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The human communication exists in various situations of our daily life. For human-robot communication or robot-robot communication, it is useful to design a communication model based on communication principal that is an entrainment phenomenon of nonlinear dynamics. In this paper, we focus on the robot motion synchronization for robot-robot communication. The robots are controlled to be entrained...
This paper focuses on a practical application of handling contact sensitive objects such as silicon wafers or hard disk media without any contact using electrostatic levitation. Stable electrostatic levitation can be realized by controlling an electrostatic force on the basis of measured suspension air gaps. Two control approaches, namely centralized and decentralized control and the influence of...
Suturing simulations, of which real-time knotting and unknotting are the most challenge parts, are essential to today's surgical training systems. In this paper, we present a physics-based approach to real-time simulation of deformable linear objects (DLOs) with visual and force feedback. In our suture model, which can represent the mechanical properties of a real thread such as stretching, compressing,...
Jumping and landing movements are characterized by large instantaneous forces, short duration, and a high uncertainty concerning take off and landing points. Such characteristics make conventional types of control and robot design inadequate. Here we present an approach to realize motor control of jumping and landing which exploits the synergy between control and mechanical structure. Our experimental...
This paper presents an approach that enables heterogeneous robots to automatically form groups as needed to generate both strongly-cooperative and weakly-cooperative multi-robot task solutions in the same application. The fundamental contribution of this work is the layering of our low-level coalition formation algorithm for generating strongly-cooperative task solutions, with high-level, traditional...
Toolpath generation and optimization is considered as a challenging problem in the minimally invasive orthopedic surgery with a milling robot. The objective of this paper is to minimize the collision of the cutting tool with the soft tissues. A novel approach of toolpath generation and optimization is proposed. A redundant axis is implemented to avoid the collision in the robot. Some important components...
Auction based techniques are a highly successful tool used for multi-robot task allocation. However, theoretical performance and a proper taxonomy of optimization objectives have remained scarce until recent studies. Implementations from different authors have not been compared in common grounds and in light of these recent findings. In this paper we address this lack of comparative experimentation,...
This paper considers the problem of realizing visual servoing taking into account constraints such as visibility and workspace constraints while minimizing a cost function such as spanned image area and trajectory length. A new path-planning scheme is proposed by, first, introducing a robust object reconstruction which allows one to obtain feasible image trajectories. Second, the rotation path is...
We present a novel motion planning algorithm that efficiently generates physics-based samples in a kinematically and dynamically constrained space of a highly articulated chain. Similar to prior kinodynamic planning methods, the sampled nodes in our roadmaps are generated based on dynamic simulation. Moreover, we bias these samples by using constraint forces designed to avoid collisions while moving...
This paper describes a view planning of multiple cameras for tracking multiple persons for surveillance purposes. When only a few active cameras are used to cover a wide area, planning their views is an important issue in realizing a competent surveillance system. We develop a multi-start local search (MLS)-based planning method which iteratively selects fixation points of the cameras by which the...
This paper presents a technique to improve the data association in the iterative closest point based scan matching. The method is based on a distance-filter constructed on the basis of an analysis of the set of solutions produced by the associations in the sensor configuration space. This leads to a robust strategy to filter all the associations that do not explain the principal motion of the scan...
Constraint force minimization is essential to improve the dynamic performance of an industrial manipulator. An optimization method is proposed to minimize the constraint forces using the concept of dynamically equivalent system of point-masses. It is shown that for the six-DOF PUMA robot the constraint forces are substantially reduced.
Several recent works have combined discrete and continuous motion planning methods for robot navigation and control. The basic idea of some of these works is to plan a path, by determining a sequence of neighboring discrete regions of the configuration space, and to assign a vector field that drives the robots through these regions. This paper addresses the problem of efficiently computing vector...
This paper presents a novel approach to large view visual servoing in the context of object manipulation. In many scenarios the features extracted in the reference pose are only perceivable across a limited region of the work space. The limited visibility of features necessitates the introduction of additional intermediate reference views of the object and requires path planning in view space. In...
Common works on emotion expressing robots are theoretically based on a dimensional (continuous) model of emotions. Nevertheless, performance tests, which are used to evaluate the emotion expressing robots, are based on categorical (discrete) models of emotions. In this paper the use of dimensional-based tests is suggested, e.g. semantic differential approaches like the pleasure-arousal-dominance-model...
We have developed a new communication robot, Robopal, which is an indoor/outdoor robot for use in human-robot interaction research in the context of daily life. Robopal's intended applications involve leading and/or following a human to a destination. Preliminary experiments have been conducted to study nonverbal cues associated with leading and following behavior, and it has been observed that some...
The least squares approach works efficiently in value function approximation, given appropriate basis functions. Because of its smoothness, the Gaussian kernel is a popular and useful choice as a basis function. However, it does not allow for discontinuity which typically arises in real-world reinforcement learning tasks. In this paper, we propose a new basis function based on geodesic Gaussian kernels,...
Human machine collaborative systems (HMCS) have been developed to enhance sensation and suppress extraneous motions or forces during surgical tasks requiring precise motion. However, to date such systems have enforced constraints on the position or path of a tool, but have not considered the dynamics of motion. Also, the focus has been on the effect of guidance of motion during a task, rather than...
We are interested in how the concept of affordances can affect our view to autonomous robot control, and how the results obtained from autonomous robotics can be reflected back upon the discussion and studies on the concept of affordances. In this paper, we studied how a mobile robot, equipped with a 3D laser scanner, can learn to perceive the traversability affordance and use it to wander in a room...
A dance partner robot has been developed as an example of platforms for realizing the effective human-robot coordination with physical interactions. This robot could dance together with a human by estimating the next step intended by the human. If the robot would mistake the step estimation, the human-robot coordination could not be continued. In this paper, an error recovery method for step selections,...
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