Interpreting Fuzzy Linguistic Information by Acquiring Robots Experience Based on Internal Rehearsal
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概要
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This paper proposes a method for interpreting fuzzy linguistic information by acquiring robots experience on previous movements. The quantitative assessment for a fuzzy linguistic term such as “little” depends on the spatial arrangement of surrounding environment. Robots experience on previous movements is very useful for understanding such information in a context dependant manner. Therefore, an internal rehearsal system is introduced to acquire the robots experience on previous movements. Such acquisition enhances the robots capability to interpret fuzzy linguistic information in fuzzy voice commands (FVCs) according to the current environmental context. The proposed system is used to evaluate the fuzzy linguistic information related to primitive movements of a robot manipulator. Those primitive movements are realized by a behavior evaluation network (BEN) with the guidance of an internal rehearsal system. The end-effector movements and the single joint movements of a robot manipulator are considered as primitive movements. They are activated by fuzzy voice motion commands (FVMCs) and fuzzy voice joint commands (FVJCs) respectively. The proposed idea is demonstrated with a PA-10 robot manipulator by navigating the robot manipulator in the users working space. The use of the behavior evaluation network and the internal rehearsal system introduced a better way of assessing fuzzy linguistic information by acquiring the robots experience on the corresponding environment.
著者
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JAYASEKARA A.
Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga
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WATANABE Keigo
Department of Intelligent Mechanical Systems, Okayama University
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KIGUCHI Kazuo
Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga
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IZUMI Kiyotaka
Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga
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Kiguchi Kazuo
Department Of Advanced Systems Control Engineering Graduate School Of Science And Engineering Saga U
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Watanabe Keigo
Department Of Advanced Systems Control Engineering Graduate School Of Science And Engineering Saga U
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Izumi Kiyotaka
Department Of Advanced Systems Control Engineering Saga University
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JAYASEKARA A.
Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University
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IZUMI Kiyotaka
Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University
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