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Service robot has received enormous attention with rapid development of advanced technology in recent years, and it is endowed with the capabilities of performing human-robot interaction (HRI). We construct a sensor fusion based system to integrate the information from both sensors by using a data association approach - Covariance Intersection (CI). It will be used to increase the robustness and reliability...
Telexistence technology enables a highly realistic sensation of existence in a remote place without any actual travel. The concept was originally proposed by the first author in 1980, and its feasibility has been demonstrated through the construction of alter-ego robot systems such as TELESAR & TELESAR V, which were developed under the national large scale project on “Robots in Hazardous Environments”...
Methods designed to enable robots to learn on their own is a heavily studied area. If robots are to become an integral part of our society, they must possess the ability to learn without direct guidance from a dedicated user. Robot owners will not enjoy the duty of teaching their robot everything it knows. The ability for a robot to utilize various resources in its environment will enable its learning...
The prospect of controlling devices merely by the power of one's thoughts is compelling, especially for assistive technology applications. In the accompanying video, we show how we have strived to push brain-computer interface (BCI) technology out of the lab and into the real world, while simultaneously moving away from testing solely with healthy subjects to undertaking trials with patients and potential...
This paper addresses the problem of planning a policy in large environments where the actions of a robot affect the distribution of uncertainty in the environment. We focus on the problem of robot navigation through interactive crowds and present an anytime receding horizon technique that uses AO* together with small look-up table solutions. We demonstrate the feasibility of this technique in simulations...
In recent years, musculoskeletal robots are being intensively studied to exploit the advantages of biological musculoskeletal systems for robot developments. In these robots, it is very important to assure engineering, biomechanical, and anatomical plausibility at the same time. However, these requirements are often in contradiction. Especially, in the human's shoulder complex, mimicking the glenohumeral...
This study focuses on joint motion patterns of humans that move together with other humans or objects. Since this scope embraces ‘group motion’, which relates only humans, and expands its extent of interactions accounting for various auxiliary instruments such as walking aids or pushcarts, we term this collective motion pattern as ‘coherent’ motion. Coherence is proposed to be characterized by the...
Autonomous swarm algorithms have been studied extensively in the past several years. However, there is little research on the effect of injecting human influence into a robot swarm-whether it be to update the swarm's current goals or reshape swarm behavior. While there has been growing research in the field of human-swarm interaction (HSI), no previous studies have investigated how humans interact...
This paper presents the main vision and research activities of the ongoing European project AIRobots (Innovative Aerial Service Robot for Remote Inspection by Contact, www.airobots.eu). The goal of AIRobots is to develop a new generation of aerial service robots capable of supporting human beings in all those activities that require the ability to interact actively and safely with environments not...
This paper presents results related to a new design approach dedicated to cognitive system strategies. The scenario concerning a robot integrated in a cognitive system is described. The paper focuses on the development of a pattern of human knowledge and on a new data structure which are able to organize and manipulate the involved information. The definitions of signatures and of signature classes...
Considerable time and effort often go into designing and implementing experimental set-ups (ES) in robotics. These activities are usually not at the focus of our research and thus go underreported. This results in replication of work and lack of comparability. This paper lays out our view of the theoretical considerations necessary when deciding on the type of experiment to conduct. It describes our...
In this work we use hand configuration and contact points during in-hand object exploration to identify the manipulated objects. Different contact points associated to an object shape can be represented in a latent space and lie on a lower dimensional non-linear manifold in the contact points space which is suitable for modelling and recognition. Associating and learning hand configurations to specific...
In this paper, we propose a novel motion detection method for moving human detection based only on range sensor. Different from the state-of-art frameworks on human detection field, our innovation is taking advantages of range data in motion detection and introducing a effective motion capture approach. In preliminary segmentation term the concept of Positive Motion is presented which can obtain points...
This paper describes an anthropomorphic robot hand and its experiments. The robot Hand is a very complicated system composed of a large number of joints. Also, there are limitations of size and weight in the development of the robot hand. Because of these reasons, to manufacture an useful robot hand is a difficult work. Our final goal is a development of a robot hand for practical use in wide service...
In this work, we present and evaluate an ensemble approach towards the modeling and mitigation of congestion in multi-agent robotic systems operating in a dynamic environment. In particular, we consider the problem of congestion management between robots and robots and human agents in an automated factory or warehouse. The main contribution of this work is the development of appropriate ensemble models...
In many application cases, 2D human postures display haven't been able to meet people's requirements which is failure to show human motions comprehensive, image and vivid. However, 3D human Postures display could restore and show human motions well, which is convenient for people to observe and learn human motions. This paper presents a method to recognize 3D human postures by using Microsoft Kinect...
Factory automation has been largely applied on the existing infrastructure of the steel industry in the perspective of increasing production, reducing cost, increasing customer satisfaction, and sustaining the global competition. Many workers, however, have still physically suffered from the backbreaking work due to the two twelve-hour shifts and continuously repeating jobs under dangerous and unstructured...
A new method is proposed for using a combination of measurements from a laser range finder and a depth camera in a data fusion process that benefits from each modality's strong side. The combination leads to a significantly improved performance of the human detection and tracking in comparison with what is achievable from the singular modalities. The useful information from both laser and depth camera...
In this paper we present the architecture of ViRAT (Virtual Reality for Advanced Tele-operation), the hardware-software platform we developed to support researches and studies dealing with multi-robotics. The achieved architecture is multi-purposes and as such, allows a wide spectrum of operation modes ranging from full tele-operated controls to full autonomous exploitation. From the hardware point...
It is essential for robots to be highly usable to achieve increased acceptance among target population. In this paper, we put forward a metric that measures easiness of acceptance using the length of time to initiate interaction, total interaction time, time needed to identify perception-reaction phenomenon, its occurrence, number of violations and affective interaction factor. This measure would...
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