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This paper proposes the development of an autonomous navigation robot with hand-cleaning service in indoor environments. To navigate in unknown environments and provide service, the robot is with several intelligent behaviors including wall-following, obstacle avoidance, autonomous navigation, and human detection. A laser-sensor-based approach is used in the wall-following and obstacle avoidance behavior...
Robot localization is a key barrier to providing natural interaction between 3D virtual characters, human users and mobile robots. Knowing where the robot is, relative to a known world-frame, is essential to directed gestures, gazes and expressions between the robot and the other real and virtual participants in a telepresence system. The intrinsic noise of robots is a flexible and robust, yet under-examined,...
Haptic shared control (HSC) has been widely used in human-robot interaction systems, such as car driving and assistive robots. However, the stability analysis of HSC is not well investigated in current literature, especially for the nonlinear systems. In this paper, the stability of HSC for nonlinear systems is analyzed based on the set theory and convex analysis. The authority weight calculation...
This paper deals with the problem of computing trajectories for an exoskeleton that match a motion recorded on a given subject. Literature suggests that this problem can be solved by reconstructing the subject's joint motion using one of the numerous models available, and then feeding the exoskeleton with the joint trajectories. This is founded on the assumption that the exoskeleton kinematics reproduces...
Psychologists note that humans regularly use categories to simplify and speed up the process of person perception [1]. The influence of categorical thinking on interpersonal expectations is commonly referred to as a stereotype. The ability to bootstrap the process of learning about a newly encountered, unknown person is critical for robots interacting in complex and dynamic social situations. This...
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...
This work outlines the development of a reasoning architecture that uses physics-, social-, and agent capability-based knowledge to generate manipulation strategies for a dexterous robot. The architecture learns object affordances through human observations, imposed constraints, and hardcoded physics logic. Human observations are also used to develop a unique manipulation repertoire suitable for the...
Reaching is a fundamental skill for a robot. The purpose of robot reaching is to bring a robot hand to an object without any obstacle collision. Conventional handcrafted methods were complicated to implement reaching skill. Thus, this paper proposes a method using primitives acquired from human demonstrations to learn collision-free reaching skill. End-effector and joint trajectories of primitives...
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...
Use of robotics and computerized tools in Nuclear Power Plants (NPPs) has been identified as a highly recommended practice by IAEA. The key rationale of robotics application has always been to avoid human exposure to hazardous environments and tasks ranging from scrutiny and general maintenance to decontamination and post accidental activities. To execute these activities, robots need to incorporate...
Dexterous robotic hands are still not used in production lines, mainly because of the complexity to operate such hands. Most often a robotic hand is used to grasp and hold the object of interest while the object motion is performed by the arm. From studies on human grasping it is known that most of the grasping task can be reduced to two independent degree of freedom which drive the joints of the...
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...
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...
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...
We present a novel robotised search procedure to find flaws in buried pipelines. The motion planning system is based on an electrochemical ground measuring technique called direct-current voltage gradient (DCVG), and we combine it with the use of a tele-robotics assistance system. Remote human-robot interaction (HRI) deploys a trade on/off of information to accomplish defects search (in semi-autonomous...
The purpose of this research is to build an automatic violin player. The method is to study the violin playing skill, and to develop the automatic mechanism. This research is an extension work of the previous violin robot. The new robot consists of two mechanical systems. The first system is the bowing mechanism, which is able to control the bowing velocity and position. The second system is the violin...
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...
In this research project we present the design and construction of a biped robot based on dynamic walking. The main objective of this research is the assimilation of technology in the field of dynamic walking robots, therefore, we built a prototype based on a previously built robot developed at Delft University created by Martjin Wisse. The reason for performing this research is to have a starting...
This work intends to identify common performance metrics for task-oriented human-robot interaction. We present a methodology to assess the system performance of a human-robot team in achievement of collective tasks. We propose a systematic approach that addresses the performance of both the human user and the robotic agent as a team. Toward this end, we attempt to determine the true time that an operator...
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