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In this paper, a study has been conducted to present a high resolution optical localization and tracking method for micro-robots or micro-conveyors moved over a smart surface in a context of micro-factory. The first approach of this work is presented here, the localization and tracking principles are described, the algorithm is presented and finally, experimentation work on system calibration and...
Our goal is to automatically detect which direction a child is facing based on a single, simple overhead picture, and track that direction across time. Engaging in joint attention, which is the shared focus of two individuals on some object of interest, is a strong cue of typically developing children, and the lack thereof can be an indicator of autism spectrum disorder or other pervasive developmental...
Interactions with simulated robots are typically presented on screens. Virtual reality (VR) offers an attractive alternative as it provides visual cues that are more similar to the real world. In this paper, we explore how virtual reality mediates human-robot interactions through two user studies. The first study shows that in situations where perception of the robot is challenging, a VR display provides...
This research paper presents a novel interface of programming by demonstration (PbD) for Human-Robot Interaction (HRI). The designed mixed reality (MR) based interface is providing users a more immersive user experience (UX) while teleoperating the robot. The operator's hand gestures are captured and be used to control the robot. Users are able to see their own hands in the virtual environment. Experimental...
Two common rehabilitation therapies for individuals possessing neurological conditions are functional electrical stimulation (FES) and robotic assistance. This paper focuses on combining the two rehabilitation strategies for use on the biceps brachii muscle group. FES is used to elicit muscle contractions to actuate the forearm and a rehabilitation robot is used to challenge the muscle group in its...
Reconstructing a 3D model of an unknown object via incremental registration of multiple appearance models is a challenging task. With availability of low cost sensors and robust algorithms, the field of visual scene reconstruction has advanced considerably. While these advances has enabled robust reconstructions of cluttered and unstructured scenes, an active 3D reconstruction of a generic handheld...
This paper presents the iterative development of an artificially intelligent system to promote home-based neurorehabilitation. Although proper, structured practice of rehabilitation exercises at home is the key to successful recovery of motor functions, there is no home-program out there which can monitor a patient's exercise-related activities and provide corrective feedback in real time. To this...
Modulation of stiffness provides a great deal of advantage in the way humans interact with the environment, and is very important in successfully performing activities of daily living. In the context of human-machine interactions, stiffness control could provide a safer interaction, especially when dealing with unpredictable environment. In this paper we propose a user-modulated stiffness and position...
In this paper the authors introduce a method focusing on the robustness improvement of the landmark tracking system for mobile robot operation in natural environments. We extract feature points from the data obtained by a stereo vision system with CenSurE (Center Surround Extremas for Realtime Feature Detection and Matching) used as a detector, and FREAK (Fast Retina Keypoint) as a descriptor. RANSAC...
In recent years, mobile terminals come to be used to assist works. However, we can not say that they are enough suitable to assist works either that occupy hands or that are accomplished in environment with water or fire, which cause troubles with electronic devices. In this study, in order to solve this problem, we propose an assist system using projection mapping and NUI. Note that our system is...
While teleoperation provides a possibility for a robot to operate at extreme conditions instead of a human, teleoperating a robot still demands a heavy mental workload from a human operator. Learning from demonstrations can reduce the human operator's burden by learning repetitive teleoperation tasks. However, one of challenging issues is that demonstrations via teleoperation are less consistent compared...
A wheeled inverted pendulum cannot balance without control, and it is important to save motion in a control range. In some situations, however, to avoid a collision, the maximum acceleration and deceleration must be applied. A motion-planning method for a wheeled inverted pendulum (“body” hereafter)-which uses full performance from all attitudes under hardware constraints-was developed. The developed...
High-level, closed-loop traversal through obstacle-strewn environments remains an open and challenging endeavor for snake-like robotic platforms. Rectilinear forms of locomotion, despite their unique mobility advantages compared to other gait shapes, have seen relatively little progress toward this objective. A dynamical exposition of traveling wave rectilinear motion is reviewed and applied to generate...
We present a framework for online generation of robust motion plans for robotic systems with nonlinear dynamics subject to bounded disturbances, control constraints, and online state constraints such as obstacles. In an offline phase, one computes the structure of a feedback controller that can be efficiently implemented online to track any feasible nominal trajectory. The offline phase leverages...
We present a novel algorithm for an autonomous underwater robot to visually detect and follow its companion human diver. Using both spatial-domain and frequency-domain features pertaining to human swimming patterns, we devise an algorithm to visually detect the position and swimming direction of the diver. Our algorithm is unique in the way that it allows detection of arbitrary motion directions,...
This paper describes the design and implementation of a repetitive controller (RC) for tracking periodic trajectories in aerial robots, such as unmanned aerial vehicles (UAVs). The RC is ideally suited for situations where the robot is required to execute a defined flight pattern, over and over again in a periodic fashion. Applications include precision agriculture, and search and rescue, where the...
This paper examines the performance of a fuzzy logic controller (FLC) as implemented on a pneumatic robot for application to the polishing of sheet steel. A 3-axis gantry robot with rodless pneumatic cylinders for actuation and proportional flow control valves was modified to enable experiments on the polishing of steel sheet. An air motor with a buffing wheel was mounted on the Z-axis to provide...
This paper proposes an approach to analyze the performance of a table tennis player in returning balls launched by a machine. Video frames streamed by a single-view low-quality camera are used as the input of the proposed approach. Background subtraction, HSV transformation, and morphological processing are also applied to identify the location of the ball. The output of the proposed approach is types...
Detection and tracking of moving objects in video is emerging in computer vision and robotics. Classification of objects in addition to the detection and tracking can lead to better understanding of the scene and helps in taking certain decisions in various applications. Classifying the objects based on the features like color, shape, size, speed, direction of objects in motion has numerous applications...
In this paper is presented the integration of diverse modules for people fallen detection by a mobile service robot. This integration has been achieved in the middleware ROS (Robotics Operation System). The proposed implementation are arranged over an modular architecture of three layers: Hardware, Processing and Decision. The modules implemented are on the processing layer. The first module uses...
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