Study on the Developement of Expert-Robot System

专家机器人系统开发研究

• 批准号: 59420025
• 负责人: MIURA Hirofumi
• 金额: $ 13.76万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (A)
• 财政年份: 1984
• 资助国家: 日本
• 起止时间: 1984 至 1986
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-59420025/
• 关键词: Intelligent Robot; Biped Robot; Quadruped Robot; Robot Language; Multi Task Concurrent System; ロボットの動的制御; 知能ロボット; 歩行ロボット; 動歩行; マニプレータ; 視覚情報; 歩容; PROLOG

Expert Robot System,the title of this research project,is defined to be the robot to which the results of artificial intelligence technology are applied. Knowledge engineering seems especially to be useful for the control of the intelligent robot.The intelligent robot will be able to be controlled in sophisticated manner,if the well arranged knowledge data base is constructed in the control-software-system of the robot. This research project is the previous stage of the assembling of artificial intelligence and the robotics technology.The followings are principal results in three years of this research project.(1) The control system for the intelligent robot,in which two different kinds of computers are connected,has been construcred. The workstation "APOLLO/Domain(DN460)" and the personal computer "VME/10" are combined.(2) The quadruped locomotive robot "COLLIE" walked successfully. The CCD camera mounted on the robot can recognize the environment (configuration of the ground) and the most addaptive gait is decided by the program processed in the workstation.(3) Programming language for the intelligent robot-ARP(Advanced Robot Programming Language) has been developed. ARP is based on PROLOG and several functions needed to control the robot,eg. interupt,are added.(4) Multi Task Concurrent Oriented Language (COL) has also been developed.

专家机器人系统，本研究项目的名称，定义为应用人工智能技术成果的机器人。知识工程似乎对智能机器人的控制特别有用。在机器人的控制软件系统中，如果构建了有序的知识数据库，就可以实现对智能机器人的复杂控制。本课题是人工智能与机器人技术相结合的前期研究阶段。以下是本课题三年研究的主要成果。(1)构建了连接两台不同类型计算机的智能机器人控制系统。工作站“APOLLO/Domain（DN460）”和个人计算机“VME/10”相结合。(2)四足机器人“COLLIE”行走成功。安装在机器人上的CCD摄像头可以识别环境（地面的配置），由工作站处理的程序决定最自适应的步态。(3)开发了智能机器人的编程语言——高级机器人编程语言arp （Advanced Robot Programming language）。ARP是基于PROLOG和控制机器人所需的几个功能，如。打扰,是补充道。(4)多任务并发语言（Multi - Task Concurrent Oriented Language， COL）也得到了发展。

项目成果

Shimoyama,Isao: "Control System for Walking Robot--Dynamic Walk and Intelligent Control" Proceedings of The Third International Symposium of Robotics Research. 246-252 (1985)

下山功：“行走机器人控制系统——动态行走与智能控制”第三届国际机器人研究研讨会论文集。

Mitsuishi,Mamoru: Proceedings of International Conference on Advanced Robotice. 87-94 (1985)

Mitsuishi，Mamoru：国际先进机器人会议论文集。

Shimoyama,Isao: Proceedings of The third International Symposium of Robotics Research. 246-252 (1985)

Shimoyama，Isao：第三届国际机器人研究研讨会论文集。

ISRR(第3回)PROCEEDINGS. (1985)

ISRR（第 3 版）程序（1985 年）。

Miura,Hirofumi: The International Journal of Robotics Research. 3. 60-74 (1984)

三浦博文：国际机器人研究杂志。