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The personality of humanoid robots 23

The personality of humanoid robots

引用

23rd IEEE International conference on Intelligent Engineering systems (INES)

作者： Kadar, Peter Obuda Univ Dept Power Syst Alternat Energy Res Knowledge Ctr Becsi U 94 H-1034 Budapest Hungary

ISBN: (纸本)9781728112138

Humanoid robots that can be our chat partners have recently appeared on the scene. In the first section of the paper we overview the existing techniques that bestow the robot many automatic smart skills, like image and speech recognition, speech synthesis, autonomous control functions, translation capability, sense of locality, follow up rule base. The next part discusses the simulation of the peccable human individual by inaccuracy, probability, playing by the game theory. The traditional machine learning uses preprogrammed structures and the database is broadened continuously. A simple reproduction algorithm can also be programmed. The notions of beauty and art are still only statistical concepts. In the third part the truly in grain innovation capability is treated, the generation of new structures that have not been solved, yet. We also make distinction between the sensors, senses and sensuality. We cannot talk about self-consciousness yet. The notions of transcendence, love, faith without previously stored algorithms have not emerged either. As a conclusion we can say that robots look perfectly human, but without human inference they do not possess natural selfawareness.

关键词： humanoid robots algorithmic features personality

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Hybrid strategy for evaluating on-orbit servicing, assembly, and manufacturing technologies

Hybrid strategy for evaluating on-orbit servicing, assembly,...

引用

Accelerating Space Commerce, Exploration, and New Discovery conference, ASCEND 2020

作者： Brannan, Justin C. Carignan, Craig R. Roberts, Brian J. Millennium Engineering and Integration Company ArlingtonVA22202 United States Space Systems Laboratory University of Maryland Aerospace Engineering Department College ParkMD20742 United States GreenbeltMD20771 United States

ISBN: (数字)9781624106088

ISBN: (纸本)9781624106088

The next generation of science and space infrastructure will require a more mature set of robot technologies that enables servicing, assembly and manufacturing capabilities while reducing mission cost, schedule time, and risk. The Exploration and In-Space Services (ExIS) Project Division at NASA Goddard Space Flight Center (GSFC) seeks to advance the state-of-the-art tools and techniques that will enable on-orbit servicing, assembly and manufacturing (OSAM) proofs-of-concept, demonstrations, and missions. Multiple strategic goals from NASA’s Space Technology Mission Directorate (STMD) will be addressed, including the need for large space structures and advanced autonomy to support development of lunar and space-based infrastructures. Over two dozen industrial, engineering and flight robot systems are already being utilized as part of an integrated architecture that supports both hardware-in-the-loop and software-only simulations to evaluate designs, develop technologies, and conduct tests for future missions. The OSAM-1 mission to refuel a Landsat 7 satellite with a robotic servicing vehicle and the Robotic Refueling Mission to test robotic tools on the International Space Station have both utilized simulation infrastructure available at GSFC, including robot algorithm development and subsystem-level verification and validation. Based on decades of related robotics development, the existing system engineering, facilities, and software portfolio can be adapted to support a variety of OSAM missions. © 2020 The MITRE Corporation. All Rights Reserved.

关键词： Satellites Service robots International Space Station NASA Goddard Space Flight Center Large Space Structures systems Engineering Space Technology Robotics Robotic Manipulators Commercial off the Shelf

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Hybrid Multi-Robot System for Drilling and Blasting Automation

Hybrid Multi-Robot System for Drilling and Blasting Automati...

引用

International conference on Control, Automation, Robotics and Vision (ICARCV)

作者： Dac Dang Khoa Nguyen Yujun Lai Sheila Sutjipto Gavin Paul Center for Autonomous Systems (CAS) Faculty of Engineering and Information Technology University of Technology Sydney (UTS) Sydney Australia

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

Multi-robot systems possess the potential of becoming the next generation of robots in the mining industry due to their robustness and scalability. However, they present challenges for the system to efficiently allocate tasks to each robot and allow them to navigate toward their targets safely. This paper introduces a hybrid approach method for a multi-robot system, alongside with a case study in drilling and blasting automation. A Centralized Control Unit delegates tasks and information among the robots in the system, each equipped with a decentralized motion planner that supports cooperative inter- robot collision avoidance. The proposed system inherits the advantage of a centralized multi-robot system in providing a time-wise optimal solution; while also possessing the computational benefit and scalability of a decentralized system. Simulations were conducted to validate the proposed method and discuss insights into the efficacy and performance of the proposed method.

