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This paper presents a number of concepts related to benchmarking and evaluation of grasping and manipulation. A set of “Objects of Daily Living” based on a review of common domestic objects for manipulation as identified from sources in the literature is put forward, along with the physical properties of sample objects in those categories. Next, an experimental evaluation of the coefficient of static...
In this paper, we report on our development of a robotic system that assists people in accomplishing simple tasks in daily life (e.g., retrieving objects for handicapped and elderly people). These tasks, inevitably involve detecting various kinds of objects. In particular, here, we present an interactive method to detect objects using spatial information. Our experimental results confirm the usefulness...
The paper deals with modeling of human-like reaching movements. Several models are under study. First, we consider a model of reaching movement that corresponds to the minimization of control effort. It is shown that this model is represented by the well-known Beta function. The representation can be used for the construction of fractional order models and also for modeling of asymmetric velocity...
For a Mobile Robot to navigate in the Human-Centered environment without imposing alien like impression by its motion, it should be able to reason about various criteria ranging from clearance, environment structure, unknown objects, social conventions, proximity constraints, presence of an individual or group of peoples, etc. Also the robot should neither be over-reactive nor be simple wait and move...
The goal of rescue robotics is to extend the capabilities and to increase the safety of human rescue teams. During a rescue mission a mobile robot is deployed on a rescue site and is operated from a safe place by a human operator. The operator can not see the robot and the environment and a decision on the path selection is very complicated. Our goal is to provide a kind of automatic “pilot system”...
This paper explores the efficient construction of the database structure for the human-like arm motion generation using an evolutionary algorithm-based an imitation learning in real-time. The framework of the arm motion generation consists of two processes, imitation learning of human arm motions and generating of a human-like arm motion using the motion database evolved by the learning process in...
Skill or motion transfer from someone to other persons is always required for dance teaching, rehabilitation, sports and so on. For teaching or transfer of motion, a dance notation and display of sequence of motion are often used effectively. However, these contain only the instantaneous postures of motion or professional subjective sense, it is not easy for beginners to understand the dynamical knack...
Backdrivability is a keyword with rising importance, not only in humanoid robots, but also to wearable robots. Power assist robots, namely exoskeletons are expected to provide mobility and independence to elderly and people with disability. In such robots, without backdrivability, error between human and robot motion can be painful; sometimes dangerous. In this research, we apply a type of hydraulic...
For successful deployment, personal robots must adapt to ever-changing indoor environments. While dealing with novel objects is a largely unsolved challenge in AI, it is easy for people. In this paper we present a framework for robot supervision through Amazon Mechanical Turk. Unlike traditional models of teleoperation, people provide semantic information about the world and subjective judgements...
Recent advances made in IT technology has given much impetus to the development of multimedia devices. The digital camera is such a multimedia device. It has made much progress and become very popular, as most people now own a digital camera or cell phone with camera features. People often take photographs in everyday life. Professional photographers often take photographs of travel destinations,...
Gait pattern planning is an important issue in robotic gait rehabilitation. Gait pattern is known to be related to gait parameters, such as cadence, stride length, and walking speed. Thus, prior before the discussion of gait pattern planning, the planning of gait parameters for natural walking should be addressed. This work utilizes multi-layer perceptron neural network (MLPNN) to predict natural...
Mobile robots that are employed in people's homes need to safely navigate their environment. And natural human-inhabited environments still pose significant challenges for robots despite the impressive progress that has been achieved in the field of path planning and obstacle avoidance. These challenges mostly arise from the fact that (i) the perceptual abilities of a robot are limited, thus sometimes...
Classification of spatial regions based on semantic information in an indoor environment enables robot tasks such as navigation or mobile manipulation to be spatially aware. The availability of contextual information can significantly simplify operation of a mobile platform. We present methods for automated recognition and classification of spaces into separate semantic regions and use of such information...
Technology for multirobot systems has advanced to the point where we can consider their use in a variety of important domains, including urban search and rescue. A key to the practical usefulness of multirobot systems is the ability to have a large number of robots effectively controlled by small numbers of operators. In this paper, two modalities for controlling a team of 24 robots in a foraging...
In human society, there are many invisible social rules or spatial effects existing in our environments. The robot that does not comprehend these spatial effects might harm people or itself. This paper presents a spatial behavior cognition model (SBCM) to describe the spatial effects existing between people and people, people and environments. By understanding the spatial effects in human-lived environments,...
In aging societies, there is a strong demand for robotics to tackle problems caused by the aging population. Patient transfer, such as lifting and moving a bedridden patient from a bed to a wheelchair and back, is one of the most physically challenging tasks in nursing care, the burden of which should be reduced by the introduction of robot technologies. We have developed a new prototype robot named...
This paper presents a trajectory planning algorithm for a robot operating in dynamic human environments. Environments such as pedestrian streets, hospital corridors, train stations or airports. We formulate the problem as planning a minimal cost trajectory through a potential field, defined from the perceived position and motion of persons in the environment. A Rapidly-exploring Random Tree (RRT)...
This paper considers the path planning problem for an autonomous vehicle in an urban environment populated with static obstacles and moving vehicles with uncertain intents. We propose a novel threat assessment module, consisting of an intention predictor and a threat assessor, which augments the host vehicle's path planner with a real-time threat value representing the risks posed by the estimated...
Natural language is a flexible and intuitive modality for conveying directions and commands to a robot but presents a number of computational challenges. Diverse words and phrases must be mapped into structures that the robot can understand, and elements in those structures must be grounded in an uncertain environment. In this paper we present a micro-air vehicle (MAV) capable of following natural...
This paper proposes a novel approach for extracting a model of movement primitives and their sequential relationships during online observation of human motion. In the proposed approach, movement primitives, modeled as hidden Markov models, are autonomously segmented and learned incrementally during observation. At the same time, a higher abstraction level hidden Markov model is also learned, encapsulating...
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