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Robots attract strong interest from human beings, and ordinary people seriously expect to acquire intuitive understanding from the process of interacting with robots. In this paper, a teleoperation framework based on gesture recognition was developed and the recognized human gestures were mapped to corresponding swimming behaviors of underwater robotic fish. By this means, the robotic fish can be...
In this paper, an FIM (Fitness to Ideal Model) and a DLen (Description Length) based evaluation approach has been developed to measure the benefit of learning from experience to improve the robustness of the robot's behavior. The experience based mobile artificial cognitive system architecture is briefly described and adopted by a PR2 service robot within the EU-FP7 funded project RACE. The robot...
This paper presents the development and evaluation of a pneumatically-actuated transferring robotic system that uses visual inspection technology. The objective of this research is to implement the manufacturing automation in a customized industrial forging process. The robot has 5-DOF with a 2-fingered gripper placed on the gantry mechanical structure stage. Furthermore, the robotic system consists...
A general framework of robot manipulation planning for door opening task is proposed in this paper. First grasp pattern, including grasp point and method for various door handles, is defined. Second door-opening pattern, including task planning and trajectory planning, is also proposed. This paper utilizes Kinect as a vision sensor to collect point cloud data of the environment. Viewpoint Feature...
A mobile robot based on novel line-walking mechanism is proposed for inspecting power transmission lines. The novel mechanism enables the centroid of the robot to concentrate on the hip joint to minimize the drive torque of the hip joint and keep the robot stable when only on leg is hung on line. After reviewing of the line-walking mechanism, power line inspection robot is described in detail. The...
In this paper we show our work on enabling service robot systems to distribute parts of the image processing functions to different off-board computer systems in the working environment of the robot. Thus complex algorithms can be carried out on high performance systems circumventing the restrictions considering space and power consumption that a mobile platform imposes. As high resolution cameras...
Tasks planning under uncertainties is one of fundamental skills for enabling autonomous robots to make proper manipulations in the complex environment. But owing to inexpressive representations, autonomous robots hardly conduct efficient tasks planning, especially in unknown conditions. The application of semantic knowledge in task planning is critically required in artificial intelligence research...
A mobile robot based on novel line-walking mechanism is proposed for inspecting power transmission lines. The novel mechanism enables the centroid of the robot to concentrate on the hip joint to minimize the drive torque of the hip joint and keep the robot stable when only one leg is hung on line. After reviewing of the line-walking mechanism, power line inspection robot is described in detail. The...
As the pioneers of robots for family services, the current cleaning and security robots cannot implement high-level and multi-task planning; an efficient solution to adapt the dynamic environments of household work is desired. To deal with this issue and enhance the flexibility of robots with partial observability, a HTN (Hierarchical Task Network) -based semantic planner integrating the robot's control...
In this paper, a novel type of parallel robot with four degree of freedoms is presented and investigated, which expends the family of few DOFs parallel robots. The parallel robot has two rotation and two translation degree of freedoms. The aspects about its configuration and kinematics analysis are discussed firstly, and a comparison of its singularity, workspace and dexterity are discussed in details...
A novel localization algorithm with low-cost sensors for cleaning robots is presented in this paper, which includes fusing the data of encoders and an electronic compass to estimate the posture state of the robot by using Kalman filter. It judges the confidence of the data of the electronic compass with magnetic field intensity; judges the confidence of data of odometer by the information of slippage...
Experiments showed that Hierarchical Task Network (HTN) planners are suitable to find solutions for nontrivial tasks in complex scenarios. Mobile service robots are able to execute actions which may constitute the basic building blocks to achieve high-level goals. However, only few experiments demonstrate the application of a general purpose deliberative planner in the domain of mobile service robots...
This paper focuses on kinematics analysis for the 7-DOF (degree of freedom) hybrid robot in minimally invasive surgery. The serial structure of the hybrid robot has three DOF; the parallel structure of the hybrid robot has four DOF. First, the traditional method `D-H method' is used to try to solve the kinematics of hybrid robot, but without success. Then a kinematics modeling method based on the...
This paper presents the simulation of a three-dimensional laser range finder based on a two-dimensional laser scanner and different moving units. We examine and describe two methods differing in the way the laser range finder is mounted. In addition, a Pan-Tilt-Unit and a robot manipulator are used as moving platforms. The qualities of the laser scanner and the originating point density, which are...
In this paper we present our work on enabling smart cameras to act as autonomous vision systems for mobile service robots. The smart cameras will adapt their functionality to the current task of the robot system. Instead of transferring raw image data, higher level image information or regions-of-interest are transmitted. This way, the amount of data is reduced and computationally intensive image...
General purpose service robots are expected to deal with many different tasks in unknown environments. The number of possible tasks and changing situations prevent developers from writing control programs for all tasks and possible situations. Complex robot tasks are thus accomplished by sequential execution of less complex robot actions that are triggered and configured by a task planner. The question...
Vision-based sensors are a key component for robot systems, where many tasks depend on image data. Realtime constrains of the control tasks bind a lot of processing power only for a single sensor modality. Dedicated and distributed processing resources are the "natural" solution to overcome this limitation. This paper presents first experiments, using embedded processors as well as dedicated...
Every artificial embodied system that act in a physical environment has to connect perceptual data to abstract symbols. This is called symbol anchoring. It is a nontrivial task due to uncertainty of measurements and the virtually unlimited number of distinguishable objects that can be perceived. We review a commonly used anchoring framework and use our mobile service robot to give an example for complex...
Episodic memory has been examined in different disciplines such as psychology and neuroscience for more than 30 years. Now, engineering and computer science are developing an increasing interest in episodic memory for artificial systems. In this paper, we propose a novel framework referred to as EPIROME to develop and investigate high-level episodic memory mechanisms which can be used to model and...
Although grasping of everyday objects has been a research topic over the last decades, it still is a crucial task for service robots. Several methods have been proposed to generate suitable grasps for objects. Many of them are restricted to a certain type of grasp or limited to a fixed number of contacts. In this paper we propose an algorithm based on reinforcement learning, to enable a service robot...
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