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A ballroom dance is a performance between a male dancer and a female dancer and consists of its own steps. The dance is led by a male dancer and a female dancer continues to dance by estimating the following step through physical interaction between them. A dance partner robot, PBDR, has been proposed as a research platform for human-robot coordination. It dances a waltz with a male dancer by estimating...
The robot that can detect the indoor dangerous gas and give alarm is very useful. To obtain exact and plentiful danger information, the robot has to search the gas source. Traditional source searching ways of tracing plume or concentration is not ideal now. An intelligent robot mounted gas sensors and vision is introduced, and the responding and recover delay features of gas sensors is analysed. The...
In this paper, the need for automated transportation systems for hospitals is investigated. Among other alternatives, mobile robots stand out as the most prominent means of automation of transportation tasks in hospitals. Existing transportation routines of a hospital are analyzed in order to verify the need for automation and identify possible areas of improvement. The analysis shows that most of...
In order to solve the bad convergence property of neural network which is used to generalize reinforcement learning, the neural and case based Q-learning (NCQL) algorithm is proposed. The basic principle of NCQL is that the reinforcement learning is generalized by NN, and the convergence property and learning efficiency are promoted by cases. The detail elements of the learning algorithm are fulfilled...
Mobile robot's self-localization is an important part of robot technology research. This paper first briefly introduces several main methods of mobile robot's localization, and RSSI (received signal strength indicator) ranging principle. Then it proposes an experimental system which is used for mobile robot's localization based on wireless sensor network (WSN), and describes the experimental system's...
A modified path planning approach is presented for mobile robot in the paper. First a new environment model called danger degree map (DDM) is constructed in order to provide more rich environment information than grids map. Then the equidistant distributed PSO whose fitness function is the weighted sum of the path length and the path danger degree is introduced to get a more reliable path than conventional...
There is a major problem with traditional artificial potential field method. It is the formation of local minima that can trap the robot before reaching its goal. To overcome the problem, this paper presents an improved potential field approach. It consists of two parts. The former, the improved attractive potential function, brings the minimum distance between the robot and the obstacle into consideration,...
This paper describes a feature-based approach for face detection and recognition for human-robot interaction (HRI), which is capable of processing images rapidly and achieving high detection and recognition rates. The vision system on the mobile robot has to deal with difficult problems such as illumination changes, different facial expressions, and dynamic complex background. We apply an efficient...
A fuzzy neural network (FNN) has been trained off-line to memory the fuzzy control rules of the adaptive behaviors for the local optimal path planning of mobile robot. The fuzzy rules were collected automatically by reinforcement Q_Learning (QL) on-line beforehand. This method has overcome the disadvantage of traditional means which are determined by artificial experience, and are able to meet the...
Light mobile robot's motor powers calculate and design is an important problem. It includes weight, velocity, motor power, slope angle, reduce gearbox, battery, etc. These factors influence each other. It is difficult to calculate precise each parameter. But it decides function and ability of mobile robot. In this paper, motor powers calculate method is advanced. There are many factors to consider...
As a rising subject, virtual reality is the best human-machine interface technology so far. This paper submits the architectural structure of the robot teleoperation system based on virtual reality and after analyzing the principle of the system's operation, it sets up the model of hierarchical control. Subsequently this paper elaborates critical techniques such as telerobot, creating virtual environment,...
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