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We present a modeling approach to develop an agent that assists users discreetly in teleoperation when avateering a robot via an inexpensive motion sensor. Avateering is a powerful metaphor, and can be an effective teleoperating strategy. Avateering a Humanoid Robot (HR) with no wearable device encumberment, such as using the popular Kinect/NUI motion sensor, is also desirable and very promising....
Motivated by the desire to mitigate human casualties in emergency situations, this paper explores various guidance modalities provided by a robotic platform for instructing humans to safely evacuate during an emergency. We focus on physical modifications of the robot, which enables visual guidance instructions, since auditory guidance instructions pose potential problems in a noisy emergency environment...
Conventional kinematic studies of serial manipulators involve the proper selection of coordinate frames of reference at appropriate positions. The standard practice, being used in the past, is the use of Denavit-Hartenberg (D-H) algorithm for assigning coordinate frames. However, it has been observed that when an open kinematic chain contains a spatial link with two consecutive joint axes at right...
In this contribution, we describe an unified controller we implemented in order to simplify creating the common interactive behaviors that the robot may performs with human users. This controller is based on a multi-objective optimization technique allowing simultaneous achievement of different constraints and goals. The core of the developed algorithm is based on the particle swarm optimization technique...
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