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Humanoid robot surrogates promise a plethora of new applications in the field of disaster management and human robot interactions. However, whole body embodiment for teleoperation or telepresence with mobile robot avatars is yet to be fully explored and understood. In this study we investigated whether partial and delayed control, necessitated by the large degree of freedom of a humanoid system, affects...
To cope with various needs of a rapidly aging society, common RT middleware and RSNP network protocol are incorporated in an interface robot. In this manner, a reception service application that is required in facilities for the elderly, has been developed for an interface robot. The robot counts the number of people who enter and exit a facility and greets them according to the position and velocity...
Safe Autonomous Vehicles (AVs) will emerge when comprehensive perception systems will be successfully integrated into vehicles. Advanced perception algorithms based on occupancy grids were developed for AV prototypes. These algorithms estimate the position and speed of every obstacle in the environment by using data fusion from multiple sensors. Computational requirements of such fusion prevent their...
We present in this paper a backstepping controller for vision based target tracking with an Unmanned Aerial Vehicle. A down facing camera is used with a pose estimation algorithm to extract the position of the target (an Unmanned Ground Vehicle). The output is then fed into the developed controller to generate the necessary movements (pitch and roll) of the Unmanned Aerial Vehicle in order to keep...
The paper focuses on controlling by hand a robot carrying a patient lying down on a “couch top” located at the extremity of the end-effector. The Orion prototype, is a six Degree-of-Freedom (DoF) robotic system. The control of the robot is achieved through a home-made co-manipulated haptic device located under the couch top and operated by a paramedical assistant. This device enables the operator...
Within Human-Robot Collaboration (HRC) safety is one key-issue that has to be guaranteed at any time during joint collaboration. Collisions in a shared workspace of a Human-Robot-Team (HRT) must be prevented. In addition, the comfort of the collaboration behavior should be provided. Facing these challenges, a robot has to be able to detect critical states at an early stage on the one hand and should...
In this experiment, a humanoid robot (NAO), for the first time, replaces the experimenter to study the endowment effect that describes the fact that individuals prefer an object or a service that belongs to them over an equivalent object or service. The traditional methodology used to observe the endowment effect was based on a simple experimental exchange paradigm. The effect is measured along the...
The calibration process of a stereo rig is normally done by making two cameras view one special designed calibration pattern (such as checkerboard) at the same time to estimate the relative rotation between two cameras. Multiple image pairs from different perspectives are required for better estimation accuracy. Stereo rig with wide baseline is necessary when accurate depth estimation for distant...
Artificial flowers are mainly static objects. If we can make them movable with actuating mechanisms, sensors and controllers, this will make them more lively and entertaining. The aim of this paper is to develop artificial flower ornaments with dynamic, modular, programmable and green-energy characteristics. The dynamically artificial flower ornaments show the performances: bending of stems, blooming...
As part of a human-robot interaction project, the gestural modality is one of many ways to communicate. In order to develop a relevant gesture recognition system associated to a smart home butler robot, our methodology is based on an IQ game-like Wizard of Oz experiment to collect spontaneous and implicitly produced gestures in an ecological context where the robot is the referee. These gestures are...
One of the crucial features of a service robot is the ability “to see” the environment and a target object for smooth navigation. This paper deals with a mobile robot that recognizes and tracks a moving object attached to a wheelchair in a obstacle existing environment. The experiment was conducted in three scenarios, the first one is that the robot is set to recognize and track a moving object in...
Vehicle and pedestrian collisions often result in fatality to the vulnerable road users (VRU), indicating a strong need of technologies to protect such persons. Laser sensors have been extensively used for moving obstacles detection and tracking. Laser impacts are produced by reflection on these obstacles which suggests that more information is available for their classification. This paper proposes...
This paper addresses the problem of accurate and reliable path following of a heavy industrial mobile robot evolving with centimetric accuracy requirement. For this purpose sliding estimation is a crucial issue, even more in off-road context with uneven and slippery terrains. So, we focus on position and sliding observers design in function of the distance covered, thus allowing to carry on maneuvers...
For several years, INRIA and Toyota Europe have been working together in the development of algorithms directed to ADAS. This paper will describe the main results of this joint project, applied to a prototype vehicle equipped with several sensors. This work will detail the framework, steps taken and motivation behind the developed technologies, as well as address the requirements for the automobile...
Providing robots with the ability to move humanlike is one of the recent challenges for researchers who work on motion planning in human populated environments. Humanlike motions help a human interaction partner to intuitively grasp the intention of the robot. However, the problem of validating the degree of human-likeness of a robot motion is rarely addressed, especially for the forward motion during...
During the last years, intensive research has been conducted to make high degrees of automation available in cars. However, driver assistance systems today still need the driver to monitor the system. This will most probably change in near future, as highly automated driving becomes available. With the driver out of the control loop, this driving mode has beneficial aspects for the driver and could...
This paper presents a method for planning motions of a flexible objects based on precise simulation using Finite Element Method (FEM). The proposed method is applied to ring-shape objects manipulated by robot arms, which is often seen in various applications. Since large deformation is implied, assembly planning with realistic simulation is important to ensure task efficiency for the robot and also...
High demand for painters is required nowadays and foreseen in the near future for both developed and developing countries. To satisfy such demand, this paper presents the detailed computer aided design (CAD) model of a fully functional wall painting robot for interior finishes. The RoboPainter is capable of performing full scale wall-ceil painting in addition to decorative wall drawings. The 8 degrees...
This paper describes the development and the main considerations for designing the Thorvald platform, a versatile robot for operation in agricultural fields. The main objective is to develop a robot that can perform all operations, from seeding, to weeding and harvesting. This requires the robot to be able to carry a wide variety of tools. In addition, we require the robot to be lightweight so that...
The problem of improving the stability of a mobile manipulator over a sloped terrain is addressed in the present work. Such an improvement is achieved by finding the location of the manipulator's center of mass that maximizes the overall quasi-static stability, defined here as the force-angle stability, using a stochastic optimization approach known as the Covariance Matrix Adaptation. The tracking...
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