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An autonomous robot, which makes decisions based on previous experience and feedback from its sensors is one of the challenges in robotics. Among the most promising framework to bring traditional robotics towards true autonomy is reinforcement learning. However, reinforcement learning in high dimensional spaces usually required to encode robot tasks is extremely difficult. The key idea to speed up...
Research in the field of emotional interaction is discussed here, for the EmotiRob project, to maintain interaction with children in the 4-to-8 year old age range. The objective of this project is to give comfort to vulnerable children and/or those undergoing long-term hospitalisation through the help of an emotional robot companion. The studies carried out on perception and emotional synthesis have...
In the field of human-robot interaction, it is the key problem for the robot to know the information of the interactive partner. Without obtaining these information the robot couldn't realize what is the partner means. Currently most of the interactive robots have vision sensors to catch human face, and then perform some reactions to the interactive partner. But it could only access under strict conditions...
In this paper, we present a system for grasp observation, mapping and execution on humanoid robots to provide intuitive and natural way of communication between humans and robots. This system enables a human user to teach a robot how to grasp an object. The system includes four main components: the hand movement tracking component which provides the approach direction toward the object, the pre-grasp...
This paper proposes a robot behavior model to build causality not before events but after events in the smart environment. Although smart environment is a useful approach to help elderly people and the physically-challenged people and so on, it cannot avoid the system error, and it gives users discomfort. To solve the problems, we pay attention to causality illusion, and aim to build a robot behavior...
Book arrangement task is still executed by humans, and it has not been mechanized, yet. So, we are developing a book arrangement robot system. Our developed system can insert the grasping book to the narrow gap in the bookshelf or in case the side book is inclined. We have constructed an operation by the robot arm based on the human operation. Physical models of the book for examining the conditions...
Our vision of computing for rescue robotics is to achieve Metcalfe's Law sized effects, where the value of multiple heterogeneous robots (100) to diverse stakeholders (100) is proportional to the square of the connections. The more stakeholders who can access and use the data from more robots in real-time, the greater the expected value of robots to the emergency enterprise. This would shift the paradigm...
The use of visual systems to guide robots in manipulation tasks fails when the grasping tool is close to the target, mainly due to the occlusions produced by the robot tool or by the object geometry. Moreover, the robot controller must take into account the presence of human operators within the workspace who can interact in the robot manipulation task. The scheme proposed in this paper solves this...
Software architectures people use to control robots differ in their intended aptitudes, towards either a particular application area, or a particular phase of robot use (behavior design, tests, deployment, etc). They also differ in their physical appearance, and more importantly, in their logical structure. The question arises, do the idiosyncrasies reflect basic logical properties of the situation...
Nature teaches us how the collaboration between the members of a herd is an important aspect to ensure their survival as a group. Collaboration requires communication, but it may happen that it could not be established for some reason. In this context, members of the herd have to make decisions on its own, trying to do the best for the group. Inspired by this principle, we have designed a method to...
Exploration of unknown environments has numerous applications in the domains of search and rescue, pursuit-evasion, map building, and military espionage and intelligence gathering. While it is ideal to have autonomous robots search intelligently based on global patterns and features of each environment, such learning algorithms should also be informed by, and perform at least as well as, human exploration...
This study builds upon previous work regarding people's attitudes toward robot workers, identifying the characteristics of occupations for which people believe robots are qualified and desired. This research updates prior research and adds a new dimension of respondent expertise in the domain of robotics (N=392, which includes 134 robotics experts and 258 non-experts). We deployed a web-based survey...
The human musculoskeletal system is supposed to play an important role in doing various static and dynamic tasks. From this standpoint, some musculoskeletal humanoid robots have been developed in recent years. However, existing musculoskeletal robots did not have upper body with several DOFs to balance their bodies statically or did not have enough power to perform dynamic tasks. We think the musculoskeletal...
Manufacturing industry tends to employ more flexible assembly cells for High-Mix, Low-Volume production. We has proposed an innovative human and robot hybrid assembly cell within this purpose to solve the problem of persistent growing cost for human resources and now and again changes in programs and configurations for robots, and to achieve a high manufacturing efficiency. One of the key issues is...
In this paper, we present a control theoretic formulation for composing human control inputs with an automatic controller for shared control of a quadruped rescue robot. The formulation utilizes a model predictive controller to guide human controlled leg positions to satisfy state constraints that correspond to static stability for the robot. A hybrid control architecture that incorporates the model...
Intelligent robot assistants will be simpler for laypersons to use if the robots are able to cooperate with their users anthromimetically. However, designing an anthromimetic robot controller requires knowledge of human behavior in the domain of interest. Previous works have identified cooperative carrying as an ideal task for robotic assistants, but studies of human behavior in this domain are few...
If robots are to cooperate with humans in an increasingly human-like manner, then significant progress must be made in their abilities to observe and learn to perform novel goal directed actions in a flexible and adaptive manner. The current research addresses this challenge. In CHRIS.I [1], we developed a platform-independent perceptual system that learns from observation to recognize human actions...
This paper presents the history, current position and future aspirations of the mobile robot competition. It has been run for a number of years in the past under the guidance of National Instruments as an undergraduate competition for National Instruments based software and hardware. By 2011 it has expanded to include all levels of academia, is no longer limited in the hardware or software architecture...
In this paper, a multi-agent search scheme is presented that supports the recognition of activities and, thus, learning methods for cooperative human-robot interaction. In our approach, stochastic models of human search activity are used to estimate state for HRI. The robot updates a Probabilistic Distribution Function of the target object using the observations and the estimated state of human peers...
In this paper we address robot-human interactions in a multi-robot and people group framework. The objective is to develop and evaluate techniques for missions in which several robots cooperate among themselves, interacting with a group of people. The robots detect people behaviors and act consequently adopting different strategies. Probabilistic techniques for robust cooperative detection of group...
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