Title :
The concept of model free robotics for robots to act in uncertain environments
Author :
Tani, Kazuo ; Ikeda, Kiichi ; Yano, Tomoaki ; KAJITA, Shuuji ; Matsumoto, Osamu
Author_Institution :
Mech. Eng. Lab., Tsukuba, Japan
Abstract :
A concept of model free robotics was proposed for a robot to act stably in an uncertain environment, which is a bounded but unpredictable environment. In the concept a robot is devised to act stably in an uncertain environment with little or no sensing of the environment. The stability may be realized by control, by mechanisms, or by both. The concept of model free robotics was demonstrated using such robots as a wheeled inverted pendulum, a four-wheeled active suspension robot, a biped robot, and a wall climbing robot with scanning type suction cups. It also applies to many robotic developments achieved by researchers other than the authors as well. This concept will hopefully help robots solve some problems of the global environment
Keywords :
robots; stability; biped robot; four-wheeled active suspension robot; model-free robotics; scanning type suction cups; uncertain environments; wall climbing robot; wheeled inverted pendulum; Climbing robots; Humans; Mechanical engineering; Mobile robots; Recycling; Robot sensing systems; Robustness; Service robots; Stability; Waste materials;
Conference_Titel :
Advanced Robotics, 1993. Can Robots Contribute to Preventing Environmental Deterioration? Proceedings, 1993 IEEE/Tsukuba International Workshop on
Conference_Location :
Tsukuba
Print_ISBN :
0-7803-1441-7
DOI :
10.1109/ICAR.1993.337212