关键词： robots Task analysis Collision avoidance Robot kinematics Planning Multi-robot systems Service robots

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Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion

Autonomous Spot: Long-Range Autonomous Exploration of Extrem...

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2020 IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： Amanda Bouman Muhammad Fadhil Ginting Nikhilesh Alatur Matteo Palieri David D. Fan Thomas Touma Torkom Pailevanian Sung-Kyun Kim Kyohei Otsu Joel Burdick Ali-akbar Agha-Mohammadi Division of Engineering and Applied Science California Institute of Technology Pasadena CA USA NASA Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

This paper serves as one of the first efforts to enable large-scale and long-duration autonomy using the Boston Dynamics Spot robot. Motivated by exploring extreme environments, particularly those involved in the DARPA Subterranean Challenge, this paper pushes the boundaries of the state-of-practice in enabling legged robotic systems to accomplish real-world complex missions in relevant scenarios. In particular, we discuss the behaviors and capabilities which emerge from the integration of the autonomy architecture NeBula (Networked Belief-aware Perceptual Autonomy) with next-generation mobility systems. We will discuss the hardware and software challenges, and solutions in mobility, perception, autonomy, and very briefly, wireless networking, as well as lessons learned and future directions. We demonstrate the performance of the proposed solutions on physical systems in real-world scenarios. 3 The proposed solution contributed to winning 1st-place in the 2020 DARPA Subterranean Challenge, Urban Circuit. 4

关键词： Legged locomotion Wireless communication Computer architecture Hardware Software Planning robots

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Velocity Constrained Trajectory generation for a Collinear Mecanum Wheeled Robot

Velocity Constrained Trajectory Generation for a Collinear M...

引用

IEEE International conference on Robotics and Automation (ICRA)

作者： Watson, Matthew T. Gladwin, Daniel T. Prescott, Tony J. Conran, Sebastian O. Univ Sheffield Dept Elect & Elect Engn Sheffield S Yorkshire England Univ Sheffield Cognit Robot Dept Comp Sci Sheffield S Yorkshire England Consequential Robot Ltd London England

ISBN: (纸本)9781538660263

While much research has been conducted into the generation of smooth trajectories for underactuated unstable aerial vehicles such as quadrotors, less attention has been paid to the application of the same techniques to ground based omnidirectional dynamically balancing robots. These systems have more control authority over their linear accelerations than aerial vehicles, meaning trajectory smoothness is less of a critical design parameter. However, when operating in indoor environments these systems must often adhere to relatively low velocity constraints, resulting in very conservative trajectories when enforced using existing trajectory optimisation methods. This paper makes two contributions;this gap is bridged by the extension of these existing methods to create a fast velocity constrained trajectory planner, with trajectory timing characteristics derived from the optimal minimum-time solution of a simplified acceleration and velocity constrained model. next, a differentially flat model of an omnidirectional balancing robot utilizing a collinear Mecanum drive is derived, which is used to allow an experimental prototype of this configuration to smoothly follow these velocity constrained trajectories.

关键词： Trajectory Planning Wheels Mobile robots Transmission line matrix methods Acceleration

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ARNA, a Service robot for Nursing Assistance: System Overview and User Acceptability

ARNA, a Service robot for Nursing Assistance: System Overvie...

引用

IEEE International conference on Automation Science and Engineering (CASE)

作者： Shamsudeen Abubakar Sumit K. Das Chris Robinson Mohammed N. Saadatzi M. Cynthia Logsdon Heather Mitchell Diane Chlebowy Dan O. Popa Department of Electrical and Computer Engineering Next Generation Systems Group Kentucky USA School of Nursing at University of Louisville Kentucky USA

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

Using robots capable of collaboration with humans to complete physical tasks in unstructured spaces is a rapidly growing approach to work. Particular examples where increased levels of automation can increase productivity include robots used as nursing assistants. In this paper, we present a mobile manipulator designed to serve as an assistant to nurses in patient walking and patient sitting tasks in hospital environments. The Adaptive Robotic Nursing Assistant (ARNA) robot consists of an omnidirectional base with an instrumented handlebar, and a 7-DOF robotic arm. We describe its components and the novelties in its mechanisms and instrumentation. Experiments with human subjects that gauge the usability and ease of use of the ARNA robot in a medical environment indicate that the robot will get significant actual usage, and are used as a basis for a discussion on how the robot's features facilitate its adaptability for use in other scenarios and environment.

