A control architecture for intelligent robots based on graph manipulation for planning, monitoring, execution, intention switching, and fault recovery: Dissertation

Jörg-Michael Hasemann

Research output: ThesisDissertationMonograph

Abstract

A new robot control architecture is proposed which combines the functions of planning, intention switching, execution, plan validity and plan execution monitoring, and fault recovery. Emphasis is placed on providing a technological basis for building control systems for intelligent robots by modeling these functionalities using simple, though powerful, graph manipulation techniques and introducing different types of plan components for monitoring, planning, and execution using an object-oriented design approach. The proposed architecture is related to existing approaches and results obtained from the research areas of monitoring and planning. An implementation of the architecture is described with results from tests in a simulated environment being reported. A new method for grasp and motion planning based on hierarchical fuzzy logic rule sets is presented and its feasibility is verified by applying it to an industrial paper roll manipulator.
Original languageEnglish
QualificationDoctor Degree
Awarding Institution
  • University of Oulu
Supervisors/Advisors
  • Silvén, Olli, Supervisor, External person
Award date30 Aug 1996
Place of PublicationEspoo
Publisher
Print ISBNs951-38-4941-4
Publication statusPublished - 1996
MoE publication typeG4 Doctoral dissertation (monograph)

Fingerprint

Intelligent robots
Planning
Recovery
Monitoring
Motion planning
Fuzzy logic
Manipulators
Robots
Control systems

Keywords

  • robots
  • control systems
  • models
  • planning
  • monitors
  • switching
  • fault analysis
  • automation
  • artificial intelligence
  • fuzzy logic
  • computer programming

Cite this

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title = "A control architecture for intelligent robots based on graph manipulation for planning, monitoring, execution, intention switching, and fault recovery: Dissertation",
abstract = "A new robot control architecture is proposed which combines the functions of planning, intention switching, execution, plan validity and plan execution monitoring, and fault recovery. Emphasis is placed on providing a technological basis for building control systems for intelligent robots by modeling these functionalities using simple, though powerful, graph manipulation techniques and introducing different types of plan components for monitoring, planning, and execution using an object-oriented design approach. The proposed architecture is related to existing approaches and results obtained from the research areas of monitoring and planning. An implementation of the architecture is described with results from tests in a simulated environment being reported. A new method for grasp and motion planning based on hierarchical fuzzy logic rule sets is presented and its feasibility is verified by applying it to an industrial paper roll manipulator.",
keywords = "robots, control systems, models, planning, monitors, switching, fault analysis, automation, artificial intelligence, fuzzy logic, computer programming",
author = "J{\"o}rg-Michael Hasemann",
note = "Project code: A6SU00162",
year = "1996",
language = "English",
isbn = "951-38-4941-4",
series = "VTT Publications",
publisher = "VTT Technical Research Centre of Finland",
number = "283",
address = "Finland",
school = "University of Oulu",

}

A control architecture for intelligent robots based on graph manipulation for planning, monitoring, execution, intention switching, and fault recovery : Dissertation. / Hasemann, Jörg-Michael.

Espoo : VTT Technical Research Centre of Finland, 1996. 150 p.

Research output: ThesisDissertationMonograph

TY - THES

T1 - A control architecture for intelligent robots based on graph manipulation for planning, monitoring, execution, intention switching, and fault recovery

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N2 - A new robot control architecture is proposed which combines the functions of planning, intention switching, execution, plan validity and plan execution monitoring, and fault recovery. Emphasis is placed on providing a technological basis for building control systems for intelligent robots by modeling these functionalities using simple, though powerful, graph manipulation techniques and introducing different types of plan components for monitoring, planning, and execution using an object-oriented design approach. The proposed architecture is related to existing approaches and results obtained from the research areas of monitoring and planning. An implementation of the architecture is described with results from tests in a simulated environment being reported. A new method for grasp and motion planning based on hierarchical fuzzy logic rule sets is presented and its feasibility is verified by applying it to an industrial paper roll manipulator.

AB - A new robot control architecture is proposed which combines the functions of planning, intention switching, execution, plan validity and plan execution monitoring, and fault recovery. Emphasis is placed on providing a technological basis for building control systems for intelligent robots by modeling these functionalities using simple, though powerful, graph manipulation techniques and introducing different types of plan components for monitoring, planning, and execution using an object-oriented design approach. The proposed architecture is related to existing approaches and results obtained from the research areas of monitoring and planning. An implementation of the architecture is described with results from tests in a simulated environment being reported. A new method for grasp and motion planning based on hierarchical fuzzy logic rule sets is presented and its feasibility is verified by applying it to an industrial paper roll manipulator.

KW - robots

KW - control systems

KW - models

KW - planning

KW - monitors

KW - switching

KW - fault analysis

KW - automation

KW - artificial intelligence

KW - fuzzy logic

KW - computer programming

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PB - VTT Technical Research Centre of Finland

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