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This talk shows its possibility of implementation in real life through demonstrations using a Sobot, Rity: i) continuous interface between physical and virtual worlds ii) seamless transmission of Sobot between a PC and a Mobot, and iii) omnipresence of Sobot. Rity, developed at the Robot Intelligence Technology (RIT) Laboratory, KAIST, is a Sobot implemented as a 12 DOF artificial creature in the...
Imitation is a powerful learning tool that can be used by a robotic agent to socially learn new skills and tasks. One of the fundamental problems in imitation is the correspondence problem, how to map between the actions, states and effects of the model and imitator agents, when the embodiment of the agents is dissimilar. In our approach, the matching depends on different metrics and granularity....
This paper deals with an overview of recent microgrippers. As the end-effectors of micromanipulation systems, microgrippers are crucial point of such systems for their efficiency and their reliability. The performances of current microgrippers are presented and offer a stroke extending from 50mum to approximately 2 mm and a maximum forces varying from 0.1 mN to 600 mN. Then, micromanipulation system...
Flexible instrument insertion is one of the most commonly performed procedures in percutaneous surgery. Target movement caused by tissue deformation results in targeting inaccuracy no matter how well the initial planning is. Various efforts have been put into modeling the tissue deformation to predict the target movement. This paper investigates two approaches in reducing the target movement physically...
In a certain robot control benchmark it is known that certain types of disturbances occur. This paper presents a classifier that gives a fuzzy estimate of the disturbance that is currently affecting the process. The classifier uses the discrete wavelet transform to extract features from the measurement signal. Based on the features, a fuzzy inference system gives an estimate of the proportion of different...
This paper discusses the development of a robot head that creates a facial expression according to emotion resulting from a flow of consciousness. The authors focused attention on the human consciousness and proposed a system using a unique artificial consciousness according to the relationship between emotion and the resulting human facial expressions. The artificial consciousness is used to imitate...
Autonomous decentralized flexible manufacturing system (AD-FMS) is one of the near future production style. This paper describes the intelligent communication method to realize the AD-FMS. Specifically, how to communicate among each agent and how to use the acquired information is utilized are described. After applying the developed system to some AD-FMS examples, it is ascertained that it is useful
This paper proposes RT-component object model in RT-middleware for robot system integration. "RT" means "robot technology", which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. RT-middleware is a software infrastructure for RT systems. We have studied modularization of RT elements at software level. For that reason,...
A long-standing question in cognitive sciences and machine learning is how a system can develop high-level concepts and categories which are useful for motor and cognitive control. The author proposes an architecture which learns a hierarchy of increasingly abstract, invariant features. Invariance is achieved by selecting information which reflects distinctions present in supervisory signals conveyed...
This paper presents, first, the maam project which is a self-reconfigurable robotic architecture where each module is autonomous for energy and CPU. To develop a new concept of robot requires to bring answers to the general questions of displacement of the modules, docking. This is why we focus here on the high level tools, built on a middleware including wireless communication. We show how such tools...
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