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Robots need a representation of their environment to reason about and to interact with it. Different 3D perception and modeling approaches exist to create such a representation, but they are not yet easily comparable. This work tries to identify best practice algorithms in the domain of 3D perception and modeling with a focus on environment reconstruction for robotic applications. The goal is to have...
A requirement for human friendly robot had increased dramatically with the demand of assistive robotic having direct interaction with human. We were aiming at generating a smooth and natural cooperative transfers performed by a human-robot system. Prior to the development of such system, characteristics for smooth and natural cooperative object transfer in a human-human system were investigated. Specifically,...
Maximal clearance is an important property that is highly desirable in multi-agent motion planning. However, it is also inherently difficult to attain. We propose a novel approach to achieve maximal clearance by exploiting the ability of evenly distributing a set of points by a centroidal Voronoi tessellation (CVT). We adapt the CVT framework to multi-agent motion planning by adding an extra time...
'PlayLOGO 3D' is a LOGO-like environment to implement Game Based Learning activities especially designed for children aged 6-13 years who learn the very basic instances related to programming. Its educational effectiveness is expected to be shown after school students get involved in formal programming lessons using LOGO or other languages. It is emphasized that students need an introductory level...
An important problem in robotic manipulation is the ability to predict how objects behave under manipulative actions. This ability is necessary to allow planning of object manipulations. Physics simulators can be used to do this, but they model many kinds of object interaction poorly. An alternative is to learn a motion model for objects by interacting with them. In this paper we address the problem...
A robust robot perception system intended to enable object manipulation needs to be able to accurately identify objects and their pose at high speeds. Since objects vary considerably in surface properties, rigidity and articulation, no single detector or object estimation method has been shown to provide reliable detection across object types to date. This indicates the need for an architecture that...
In this work we introduce a novel approach for robot grasp planning. The proposed method combines the benefits of programming by human demonstration for teaching appropriate grasps with those of automatic 3D shape segmentation for object recognition and semantic modeling. The work is motivated by important studies on human manipulation suggesting that when an object is perceived for grasping it is...
After the big curvature complex curved surface partition, for the spray trajectory optimization on spherical surface. Based on the existing 2D model of spray tool, the spray tool 3D model was deduced on spherical surface. Combined with the bounding box method, a generated method of spray tool trajectory was given. Use the methods of adjust spray radius and trajectory partition to discuss the calculational...
The aim of this work is to develop a new algorithm for matching stereo images to the 3D reconstruction. We propose the use of a proximity criterion, to improve performance, and applying of the second chance algorithm. The similarity measures used are mutual information and correlation coefficient. The matching is done between neighborhoods of points of interest extracted from the images. We work in...
The safety of powered two wheelers (PTWs) is an important concern for public authorities and road administrators. In France, even though road safety has improved since 2002, the number of accidents involving PTWs is still high. If we look at the figures, PTWs represent only 1% of the traffic but 28% of the deaths on the road. This shows that the risk of getting killed on a motorbike is 24 times greater...
This paper introduces our mobile platform, which equips multiple sensors for 3D outdoor world modeling. The data from GPS and IMU on the platform are fused to provide vehicle pose on the ground. The laterally installed LRFs(Laser Range Finder) on each side of the vehicle give environment perception information. The data from the LRFs are fused with cameras in order to make colored LRF points. With...
In this paper a visual self-localization method for a humanoid robot is presented. This one is based on monocular information. The goal of this method is to obtain the position (x; y) and orientation θ of the humanoid robot inside the field of play. The methods proposed include some digital image processing algorithms and geometric interpretation to perform a 3D monocular reconstruction, that allows...
Manipulator robots require of comprehensible perception systems that permit them to interact with the environment, localize target objects and perform complex manipulation tasks. To do that, a full-step manipulation process has to be performed involving recognition of supporting planes, object clustering, its recognition and finally smooth arm trajectory planning with obstacle avoidance. The goal...
Incremental Sheet Forming is an advanced manufacturing technology in the recent years. In a lot of cases the process requires the synchronized cooperation of two machines. The complex operation was modelled in a virtual environment, where the cyber objects were deeply connected with the real objects. The result of this virtual cooperation resulted some cognitive observation that is also published...
This paper explores the use of bispectrum analysis of electroencephalogram (EEG) signals in estimation of imagination and observation of hand movements. Five different tasks were observed and subsequently performed in separate runs of 10 trials. Subjects were asked to observe and subsequently perform task on the presentation of an audio cue (both at the start and end of session). The acquired EEG...
This paper presents a real-time and autonomous algorithm for generating low-complexity multi-planar 3D models of indoor environments with a mobile robot equipped with range finders and a panoramic camera. In contrast with previous studies, our algorithm relies on neither iterative computations nor manual processing but, instead, is incremental online. At each time step, a line of range finder measurements...
In this paper, we introduce a new active information display system which is based on Intelligent Space and a projector mounted mobile robot. This system is able to afford a human with relevant information by projecting it on where the human is looking such as a wall, a floor, and a door. For this system, Intelligent Space should recognize location of human. To estimate position of human in Intelligent...
Knee arthroplasty requires precise milling of the implant cavity, which can prolong implant life and thus, improve the surgical outcome. Robot knee arthroplasty can significantly increase precision of the milling for the implant cavity. However, robot systems often involve process of registration (matching coordinates of robot, patient, and the image data), which can be one of the major drawbacks...
Emotional reaction should be different from the purpose of the robot system. The method for emotional reaction is also different from the specification of the robot system. Therefore, emotional behavior decision model, which is applied to social robots regardless of specifications and purposes, is necessary. This paper introduces a universal emotional behavior decision model designed for applying...
A requirement for human friendly robot had increased dramatically with the demand of assistive robotic technology that having direct interaction with human. One of the examples is the cooperative object transfer performed by two humans. We are aiming at generating a smooth and natural cooperative object transfers performed by a human and robotic system. Prior to the development of such system, the...
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