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A Study on Developing a Multiple Autonomous Working Mobil Robotics System for Dynamic Cooperation

Research Project

Project/Area Number 06680335
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field Intelligent informatics
Research InstitutionTOHOKU UNIVERSITY

Principal Investigator

NAKANO Eiji  Tohoku University, Grad. Sch. of Infomation Sci., Professor, 大学院情報科学研究科, 教授 (90198151)

Co-Investigator(Kenkyū-buntansha) WANG Zhidong  Tohoku Univ., Grad. Sch. of Infomation Sci., Res. Associate, 大学院情報科学研究科, 助手 (40272017)
OOKUBO Hiroki  Tohoku Univ., Faculty of Engineering, Res. Associate, 工学部, 助手 (00250689)
MATSUKAWA Takuji  Tohoku Univ., Grad. Sch. of Infomation Sci., Res. Associate, 大学院情報科学研究科, 助手 (10209520)
TAKAHASHI Takayuki  Tohoku Univ., Grad. Sch. of Infomation Sci., Lecturer, 大学院情報科学研究科, 講師 (70197151)
Project Period (FY) 1994 – 1995
Project Status Completed (Fiscal Year 1995)
Budget Amount *help
¥2,200,000 (Direct Cost: ¥2,200,000)
Fiscal Year 1995: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 1994: ¥1,500,000 (Direct Cost: ¥1,500,000)
KeywordsCooperative Manipulation / Multiple Robots / Autonomous Robot / Dynamic Cooperation / Behavior-Based Robot / Cooperation Strategy / Object Manipulation / Finite State Automaton
Research Abstract

In this study, a robotics system, called BeRoSH (Behevior-based Multiple Robot System with Host for Object Manipulation), incorporating a dynamic cooperation strategy, is proposed. This behavior-based dynamic cooperation strategy is realized in two steps : designing the distributed robot's cooperative behavioral attributes according to each robot's abilities, and organizing these behavioral attributes. Through the behavior design, this strategy allows the dynamic cooperation control to be distributed equally among the robots and to be loosely model dependent. Therefore, the proposed cooperation strategy is able to cope with redundancy in the number of robots performing the task easily. Then, BeRoSH has a high potential to realize a medium to large scale system for achieving some cooperative tasks. In organizing robot's abilities, the concept of Form Closure is applied as the basic strategy of this organization. In this research, a method to analyze and design each robot's behavior controller by using Finite State Automaton is also proposed.
An experimental robotics system which includes three mobile robots, a host computer, and a CCD camera is developed. Some computer simulations and experiments on the object transportation task and assembly task have been performed for validating multiple robot system design, cooperation strategy, behavior design, and some other issues we are investigating. Presently, we are involved in doing some research on manipulating an object in a three dimension environment by multiple mobile robots. Some of the issues under investigation are the cooperation strategy, sensory system, and system, hardware required for object manipulation in a 3D environment.
Some of the results of this study, including experimental results, have been presented in several conferences and symposiums.

Report

(3 results)
  • 1995 Annual Research Report   Final Research Report Summary
  • 1994 Annual Research Report
  • Research Products

    (32 results)

All Other

All Publications (32 results)

