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—Flexure hinge has been commonly used as a substitute for mechanical joints in the design of micropositioning mechanisms. However, inaccurate modeling of flexure hinges deteriorates the positioning accuracy. In this paper, a planar three-degree-of-freedom (DOF) parallel-type micropositioning mechanism is designed with the intention of accurate flexure hinge(More)
— The disturbance observer (DOB) has been widely utilized for high precision and high speed motion control applications. In this paper, we suggest the robustness measure of DOB, as a criterion to design the robust DOB systems. Also, we suggest its design guidelines especially for second-order systems. Experimental results for an optical disk drive system(More)
— A Skilligent robot must be able to learn skills autonomously to accomplish a task. " Skilligence " is the capacity of the robot to control behaviors reasonably, based on the skills acquired during run-time. Behavior control based on Bayesian networks is used to control reasonable behaviors. To accomplish this, subgoals are first discovered by clustering(More)
In this paper, a force estimation method is proposed for force control without force sensor. For this, a disturbance observer is applied to each joint of an n degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer due to(More)
Keywords: Dynamic multi-objective optimization Time-varying system Membrane computing (P systems) Membrane control strategy a b s t r a c t Dynamic multi-objective optimization is a current hot topic. This paper discusses several issues that has not been reported in the static multi-objective optimization literature such as the loss of non-dominated(More)
—A significant obstacle for service robots is the execution of complex tasks in real environments. For example, it is not easy for service robots to find objects that are partially observable and are located at a place which is not identical but near the place where the robots saw them previously. To overcome the challenge effectively, robot knowledge(More)
—This study addressed the problem of active lo-calization, which requires massive computation. To solve the problem, we developed abstracted measurements that consist of qualitative metrics estimated by a single camera. These are contextual representations consisting of perceived landmarks and their spatial relations, and they can be shared by humans and(More)