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To interact with humans in Human Social Environments (HSEs), robots are expected to possess the ability of situational context perception and behave appropriately. In this paper, we propose two deep learning models, as situational context perception of robot, to learn from observations of human-robot interaction. Based on these models, we endow robot the capability of perceiving human's mentation...
In this research, we aim to implement the ability to navigate through unknown environments according to some given instructions on mobile robots. We proposed a Recursive Neural Network model, which takes the user instructions and data acquired by laser range finder as input, and outputs control velocities to make the mobile robot navigate in an unknown indoor environment. Instructions are using commonly...
For industrial robotic applications, conveyor tracking is one of fundamental function in the robot manipulator. While the target is moving on the production line, the task becomes sophisticated problems. Thus, a distinct grasping method under visual control system is definitely one of the essential solutions. In this paper, we propose a tracking strategy on moving objects for a robot arm object fetching...
In the industrial manufacturing processing, peg-in-hole assembly is the core technique for automation, which usually involves two stages. The first stage is the search phase, which is used to find the center of the hole. Then, the peg is aligned with the hole on the plane in the second stage, known as the insertion phase. However, the slight orientational misalignment between peg and hole makes the...
Additive manufacturing (AM) technologies not only reduce the new product development cycle, but also allow users to design models of their own style. Fused Filament Fabrication is a method that builds a model of rapid prototyping and product in customization fashion. With path generation and planning methods for additive manufacturing, common 3D printers print an object layer by layer. However, when...
In this paper, we implement robotic tapping motion with an anthropomorphic dual arm robot. It is the first paper to discuss the robotic massage technique for this kind. Unlike common massage motion such as kneading, pressing, or stroking, tapping motion satisfies with the short-time impulse momentum contact on a human body. To implement the robotic tapping motion, we develop a modulated on-line trajectory...
The objective of this paper is to present a percussive massage based on robotic tapping motion, and it is also the first paper to discuss the massage technique for this kind. The tapping motion is different from the common contact motion, it satisfies with the short-time contact on human muscles, and the robot end-effector itself has an initial velocity and acceleration to make an impulse contact...
The recent report from CITI Group stated that there are 10 disruptive innovation and technology in which robotics and digital economy are included. As the society facing the reality of aging and the industry encountered increased salary/wage levels as well as lack of skilled labors, the need of robots become obvious. Service robotics is finally emerging as a commercial technology after decades of...
The recent report from CITI Group stated that there are 10 disruptive innovation and technology in which robotics and digital economy are included. As the society facing the reality of aging and the industry encountered increased salary/wage levels as well as lack of skilled labors, the need of robots become obvious. Service robotics is finally emerging as a commercial technology after decades of...
This paper proposes a robotics therapeutic massage evaluation system using electroencephalogram (EEG) signal analysis approach. An anthropomorphic dual arm robot is developed in this work for massage application. Compare to other massage systems, our dual arm robot can provides diversified massage techniques through the impedance control of both Cartesian space and joint space. In order to evaluate...
This paper presents a robot capable of painting colorful pictures with a visual control system like human artists. It can use only five basic colors (cyan, magenta, yellow, white and black) to mix a variety of colors. After receiving a picture, the Robot Artist creates the artwork in two stages—the underpainting and the refinement. In the underpainting stage, it covers the canvas with a thin layer...
As humanoid robots start entering to the human beings environments, the collision between the robot and other objects is inevitable. To solve this problem, we propose the human mimicking push-recovery strategy. With the arm mechanism, the humanoid robot utilizes human-like strategies to deal with the unexpected collision. We analyse the human push-recovery movement to the external force. Thus we can...
This paper describes an algorithm for localization of a robot which can efficiently estimate robot in 6 degrees-of-freedom (DoF) pose which consist of position and orientation with large scale point cloud data without giving the initial pose. We introduce the Fast Scene Recognition and Alignment algorithm to reduce the computation time needed for the point cloud alignment by matching robot's scene...
Since social, assistive and companion robots need to navigate within human crowds, understanding spatial social conventions while designing navigation solutions for such robots is an essential issue. This work presents analysis of an socially compliant robot motion strategy that could be employed by social robots such as humanoids, service robots or intelligent wheelchairs, for approaching and joining...
With the breakthrough of exploring Rapid Random Tree and several other improvement efforts, the sampling-based motion planning method has been gaining ground in 2D planning and gradually being accepted by many systems as their global planning algorithm. There are many recent approaches on integrating the incremental nature and algorithmic simplicity of sampling-based approach with the agile replanning...
With the improvement on various technical aspects of robotics, autonomous robotics gradually immerges into our daily life and the chance of human-robot interaction rises especially in dynamic environments. To carry out different tasks and in many cases collaborating with human, effective motion planning must be devised. Besides of yielding real-time and cost effective trajectories, the social aware...
In this paper, we propose an effective walking pattern generator based on the five-mass with angular momentum model for humanoid robot. The proposed model is composed of conventional three-mass model and conservation law of angular momentum, which describes the relationship between two swing arms and legs, to achieve a quasi human-like walking. We further design a walking pattern compensator to revise...
Inspired by the human torso, humanoid robots usually equipped with active waist joints. For arbitrary walking patterns or whole body motions, the well-designed waist trajectories can greatly enhance the motion of robot legs and allow the robot to perform larger walking step length or crossing higher stair gaps. In this paper, we develop an effective online algorithm for generating waist and arm trajectories...
In this paper, a service-oriented multiagent system (SoMAS) for the control and analysis of the cyber–physical system (CPS) in manufacturing automation utilizing a noncontact dynamic obstacle avoidance seven-DoF robot arm is presented. The interfaces of the services which the robot arm subsystem should provide to fully exploit its capability are identified. Specifically, the services of moving, object...
The objective of this paper is to design and implement a process about reverse engineering, which will generate smooth trajectories without using a high cost controller. Because contour of work pieces is more complex today, the trajectory planning and generation are essential in the whole process. In this paper, using Bezier curve to clarify the rough outline makes the process of reverse engineering...
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