  • [Publications] Z. Wang, E. Nakano, T. Matsukawa: "A Multiple Behavior-Based Robots System for Cooperative Object Manipulation-System Construction and Simulation-" 第4回日本ロボットシンポジウム予稿集. 161-166 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Z. Wang, E. Nakano, T. Matsukawa: "Cooperating Multiple Behavior-Based Robots for Object Manipulation-System and Cooperation Strategy-" Distributed Autonomous Robotic Systems, Springer-Verlag Press. 371-382 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Z. Wang, E. Nakano, T. Matsukawa: "Cooperating Multiple Behavior-Based Robots for Object Manipulation" IEEE/RSJ/GI Int. Conf. on Intelligent Robots and Systems. 3. 1524-1531 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Z. Wang, E. Nakano, T. Matsukawa: "A Multiple Behavior-Based Robots System for Cooperative Object Manipulation" 計測自動制御学会東北支部創立30周年記念学術講演会予稿集. 203-204 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 松本直之,松川卓二,中野栄二: "光学系のパラメータを用いた三次元環境情報処理の一手法" 第12回ロボット学会学術講演会予稿集. 3. 1111-1112 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Z. Wang, E. Nakano, T. Matsukawa: "Experimental Implementation of a Behavior-Based Multiple Robot System for Cooperative Object Manipulation" 第6回ロボットシンポジウム予稿集. 265-268 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 王 志東,中野栄二,松川卓二: "Behavior-Based Dynamic Cooperation in Object Manipulation" ロボティクス・メカトロニクス講演会'95. 2. 787-788 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Z. Wang, E. Nakano, T. Matsukawa: "Designing Behavior of a Multiple Robotic System for Cooperative Object Manipulation" Int. Symp. on Microsystems, Intelligent Materials and Robots. 556-559 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 王 志東,中野栄二,松川卓二: "Building Multi-robot's Behavior to Manipulate an Object Cooperatively" 第13回ロボット学会学術講演会予稿集. 3. 787-788 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 王 志東,中野栄二,松川卓二: "協調操作作業のための複数ロボットシステムのビヘ-ビア設計" 第1回ロボティクスシンポジア. (発表予定). (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M. Nili. Ahmadaabaadi,中野栄二: "Cooperative Object Lifting Robots : the Strategy and the System" 第1回ロボティクスシンポジア. (発表予定). (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M. Nili. Ahmadaabaadi,中野栄二: "A Cooperative Multipule Robot System for Object Lifting and Transferiing Tasks" ロボティクス・メカトロニクス講演会'96. (発表予定). (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Z.Wang, E.Nakano, T.Matsukawa: "A Multiple Behavior-Based Robots System for Cooperative Object Manipulation-System Construction and Simulation-" Proc. of the 4th Japanese Symp. on Robot. 161-166 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Z.Wang, E.Nakano, T.Matsukawa: "Cooperating Multiple Behavior-Based Robots for Object Manipulation-System and Cooperation Strategy-" Distributed Autonomous Robotic Systems, Springer-Verlag Press. 371-382 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Z.Wang, E.Nakano, T.Matsukawa: "Cooperating Multiple Behavior-Based Robots for Object Manipulation" Proc. of IEEE/RSJ/GI Int. Conf.on Intelligent Robots and Systems '94. Vol. 3. 1524-1531 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] N.Matsumoto, T.Matsukawa, E.Nakano: "An Image Processing Method using Optical Defocus" Proc. of the 12th Annual Conf. of Robotics Society of Japan. Vol. 3. 1111-1112 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Z.Wang, E.Nakano, T.Matsukawa: "Experimental Implementation of a Behavior-Based Multiple Robot System for Cooperative Object Manipulation" Proc. of the 5th Japanese Symp. on Robot. 265-268 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Z.Wang, E.Nakano, T.Matsukawa: "Behavior-Based Dynamic Cooperation in Object Manipulation" Proc. of Japanese Conf. on Robotics and Mechatronics '95. Vol. 2. 787-788 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Z.Wang, E.Nakano, T.Matsukawa: "Designing Behavior of a Multiple Robotic System for Cooperative Object Manipulation" Proc. of Int. Symp. on Microsystems, Intelligent Materials and Robots. 556-559 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Z.Wang, E.Nakano, T.Matsukawa: "Building Multi-robot's Behavior to Manipulate an Object Cooperatively" Proc. of the 13th Annual Conf. of Robotics Society of Japan. Vol. 3. 787-788 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Z.Wang, E.Nakano, T.Matsukawa: "Developing Behavior for a Multiple Cooperative Object Manipulating Robotics System" the 1st Japanese Robotics Symposia. to appear. (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M.Nili, Ahmadaabaadi, E.Nakano: "Cooperative Object Lifting Robots : the Strategy and the System" the 1st Japanese Robotics Symposia. to appear. (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M.Nili, Ahmadaabaadi, E.Nakano: "A Cooperative Multiple Robot System for Object Lifting and Transferring Tasks" Japanese Conf. on Robotics and Mechatronics'96. to appear. (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] Z. Wang, E. Nakano, T. Matsukawa: "Experimental Implementation of a Behavior-Based Multiple Robot System for Coop-erative Object Manipulation" 第5回日本ロボットシンポジウム予稿集. 265-268 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 王志東,中野栄二,松川卓二: "Behavior-Based Dynamic Cooperation in Object Manipulation" ロボティクス・メカトロニクス講演会'95. 2. 787-788 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] Z. Wang, E. Nakano, T. Matsukawa: "Designing Behavior of a Multiple Robotic System for Cooperative Object Manipulation" Int. Symp. on Microsystems, Intelligent Materials and Robots. 556-559 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 王志東,中野栄二,松川卓二: "Building Multi-robot's Behavior to Manipulate an Object Cooperatively" 第13回日本ロボット学術講演会予稿集. 3. 787-788 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] Z.Wang,E.Nakano,T.Matsukawa: "A Multiple Behavior-Based Robots System for Cooperative Object Manipulation-System Construction and Simulation-" 第4回日本ロボットシンポジウム予稿集. 161-166 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] Z.Wang,E.Nakano,T.Matsukawa: "Cooperating Multiple Behavior-Based Robots for Object Manipulation-System and Cooperation Strategy-" Distributed Autonomous Robotic Systems,Springer-Verlag Press. 371-382 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] Z.Wang,E.Nakano,T.Matsukawa: "Cooperating Multiple Behavior-Based Robots for Object Manipulation" IEEE/RSJ/GI Int.Conf.on Intelligent Robots and Systems. 3. 1524-1531 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] Z.Wang,E.Nakano,T.Matsukawa: "A Multiple Behavior-Based Robots System for Cooperative Object Manipulation" 計測自動制御学会東北支部創立30周年記念学術講演会予稿集. 203-204 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 松本直之,松川卓二,中野栄二: "光学系のパラメータを用いた三次元環境情報処理の一手法" 第12回ロボット学会学術講演会予稿集. 3. 1111-1112 (1994)

    • Related Report
      1994 Annual Research Report

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Published: 1994-04-01   Modified: 2016-04-21  

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