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This paper proposes a novel dimensional scaling bilateral control for mobile-hapto. The dimensional scaling bilateral control realizes force feedback between the master and the slave with different motion areas. By this system, an operator can manipulate velocity of the slave, and feel reaction force at the slave. For realizing this system, force and position responses of the master and the slave...
We present an Online Random Ferns (ORFs) classifier that progressively learns and builds enhanced models of object appearances. During the learning process, we allow the human intervention to assist the classifier and discard false positive training samples. The amount of human intervention is minimized and integrated within the online learning, such that in a few seconds, complex object appearances...
This paper proposes a gradient tracking algorithm based on artificial harmonic potential fields, to support the platooning of a team of nonholonomic mobile robots. The main motivation is the need of dynamically changing the goal-point associated with each mobile robot, in order to guarantee the platoon string stability. Mobile obstacles are taken into account with an approach based on the so-called...
When around humans, one might expect that a social robot would act according to the social norms people expect of each other. When someone does not adhere to a prevalent social norm, people usually feel threatened and uncomfortable. In comparison, insight is needed into what is perceived as socially normative behavior for robots. We conducted an experiment in which a robot approached a participant...
In this paper, we present the adaptation of a sensorless (in De Luca's sense [1], i.e., without the use of extra sensors,) collision detection approach previously used on robotic arms to mobile wheeled robots. The method is based on detecting the torque disturbance and does not require a model of the robot's dynamics. We then consider the feasibility of developing control by physical interaction strategies...
This paper describes a tracking control system of human motion with Kinect on-board a mobile robot. In the proposed system, the 3D position information of human obtained from Kinect enables us to control the velocity and attitude of the mobile robot directly. Meanwhile, there are noises and occlusion effect on the information of Kinect, the Kalman filter is used to reduce the noise and estimate human's...
This paper presents a novel exploration on how to enable a robot to express its intention so that the humans and robot can form a synergic relationship. A systematic design approach is proposed to obtain a set of possible intentions for a given robot from three levels of intentions. A visual intention expression system approach is developed to visualize the intentions and implemented on a mobile robot...
Autonomous mobile robots are often equipped with sophisticated sensors designed to provide the system with a model of its surrounding environment. This information can then be used for making task-related decisions and conveying information back to the operator. To date, autonomous systems tend to exceed at well defined tasks such as navigation, planning, and obstacle avoidance, usually in fairly...
In this paper, the problem of collision avoidance between two vehicles is considered, in which one vehicle is autonomous and the other one is human-driven. This problem arises in cooperative active safety systems at traffic intersections, mergings, and roundabouts, in which some vehicles are equipped with on-board communication and automatic control, while others are not capable of communicating and...
In order to operate mobile robot that can coexist with human, it is necessary to strike a balance between safety and efficiency. It is effective to make a prediction about when and where human exist from data of pedestrian movement and environment. Then, we need to know how the configuration of environment effects pedestrian. This paper presents a measuring system of pedestrian movement tendency,...
A human-robot system in which a mobile robot follows the movement of the laser spot projected on the floor by the laser pointer attached at the human head is considered. Human gives instruction of desired movement to the robot by rotating his or her head. Robot can realize intended movement by following the movement of the laser spot on the floor. Kansei controller is introduced between the instruction...
In this study, a human-following robot based on a laser range scanner and a Kinect sensor is developed for tracking and identifying target human. Most of tracking systems with laser range scanners have the problems of occlusions and the harmful effects of noise. Generally, human tracking systems utilize particle filter to solve those problems. However, if there are several people in the measurement...
This study proposes a "pure skill-based" fuzzy logic control (FLC) approach to reverse a car-like mobile robot(CLMR) into an empty parking bay automatically. The FLC approach was expressed in the form of fuzzy rules based on the knowledge of skilled human drivers. Range measurements were provided to help the CLMR avoid collisions during the parking. Simulations proved the effectiveness of...
This paper presents a survey on applicability of expert system in designing and control of autonomous vehicles. Each of reviewed papers categorized on five categories as expert system, fuzzy expert system, neuro-fuzzy expert system, genetic plus neuro-fuzzy expert system and transition systems. Some earlier works used only a rule based expert system for driving the car but due to the lack of a precise...
This paper presents a semi-autonomous navigation strategy aimed at the control of assistive devices (e.g. an intelligent wheelchair) using low throughput interfaces. A mobile robot proposes the most probable action, as analyzed from the environment, to a human user who can either accept or reject the proposition. In case of rejection, the robot will propose another action, until both entities agree...
Dance is a way of artistic expression. It also can be considered a form of communication. Typically, dance relies on the capability that human beings have to synchronize their movements rhythmically to music. In this work, we propose a music-driven approach to enable mobile robots to dance to a given music. We focus on the automatic generation of paths such that robots jointly performs a choreography...
With the growing demand of personal assistance to mobility and mobile service robotics, robot navigation systems must be “aware” of the social conventions followed by people. They must respect proximity constraints but also respect people interacting. For example, they may not break interaction between people talking, unless the occupants want to take part in the conversation. In this case, they must...
In an exhibition space, it is possible to control human flow implicitly by changing a layout of exhibits. The objectives of this paper are the layout optimization of exhibits to reduce congestion and the amenity space design. For these purposes, macro modeling of human swarm behavior and the optimization method of a layout of exhibits are required. So far, human swarm behavior has been modeled by...
In this paper an approach to gesture recognition is presented. It is based on application of simple ultrasonic range-finders. A set of five gestures is described which can be distinguish in this way. The described method has been implemented for a mobile robot PeopleBot.
The novel approach to use meta-psychology — the theoretic foundation of psychoanalysis — as archetype for a decision making framework for autonomous agents was realized in simulations recently. In addition, multiple studies showed the capability of a robot to sense and interact in its environment. This work fills the gap between sensing, environmental interaction and decision making by grounding these...
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