proposed RNN model can successfully learn the inverse dynamics of robot manipulators, performing accurate tracking for a general trajectory.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Pages522-527
Number of pages6
DOIs
Publication statusPublished - Dec 1 2006
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: Oct 18 2006Oct 21 2006

Publication series

Name2006 SICE-ICASE International Joint Conference

Other

Other2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of
CityBusan
Period10/18/0610/21/06

Keywords

  • Agent system
  • Cooperative motion control
  • Master-slave manipulator
  • Power assistant
  • Recurrent neural network (RNN)

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Dai, Y., Konishi, M., & Imai, J. (2006). Intelligent power assistant manipulator usable for diseaster. In 2006 SICE-ICASE International Joint Conference (pp. 522-527). [4108887] (2006 SICE-ICASE International Joint Conference). https://doi.org/10.1109/SICE.2006.315540