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When human exercises multi-degrees of freedom (DOF) motion, they just pay attention to only part of the body motion and can control the whole body motion. By consciously adjusting low-DOF movements, it is possible to induce multi-DOF motion, which is referred as a “knack” in the sport. Acquiring knacks can drastically improve multi-DOF motor skills by low-DOF information presentation, and it is also...
The multi-fingered robot hand has much attention in various fields. Many robot hands have been proposed so far. However, the robot hand cannot execute any tasks autonomously because the robot hand does not have enough motion and sensing ability to task complexities. Therefore, we have developed a robot hand teleoperation system with the motion capture data glove CyberGlove. Here, each joint of the...
A system for humanoid robot arm movement concerns about generating a human-like point-to-point (p2p) trajectory. For more than a decade, numerous systems have been devised and many of them were based on complex dynamical systems. In this paper, we introduce a simpler system, integrating support vector machine (SVM) learning model, which can achieve same p2p objective. In our experiment, we compare...
This paper proposed automated robot speech gesture generation system for service/entertainment robots. This system can automatically generate robot Beat gestures accompanied by speech interaction situation with humans. Beat gestures have no specific semantic meanings to communicate, but it is commonly believed that they are an essential factor of natural communication. We extracted basic gesture patterns...
The study is a cross-dialect comparison of the vowel systems of different inventories across five Chinese dialects in terms of vowel dispersion and vowel variability. The dialects include Meixian Kejia or Hakka with 5 vowels, Hong Kong Cantonese with 7 vowels, Fuzhou with 8 vowels, Ningbo with 10 vowels, and Wenling with 11 vowels. Formant frequencies were obtained through spectral analysis of speech...
Potential functions can be used to design efficient path planning schemes. However, it is often difficult to design appropriate potential functions to mimic desired behavior of the agent. Instead of using a pre-designed potential function for path planning, this paper presents an algorithm that learns the underlying potential function from a given sample trajectory generated by a “expert” (say, a...
Studying human motor control has received increased attention during the past decades. Both the design and control of robotic artifacts may benefit from observation of human behavior. In this paper a novel method for capturing the dynamic behavior of the human hand is presented. The low dimensional kinematics of the human hand, including the wrist, and the low dimensional representation of the muscular...
Knowledge on human eye-hand coordination can be used for human-like system design and medical diagnosis. This document analyses and briefly presents the parameters of the coordination while executing different eye-hand related tasks. Existing quantitative model of manuo-ocular coordination, capable of simulating the human performance in target tracking, is redesigned for a capability to simulate the...
We explore the use of manifold learning as a suitable representation for recognizing visual signs found in Filipino Sign Language. During the learning phase, a reference manifold is derived from a training set of visual signs using Isomap, a non-linear manifold learning algorithm. Individual signs are then projected onto this reference manifold transforming them into trajectories which are compiled...
This paper presents a collision force suppression mechanism that is installed in the shoulder and elbow joints of a 5-DOF manipulator. The collision suppression mechanism consists of an air cushion bag, a transmission rack, a clutch gear and two compression springs. If the manipulator collides with an object or a human when the end-effector of the manipulator follows a target trajectory, the manipulator...
In our research, we aim to construct a house-keeping robot system which folds laundry. And, we propose a way for folding clothes without vision sensing device. To realize this system, we prepare appropriate fixed folding motion. We analyzed cloth folding motions by human. And, we found fixed folding motion pattern for the robot. Furthermore, we generated a trajectory of folding motion which is applicable...
In 1957 J. von Neumann introduced the Primary Language when he suggested that the languages we use are just external languages while the Primary Language is the only internal language of the human brain. Due to its age this cannot be symbolic. Instead, this must be a system of hybrid and mostly analog algorithms embedded in the human brain. This paper reports results of research on two possible components...
Three different approaches of having a full-size humanoid throw the first pitch at a Major League Baseball game are tested and implemented. The approaches include kinematic mapping using a motion capture system to capture a human's throwing motion then mapping that to a full-size humanoid. The second method is a fully automated approach that uses the sparse reachable map to provide viable full body...
The paper proposes the design of a vehicle control system which is able to follow a predefined road trajectory required by the driver with a steering command and a speed command. While the driver reduces the lateral error from the desired path, the control system focuses on the minimization of the yaw rate error. The vehicle maneuvers are supported by two control signals, i.e., the brake yaw moment...
This paper presents an environment for design of interactive behaviors for social robots. Its structure consists of three levels which are: perception, decision and action. Their principles are briefly described and we detail more specifically implementation of people searching and monitoring in cluttered environments. We describe in particular the methods for people detection, state estimation and...
This paper proposes the analysis of two strategies for motion imitation of articulated systems with balance constraint. The two systems have different dynamic characteristics and their respective motions are restricted to the sagittal plane. The first strategy is based on nonlinear time scaling of joint trajectories ensuring that the balance of the imitating system is maintained through the motion...
In the near future, robots will exist in our home, office, hospital, school and all other public places. In other words, robots have to work and share environments with human. However, there exist many invisible social rules or social protocols in human society. For example, people usually stand in a line to access certain services. It seems that there is a social force or a “spatial effect” which...
Passive velocity field control is advantageous to deliver human-in-the-loop contour tracking rehabilitation exercises, since patients can be allowed to proceed with their preferred pace, while assistance can still be provided as determined by the therapist with ensured coupled stability. We introduce a framework based on passive velocity field control for robot assisted rehabilitation that includes...
This video presents a motion planning method enabling an autonomous mobile robot to approach a person to initiate a conversation proactively. The proposed concept implements social aspects to give motions a more human-like appearance. This is intended since experiments discussed in literature have shown that it is easier for people to predict and read the purpose of human-like movements. User study...
This work extends the framework of bilateral shared control of mobile robots with the aim of increasing the robot autonomy and decreasing the operator commitment. We consider persistent autonomous behaviors where a cyclic motion must be executed by the robot. The human operator is in charge of modifying online some geometric properties of the desired path. This is then autonomously processed by the...
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