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We report on the development of a new simulation environment for use in Multi-Robot Learning, Swarm Robotics, Robot Teaming, Human Factors and Operator Training. The simulator provides a realistic environment for examining methods for localization and navigation, sensor analysis, object identification and tracking, as well as strategy development, interface refinement and operator training (based...
SAR robo signifies as Search and Rescue robo approach is being integrated with many degrees of freedom to achieve need based performances. The requirements of SAR is to perform task like Search and Rescue operations under critical situations like terrorists attack, Petroleum mining, bomb detections, exploring planets. Where the risk factor is high to the human system, under such circumstances a SAR...
The paper deals with modeling of human-like reaching movements using probabilistic models. The main issue under study is the generation of asymmetric velocity profiles with features compatible with previously obtained experimental data. For this purpose a popular minimum variance model is exploited and analyzed. A reformulated version of this model that does not feature a post-movement time specification...
We have developed a mobile assistive companion robot by combining a vision sensor and a laser range sensor to track and follow a target person. Although it works well in most cases, robot might lose target occasionally due to external factors such as bad view conditions or unconstructed environments. To solve this problem, we develop a speech system and sound source detection system to achieve sound...
Recently, doctor and medical care persons are shortage by the aging of population. Thus, support systems using a robot are needed for future medical care. The position controller and velocity controller are used in order to operate the human support system. However, these controllers cannot consider complicate and natural human motion. This paper proposes a method of human support system using motion-copying...
Autism is a complex neuro-developmental disorder characterized by qualitative alterations in social interactions and interpersonal communication and by repetitive and stereotyped behaviors. The therapy is based on a free play between an autistic child, a mobile robot and a therapist. The robot is used as a mediator between the child and the therapist to improve human to human interactions. The aim...
This paper presents the critical design constraints of mine detection robots for Korean minefield. As a part of a demining robot development project, the environment of Korean minefield was investigated, and the requirements for suitable robot design were determined. Most of landmines in Korean minefield were buried close to the demilitarized zone (DMZ) more than half of a century ago. The areas have...
This paper discusses challenges of rescue robotics for the future research and development on the basis of the state of art of robotics to respond earthquakes and CBRNE (chemical/ biological/radiological/nuclear/explosives) disasters. The result of analysis showed that intelligence of mobility and execution performance, support for teleoperation, stable telecommunications, localization and mapping,...
This paper describes a robotic walker, Johnnie, that provides assistance to mobility-challenged people, especially elderly people. Our walker is modified from a conventional unpowered four-wheel walker by equipping motors, sensors and some safety devices, providing mobility and stability to it. In our software system, we provide two modes: (1) autonomous mode in which the walker can autonomously navigate...
Expression has become one of important parts in human-robot interaction as an intuitive communication channel between humans and robots. However it is very difficult to construct robot's behaviors one by one. Developers consider how to make various motions of the robot easily. Therefore we propose an useful behavior expression method according to the sentence types and emotions. In this paper, robots...
This paper presents how autonomy adaptation can be useful to enhance the fault tolerance of autonomous mobile robots. For that, we proposed a global and structured methodology which allows integrating specific fault tolerant mechanisms into an adaptive control architecture. When a problem is detected, the autonomous behavior of the robot is automatically adapted to overcome it. The human operator...
Generating a motion for a humanoid robot is very cumbersome task for robot programmers who use machine level program codes to develop new behaviors of the humanoid robot. Especially in the case of a motion that is usually consisted of complex postures with long length such as dances and martial arts, the difficulty of the generation process is very high. In this paper, we propose a method to generate...
Multimodal human-computer interface provides a connection between a user and a computer in a natural manner. In order to determine position of the user and his speech queries, the robot uses a set of web-cameras, microphone array and technologies for distant speech recognition and face tracking. There are some methods for interaction between users and computers, such as manual entry, verbal dialog,...
In this paper, we introduce a new vision based method for robot navigation and human tracking. For robot navigation, we convert the captured image in a binary one, which after the partition is used as the input of the neural controller. The neural control system, which maps the visual information to motor commands, is evolved online using real robots. For human tracking, after face detection, the...
This paper presents a novel human-robot interaction system for which haptic interaction is involved. The system consists of a nonholonomic mobile robot and a Phantom Omni haptic device. The tracking problem on the 2D plane is analyzed and the backstepping technique is used for designing the tracking algorithm for the nonholonomic mobile robot. A haptic rendering algorithm is designed to generate the...
In this paper, we present development of a scheme enabling a commercially available hydraulic robot to work with a haptic device performing live-line maintenance tasks. Presently live line maintenance is done manually by operators working in locations high above the ground and near high voltage power lines. Ground-level teleoperation of a hydraulic manipulator using a haptic device can potentially...
In autonomous bimanual operation of a robot, parallelized planning and execution of a task is essential. Elements of a task have different functional and spatial relationships. They may depend on each other and have to be executed in a specific order or they may be independent and their order can be determined freely. Consequently, individual actions can be planned and executed in parallel or not...
Social robots that provide services to humans in real environments have been developed in recent years. Such a robot should appropriately recognize its users' orders through human-like communications because of user-friendliness. However, their styles of communicating are too diverse to achieve this goal. If the robot could shape their styles, its recognition ability would be improved. An entrainment,...
This paper proposes a navigation algorithm that considers the states of humans and other robots in order to achieve harmonious coexistence between robots and humans. When navigating through humans and robots with different functions, a robot should not only pay attention to obstacle avoidance and goal seeking, it should also take care of whether it interferes with other people or robots. To deal with...
Although human beings see and move slower than table tennis or baseball robots, they manage to outperform such robot systems. One important aspect of this better performance is the human movement generation. In this paper, we study trajectory generation for table tennis from a biomimetic point of view. Our focus lies on generating efficient stroke movements capable of mastering variations in the environmental...
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