کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7107766 | 1460586 | 2017 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Realization of task intelligence for service robots in an unstructured environment
ترجمه فارسی عنوان
پیاده سازی هوش وظیفه برای روباتهای سرویس در یک محیط بدون ساختار
دانلود مقاله + سفارش ترجمه
دانلود مقاله ISI انگلیسی
رایگان برای ایرانیان
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
چکیده انگلیسی
In order to perform various tasks using a robot in a real environment, it is necessary to learn the tasks based on recognition, to be able to derive a task sequence suitable for the situation, and to be able to generate a behavior adaptively. To deal with this issue, this paper proposes a system for realizing task intelligence having a memory module motivated by human episodic memory, and a task planning module to resolve the current situation. In addition, this paper proposes a technique that can modify demonstrated trajectories according to current robot states and recognized target positions in order to perform the determined task sequence, as well as a technique that can generate the modified trajectory without collisions with surrounding obstacles. The effectiveness and applicability of the task intelligence are demonstrated through experiments with Mybot, a humanoid robot developed in the Robot Intelligence Technology Laboratory at KAIST.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Annual Reviews in Control - Volume 44, 2017, Pages 9-18
Journal: Annual Reviews in Control - Volume 44, 2017, Pages 9-18
نویسندگان
Deok-Hwa Kim, Gyeong-Moon Park, Yong-Ho Yoo, Si-Jung Ryu, In-Bae Jeong, Jong-Hwan Kim,