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This manuscript describes in detail the development of an avatar robot for human companion tasks. The mobile robot embodies a remote human to have communications with other human while walking in close proximity to the mobile robot. The robot takes the role of a physical interface to deploy mobility, sensors and telepresence with personification throughout some behaviours of the remote human. Behaviours...
This paper presents an approach to the integration of the sense of smell in social robots. The Intelligence Control Group of CAR (CSIC-UPM) has been working on the design of URBANO, a tour guide robot. The URBANO's software architecture is based in agents using SOAP proposal. Some agents offer cognitive services, such as the automatic generation of presentations, learning of concepts using internet...
The whole mechanical design process is redefined with image representing each key conception and procedure. Image is considered to be the basic element in design process and also a medium for bridging the gap between the human and machine design. Besides, the knowledge and experience on which mechanical design is strongly based are described as a store of high dimensional images in human mind and...
In this paper, an exoskeleton robotic device worn by human operator is developed mainly for support and rehabilitation, as well as improvement of human capabilities. In order to enhance the device ability to finely interact with a human limb, it is necessary to develop a control interface for exoskeletons, which would guarantee comfort and safety, as well as efficiency and robustness. The developed...
Since the advance of the aging society with a falling birthrate, technical inheritance has been a serious problem. This paper proposes a method to provide a skillful motion. First, haptic data (i.e., position and force information) is acquired using a bilateral control system. Second, the acquired haptic data is divided into action components by using modal transformation. Third, position and force...
Motivated by cognitive considerations about human knowledge representation we introduce a new approach for robot motion planning and control. Instead of reasoning about positions in a global cartesian coordinate frame we utilize relative orientation and distance information between the robot and perceived objects in the environment. A representation built upon these considerations enables on the one...
This paper proposes a method for constituting the formation of a multi-robot system according to dynamically changing environments. First, we apply a method of multi-objective behavior coordination for integrating behavior outputs from the fuzzy control for collision avoidance and target tracing. Second, we apply a spring model to calculate the temporary target position of each robot for the formation...
Recently, the need of robot partners is increasing. Such robots should have an emotional model in order to co-exist and to realize the natural communication with people. In the communication, nonverbal communication and emotional expression based on emotional model are very important for robot partners. Moreover, facial and gestural expression should be adaptive to a user of the robot. Therefore,...
This paper proposes a method for learning the kicking motion of an inverted-pendulum mobile robot from the observation of a human player's demonstration. An inverted-pendulum mobile robot with upper and lower body links observes the human demonstration with a motion capture system and estimates the posture of each human links. The robot maps the links to its own two links and estimates link posture...
Humans are still responsible for operating complex equipment because they are able to respond during emergency situations. By removing the pilot from an aircraft, Unmanned Air Vehicles (UAVs) are vulnerable to unpredictable activity within their environment. The landing process is the most stressful phase of flight for pilots and as a consequence, a significant number of UAV are being destroyed or...
This work aims to extend the constraint-based formalism iTaSC for scenarios where physical human-robot interaction plays a central role, which is the case for e.g. surgical robotics, rehabilitation robotics and household robotics. To really exploit the potential of robots in these scenarios, it should be possible to enforce force and geometrical constraints in an easy and flexible way. iTaSC allows...
This paper describes a set of experiments in which an upper-torso humanoid robot learned to slide a card through a card reader. The small size and the flexibility of the card presented a number of manipulation challenges for the robot. First, because most of the card is occluded by the card reader and the robot's hand during the sliding process, visual feedback is useless for this task. Second, because...
While robotic hands have been developed for manipulation and grasping, their potential as tools for performance evaluation of engineered products - particularly compliant garments that are not easily modeled - has not been broadly studied. In this research, the development of a low-cost anthropomorphic robotic hand is introduced that is designed to characterize glove stiffness in a pressurized environment...
In the near future, as robots become more advanced and affordable, we can envision their use as intelligent assistants in a variety of domains. An exemplar human-robot task identified in many previous works is cooperatively carrying a physically large object. An important task objective is to keep the carried object level. In this work, we propose an admittance-based controller that maintains a level...
The objective of this paper is to present a strategy to safely move a robot in an unknown and complex environment where people are moving and interacting. The robot, by using only its sensor data, must navigate respecting humans' comfort. To obtain good results in such a dynamic environment, a prediction on humans' movement is also crucial. To solve all the aforementioned problems we introduce a suitable...
This paper presents a probabilistic framework combining heterogeneous, uncertain, information such as object observations, shape, size, appearance of rooms and human input for semantic mapping. It abstracts multi-modal sensory information and integrates it with conceptual common-sense knowledge in a fully probabilistic fashion. It relies on the concept of spatial properties which make the semantic...
We presented our works relative to anthropomorphic motions. We performed task recognition, full-dynamic motion generation, motion retargeting and editing in a unified framework: the stack of tasks. Thanks to the genericity of the task function formalism, our works can be further extended. For example, for the recognition, the use of the task function formalism applied to human motion is currently...
This work presents the novel concept of Tele-Impedance as a method for controlling/teleoperating a robotic arm while performing tasks which require significant dynamics variation. As an alternative method to bilateral force-reflecting teleoperation control approach, which uses a position/velocity command combined with force feedback from the robot side, Tele-Impedance enriches the command sent to...
Design of low cost, high speed portable color sensor suitable for use in external light environment susceptible to disturbances is presented. The color identification is based on sensing Red (R), Green (G) and Blue (B) colors reflected from the object using an ambient light phototransistor. The RGB combinations are divided into eight colors. The color sensor does not need optical devices and color...
With the development of technology, humanoid robots gradually enter our life, not only for education, but helping people with housework and many other tasks, some of which are inevitable for human. But only few people know how to control and interact with a humanoid robot, which hinders the development of humanoid robot. So a human-robot interactive demonstration system is designed to help non-expert...
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