The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Emotion recognition is crucially related with friendly and humanistic human-robot interaction. Our paper aims at developing a new kind of features to mandarin emotional speech signal based on multifractal theory. Firstly, phase space structure differentiate with respect of initials and finals indicate the fractal phenomenon during speech produce process. Further, positive largest Lyapunov exponent...
Modular self-reconfigurable space robots, which can change their topology for the on-orbital missions, can reduce costs, increase reliability, and permit the rapid repair and refueling of future spacecraft. However, the dynamic modeling is very difficult since the topology of the multi-body system is variable. In this paper, we design a self-reconfigurable multi-arm space robotic system, analyze the...
Though a reinforcement learning method is considered as a promising method for learning a robot's behavior from reward signals and adapting it for unknown environment, a standard reinforcement learning method is for a single environment. In this paper, to make a robot working in wider environments, we develop a reinforcement learning method for (1) estimating the current environment, (2) choosing...
This paper presents StimCards, an interactive and configurable Question and Answer game which can be applied to cognitive stimulation. This paper reviews experiments done to validate StimCards and draws up a report on these experiments and on StimCards contribution. This game is special because users can create their own questions and their own game scripts, and decide which digital devices will be...
Accurate force/torque (F/T) information is essentially important for a robot manipulator to regulate the contact forces and torques exerted on its tool (end-effector). For a manipulator with mounted F/T sensor, the tool and the F/T sensor are connected to the manipulator via some components, of which many parameters such as mounting errors and component's weight are unknown. As a result, the forces...
In this paper, a kind of automatic measuring robot for steam generator is designed. The robot is created to satisfy the increasing demand of unmanned operation in nuclear power plant. To overcome the limited work space, a novel kind of mechanical structure is proposed. To accommodate large amount of measuring points, control system based on FPGA and AVR is established. The experiments are arranged...
Six-axis force/torque sensor plays an important role in many fields. A novel six-axis force/torque sensor based on strain gauge was designed and optimized with design of experiments (DOE) approach and response surface methodology. In order to reduce the errors bonding strain gauges, we adopted strain distribution analysis to acquire the accurately positions. The strain compliance matrix was attained...
This paper presents a method to evaluate the attitude of a rigid body under condition of high non-gravitational acceleration. Most of the attitude estimation algorithms based on data from low cost Inertial Measurement Units (IMU), assume that the total acceleration perceived by the accelerometer be gravity or at most small variations of it. When the actual conditions are far away from such assumption,...
This paper presents a design and development of Veress Needle Insertion Force Sensing System, and a Veress Needle Insertion Robotic System for acquiring force data for soft tissue insertion. The study reports force data from veress needle insertions, measured to use in our Robot-Assisted Surgical System. The main goal of this work is to develop a virtual reality robotic surgical system which can provide...
We present a system for real-time general object recognition (gor) for indoor robot in complex scenes. A point cloud image containing the object to be recognized from a Kinect sensor, for general object at will, must be extracted a point cloud model of the object with the Cluster Extraction method, and then we can compute the global features of the object model, making up the model database after...
A general framework of robot manipulation planning for door opening task is proposed in this paper. First grasp pattern, including grasp point and method for various door handles, is defined. Second door-opening pattern, including task planning and trajectory planning, is also proposed. This paper utilizes Kinect as a vision sensor to collect point cloud data of the environment. Viewpoint Feature...
The implementation of context-bound tasks at a higher level of abstraction often demands a semantic representation of the environment and the enclosed objects. A fundamental step towards the creation of rich semantic models is the abstraction of information from the raw and oftentimes unordered sensor data. In this work, we introduce a novel method for the abstraction of indoor environments as polyhedral...
Kinect camera is a new developed cheap senor, which captures color images along with per-pixel depth information. In this paper, a new object localization method, based on RGB-D image, is presented. On the basis of traditional image segmentation, the system determines the motion tracing object according to current environment. Then by using Back projection algorithm, the system implements the object...
Recognition of human actions using a vision based approach is a challenging task. To improve the action recognition performance, we proposed a hierarchical probabilistic model based framework which not only models the dynamics of the actions but also considers contextual constraints in terms of object/action correlation and action sequential constraints. By considering the action/object correlation,...
To solve the problem of accuracy and robustness seriously affected by the external environment when loop-closing using vision for mobile robot, a method based on RGB-D image for loop-closing detection is proposed. The front area contour which will be used for contour matching is extracted from the depth information. Then Image matching between similar scenes of candidates is done Using PCA-SIFT descriptors,...
This article describes the control algorithm and software implementation of astronomical tracking based on the mechanical analysis for Five-hundred-meter Aperture Spherical Telescope(FAST) that is being built in Guizhou province of China, which aims to help astronomers resolve questions in cosmology. On the basis of position and attitude feedback algorithm of cable driven parallel robot, the control...
Locomotion on rough terrain is a critical and basic capability for quadruped robots. In this paper, we present a gait planning approach of crossing planar obstacles for a quadruped robot. The system is composed by rhythmic motion generation and gait planning algorithm. Rhythmic motion generation is mainly composed of two parts: the Central Pattern Generator (CPG) model based on the Holf oscillator...
Biomimetic robots such as biped, quadruped, hexapod and fish robots become the research hot of robotics in recent decades. Hexapod robots can adapt to the rugged ground and complex environment, which are usually difficult for wheeled and tracked robots. Controlling the locomotion of biomimetic robots by central pattern generators (CPGs) is a new method developed recently. In this paper, we apply the...
Linear Temporal Logic (LTL) has recently become a popular high-level specification language for robotic applications. One of the main reasons for the adoption of LTL is that LTL control synthesis algorithms are scalable while providing sufficient expressive power for a range of applications. However, despite the recent progress, one challenge remains. How can a non-expert robot user, who is not a...
In this paper, an on-line motion planner is described to determine an optimal and collision-free trajectory for fixed wing vehicles moving in a 3D space populated with static hills and movable obstacles. The proposed method is mainly based on the polynomial parameterization of trajectories, which is beneficial to explicitly consider the kinematic constraints and the geometric constraints resulted...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.