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In this paper we present the development of a novel multi-user human-robot interaction (HRI) system architecture to allow the social robot Tangy to autonomously plan, schedule and facilitate multi-user activities while considering the users' schedules. During scheduled activities, the robot is able to interact with a group of users by providing both group-based and individualized assistance based...
This paper introduces a strategy planner for nondeterministic hybrid systems with complex continuous dynamics. The planner uses sampling-based techniques and game-theoretic approaches to generate a series of plans and decision choices that increase the chances of success within a fixed time budget. The planning algorithm consists of two phases: exploration and strategy improvement. During the exploration...
This paper presents a system that enables the drum beats to be automatically detected using auditory cues and will be used ina drum-based human-robot interaction game. In pursuit of creating an interactive drumming game, where a human user is able to play drums with a humanoid robot relying on turn-taking and imitation principles, in this work, we specifically focus on creating an online and real-time...
Video-games are effective and motivating tools in the rehabilitation of patients. This study presents a video-game based platform controlled by a haptic device for the rehabilitation of Neglect patients. Haptic structure, game engine, game design criteria and example games are presented in detail.
We report on Shallow Blue (SB), an autonomous chess-playing agent designed on a limited budget with off-the-shelf consumer components. The system combines vision, piece manipulation, and decision-making functions to allow autonomous play against humans. SB demonstrates the increasing sophistication available to educators and students with consumer grade hardware, as well as the growth of opportunities...
The ankle joint is critical to upright balance control and gait function, and is a common location for orthopedic or neurological injuries — e.g., every year in the US 628,000 people suffer ankle sprains and 795,000 suffer a stroke. The Virtually-Interfaced Robotic Ankle and Balance Trainer (vi-RABT) is a rehabilitation system designed to help such individuals improve their ankle and balance control...
This paper presents StimCards, an interactive and configurable Question and Answer game which can be applied to cognitive stimulation. This paper reviews experiments done to validate StimCards and draws up a report on these experiments and on StimCards contribution. This game is special because users can create their own questions and their own game scripts, and decide which digital devices will be...
Recently, there has been an increasing interest and demand for an effective use of leisure time. Many Koreans especially enjoy horseback riding as one way of spending leisure time. Some scholars noticed psychological, social, and emotional benefits produced by horseback riding because it is connected with various aspects of human movement and a special connection with an animal. Therefore, this study...
This research describes a dynamic role allocation and fast formation positioning method in the multi-agent robot soccer domain. The optimal role assignment is a well-known problem from operations research, and the problem-solving techniques include the simplex method and the Hungarian method. The goal of those methods is to calculate the running time of positioning and to minimize the sum of all costs...
This paper proposes a real-time application for detecting the moves of a chess game given a video stream from a camera positioned over the board. A custom implementation based on square identification of flood filled regions is used to detect colored chessboards in arbitrary backgrounds. The detected board is transformed to a normalized image, and occupancy of the chessboard is determined by classifying...
It is the aim of this work to research how short-comings of a social robot due to its expressive limitations may be overcome by multimodal feedback. An experiment is proposed in which a robot that cannot produce facial expressions plays a game of rock, paper, scissors with people. A screen which is built-in the torso of the robot is used to compensate for these limitations in expressiveness and provide...
What's the most important sources of information to guess the internal strategy of your opponents? The best way is to play games against them and infer their strategy from the experience. For novice players, they should play lot of games to identify other's strategy successfully. However, experienced players usually play small number of games to model other's strategy. The secret is that they intelligently...
In this study, we propose a tiny Lisp system that runs on an embedded education board. Before learning embedded programming with C, students used a Lisp system in order to get used to the control of the devices on the hardware. Through a three-week class, novice students was able to write programs such as a roulette game and a robot arm controller.
Many real robot applications require the sequential use of multiple distinct motor primitives. This requirement implies the need to learn the individual primitives as well as a strategy to select the primitives sequentially. Such hierarchical learning problems are commonly either treated as one complex monolithic problem which is hard to learn, or as separate tasks learned in isolation. However, there...
In this study, we design a novel air-hockey robot system that switches strategies according to the playing styles of its opponent. The system consists of a four-axis robot arm and two high-speed vision sensors. We control the robot using visual information received at a rate of 500Hz. The control system consists of three layers: motion control, short-term strategy, and long-term strategy. In the motion...
The study of a Multi-Agent System using multiple autonomous robots has recently attracted much attention. With the problem of target tracking as a typical case study, multiple autonomous robots decide their own actions to achieve the whole task which is tracking target. Each autonomous robot's action influences each other, so, an action decision in coordination with other robots and the environment...
This paper deals with the problem of overlapping mode-dependent H∞ filter design for discrete-time Markovian jump linear systems subject to randomly overlapping switching laws and incomplete transition probabilities. By employing a new overlapping decomposition method, the original Markovian jump linear system is reformulated by several local overlapping switched groups governed by some local overlapping...
In the recent decades an impressive progress was done in automation and robotic fields. Projects such as Google driverless car with “sense and avoid” capabilities or intelligent Unmanned Air Vehicle (UAV) are examples of interesting research works targeting a high degree of autonomy. In this context we underline the unavoidable requirement for improving path planning algo-rithms. Indeed, path planning...
In this paper, we consider the problem of generating control policies for a team of robots moving in an environment containing elements with probabilistic behaviors. The team is required to achieve an optimal surveillance mission, in which a certain proposition needs to be satisfied infinitely often. The goal is to minimize the average time between satisfying instances of the proposition, while ensuring...
We address the problem of real-time gesture recognition, and we prove that our system can be used in real scenarios presenting an original memory game; the object of the game is to perform the longest sequence of gestures that it is possible to remember. We explore the human-robot interaction field, letting the player confront a humanoid robot, iCub. Our main contribution is two-fold: on one hand,...
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