Real-time optimization for cleaner-robot with multi-joint arm

Akihiro Okazaki; Toshihiro Senoo; Joe Imae; Tomoaki Kobayashi; Guisheng Zhai

doi:10.1109/ICNSC.2009.4919397

Real-time optimization for cleaner-robot with multi-joint arm

Akihiro Okazaki, Toshihiro Senoo, Joe Imae, Tomoaki Kobayashi, Guisheng Zhai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

In this paper, we introduce a cleaner-robot, which has arm-like mechanism for vacuum cleaning, and we also propose the control method, which realizes complex task with the cleaner-robot. This method is based on the real-time optimization for nonlinear dynamical systems. Our method has three features. The first is to include penalty concerning main body of robot and arm in performance index. The second is to use feedback timing of real-time optimization for sweeping around targets. The third is to change weight matrices in performance index, during control is going on, using the above timing. By applying the method, robot can perform complex task with simple arm-mechanism.

Original language	English
Title of host publication	Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Pages	885-890
Number of pages	6
DOIs	https://doi.org/10.1109/ICNSC.2009.4919397
Publication status	Published - 2009
Externally published	Yes
Event	2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama, Japan Duration: 2009 Mar 26 → 2009 Mar 29

Publication series

Name	Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009

Conference

Conference	2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Country/Territory	Japan
City	Okayama
Period	09/3/26 → 09/3/29

ASJC Scopus subject areas

Computer Networks and Communications
Electrical and Electronic Engineering

Access to Document

10.1109/ICNSC.2009.4919397

Cite this

Okazaki, A., Senoo, T., Imae, J., Kobayashi, T., & Zhai, G. (2009). Real-time optimization for cleaner-robot with multi-joint arm. In Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 (pp. 885-890). Article 4919397 (Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009). https://doi.org/10.1109/ICNSC.2009.4919397

Real-time optimization for cleaner-robot with multi-joint arm. / Okazaki, Akihiro; Senoo, Toshihiro; Imae, Joe et al.
Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. p. 885-890 4919397 (Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Okazaki, A, Senoo, T, Imae, J, Kobayashi, T & Zhai, G 2009, Real-time optimization for cleaner-robot with multi-joint arm. in Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009., 4919397, Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009, pp. 885-890, 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009, Okayama, Japan, 09/3/26. https://doi.org/10.1109/ICNSC.2009.4919397

Okazaki A, Senoo T, Imae J, Kobayashi T, Zhai G. Real-time optimization for cleaner-robot with multi-joint arm. In Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. p. 885-890. 4919397. (Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009). doi: 10.1109/ICNSC.2009.4919397

@inproceedings{a44feaf8b4414638b3797444cf9d5679,

title = "Real-time optimization for cleaner-robot with multi-joint arm",

abstract = "In this paper, we introduce a cleaner-robot, which has arm-like mechanism for vacuum cleaning, and we also propose the control method, which realizes complex task with the cleaner-robot. This method is based on the real-time optimization for nonlinear dynamical systems. Our method has three features. The first is to include penalty concerning main body of robot and arm in performance index. The second is to use feedback timing of real-time optimization for sweeping around targets. The third is to change weight matrices in performance index, during control is going on, using the above timing. By applying the method, robot can perform complex task with simple arm-mechanism.",

author = "Akihiro Okazaki and Toshihiro Senoo and Joe Imae and Tomoaki Kobayashi and Guisheng Zhai",

year = "2009",

doi = "10.1109/ICNSC.2009.4919397",

language = "English",

isbn = "9781424434923",

series = "Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009",

pages = "885--890",

booktitle = "Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009",

note = "2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 ; Conference date: 26-03-2009 Through 29-03-2009",

}

TY - GEN

T1 - Real-time optimization for cleaner-robot with multi-joint arm

AU - Okazaki, Akihiro

AU - Senoo, Toshihiro

AU - Imae, Joe

AU - Kobayashi, Tomoaki

AU - Zhai, Guisheng

PY - 2009

Y1 - 2009

N2 - In this paper, we introduce a cleaner-robot, which has arm-like mechanism for vacuum cleaning, and we also propose the control method, which realizes complex task with the cleaner-robot. This method is based on the real-time optimization for nonlinear dynamical systems. Our method has three features. The first is to include penalty concerning main body of robot and arm in performance index. The second is to use feedback timing of real-time optimization for sweeping around targets. The third is to change weight matrices in performance index, during control is going on, using the above timing. By applying the method, robot can perform complex task with simple arm-mechanism.

AB - In this paper, we introduce a cleaner-robot, which has arm-like mechanism for vacuum cleaning, and we also propose the control method, which realizes complex task with the cleaner-robot. This method is based on the real-time optimization for nonlinear dynamical systems. Our method has three features. The first is to include penalty concerning main body of robot and arm in performance index. The second is to use feedback timing of real-time optimization for sweeping around targets. The third is to change weight matrices in performance index, during control is going on, using the above timing. By applying the method, robot can perform complex task with simple arm-mechanism.

UR - http://www.scopus.com/inward/record.url?scp=70349289909&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=70349289909&partnerID=8YFLogxK

U2 - 10.1109/ICNSC.2009.4919397

DO - 10.1109/ICNSC.2009.4919397

M3 - Conference contribution

AN - SCOPUS:70349289909

SN - 9781424434923

T3 - Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009

SP - 885

EP - 890

BT - Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009

T2 - 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009

Y2 - 26 March 2009 through 29 March 2009

ER -

Real-time optimization for cleaner-robot with multi-joint arm

Abstract

Publication series

Conference

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this