quotation:[Copy]
[Copy]
【Print page】 【Online reading】【Download 【PDF Full text】 View/Add CommentDownload reader Close

←Previous page|Page Next →

Back Issue    Advanced search

This Paper:Browse 70   Download 98 本文二维码信息
码上扫一扫!
Intelligence evolution for service robot: An ADRC perspective
GuofeiXIANG,YaoHUANG,JingruiYU,MingdeZHU,JianboSU
0
(Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China)
摘要:
The strategy of active disturbance rejection control (ADRC) and its applications in intelligence evolution for service robot are summarized. It is also shown that the philosophy of ADRC is consistent with the essential characteristics of intelligence evolution. Most importantly, we concentrate on five core issues which will be encountered when applying ADRC to deal with intelligence evolution for service robot, that is, how to eliminate the impact of unknown composite disturbances, how to handle the nonholonomic constraints in uncalibrated visual servoing, how to realize eye hand torque coordination, how to deal with the disturbance in simultaneous localization and mapping (SLAM), and how to reject the imperfections induced by network in human robot interaction. The main purpose of this paper is to clarify the challenges encountered on intelligence evolution for service robot when one applies ADRC to, hoping that more and more researchers can give some suggestions or work together to deal with these problems, and flourishing results of ADRC from both theory and applications.
关键词:  Service robot, motion control, visual servoing, nonholonomic constraints, eye hand torque coordination, simul taneous localization and mapping (SLAM), human robot interaction (HMI), active disturbance rejection control (ADRC)
DOI:
基金项目:This work was supported by the National Natural Science Foundation of China (Nos. 61533012, 91748120, 61521063).
Intelligence evolution for service robot: An ADRC perspective
Guofei XIANG,Yao HUANG,Jingrui YU,Mingde ZHU,Jianbo SU
(Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China)
Abstract:
The strategy of active disturbance rejection control (ADRC) and its applications in intelligence evolution for service robot are summarized. It is also shown that the philosophy of ADRC is consistent with the essential characteristics of intelligence evolution. Most importantly, we concentrate on five core issues which will be encountered when applying ADRC to deal with intelligence evolution for service robot, that is, how to eliminate the impact of unknown composite disturbances, how to handle the nonholonomic constraints in uncalibrated visual servoing, how to realize eye hand torque coordination, how to deal with the disturbance in simultaneous localization and mapping (SLAM), and how to reject the imperfections induced by network in human robot interaction. The main purpose of this paper is to clarify the challenges encountered on intelligence evolution for service robot when one applies ADRC to, hoping that more and more researchers can give some suggestions or work together to deal with these problems, and flourishing results of ADRC from both theory and applications.
Key words:  Service robot, motion control, visual servoing, nonholonomic constraints, eye hand torque coordination, simul taneous localization and mapping (SLAM), human robot interaction (HMI), active disturbance rejection control (ADRC)