关键词： Robot sensing systems Task analysis Service robots Medical services Collision avoidance Manipulators

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Distributed and Synchronized Setup towards Real-Time Robotic Control using ROS2 on Linux

Distributed and Synchronized Setup towards Real-Time Robotic...

引用

IEEE International conference on Automation Science and Engineering (CASE)

作者： L. Puck P. Keller T. Schnell C. Plasberg A. Tanev G. Heppner A. Roennau R. Dillmann Department of Interactive Diagnosis and Service Systems (IDS) FZI Research Center for Information Technology Haid-und-Neu-Straße 10–14 Karlsruhe Germany

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

A monolithic black-box controller made by the individual robotic manufacturers commonly controls modern industrial robots. The setup's single components are not accessible nor exchangeable, often due to them being specially tuned and adjusted to fulfill the demanding requirements for robotic control. The open-source framework ROS enables to combine these monolithic controllers with simple interfaces, therefore allowing more complex robotic applications. The next generation, ROS2, targets highly modular systems of sensors, actuators and controllers, each being interchangeable and further providing real-time capabilities by employing DDS as middleware. This study uses system inherent tools alongside non-invasive measurements for comprehensive insights, thereby guiding to ROS2 applications on an underlying distributed and synchronized real-time Linux system.

关键词： Real-time systems Linux Synchronization Hardware Kernel Service robots

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Vibration-assisted robotic machining in advanced materials 7th

Vibration-assisted robotic machining in advanced materials

引用

7th International conference on Structural Engineering, Mechanics and Computation (SEMC)

作者： Pang, K. H. Wang, D. Roy, A. Redman, I Castelli, M. Dunleavey, J. Dawson, D. Parkinson, L. Lindsey, K. Lidgett, M. Loughborough Univ Wolfson Sch Mech Elect & Mfg Engn Loughborough Leics England Loop Technol Ctr Poundbury Dorchester England Mfg Technol Ctr Coventry W Midlands England BAE Syst London England FAR UK Ltd Nottingham England

ISBN: (纸本)9780429426506;9781138386969

The ever-increasing demand in the aerospace and automotive sectors for enhanced performance, fuel efficiency and tighter tolerances drive the need for next-generation materials and processes. Industrial robots can provide a great alternative to traditional, machine-tool based machining solutions with superior benefits in terms of flexibility and reconfigurability. In this study, we demonstrate how an ultrasonically assisted machining attachment can be retrofitted into a commercial robot yielding benefits in drilling outcomes in carbon/epoxy components.

关键词： Industrial robots

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Jumping Motion generation for Humanoid Robot Using Arm Swing Effectively and Changing in Foot Contact Status

Jumping Motion Generation for Humanoid Robot Using Arm Swing...

引用

2020 IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： H. Mineshita T. Otani M. Sakaguchi Y. Kawakami H.O. Lim A. Takanishi Graduate School of Modern Mechanical Engineering Waseda University Shinjuku-ku Tokyo Japan Research Institute for Science and Engineering Waseda University Humanoid Robotics Institute (HRI) Waseda University Institute of Sport Science ASICS Corporation Faculty of Sport Science Waseda University Faculty of Engineering Kanagawa University Waseda University

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Human jumping involves not only lower limbs but also whole-body coordination. During jumping, the effect of sinking the center of mass for recoil and arm swing are significant, and they can cause changes in the jump height. However, upper body movements during jumping movements of humanoid robots have not been studied adequately. When jumping involves only the lower limbs, the burden on the lower limbs increases and it is difficult to jump as high as humans do. Also, if the sole is in contact with the ground during jumping movements, we cannot make good use of the ankle joint. Humans raise their heels during jumping movements, but there are few cases where humanoid robots achieve these movements. Therefore, we thought that jumping with recoil motion by the sinking, arm swing, and changing in foot contact status could result in a higher jump height higher than that possible with only lower limb movements. Hence, in this study, we generated jumping motion using sinking, arm swing and changing foot posture. First, a center of mass trajectory was generated by planning the entire jumping motion, and at the same time, the angular momentum was determined for stability. next, the joint trajectory was calculated using these two parameters. At that time, arm trajectory and foot posture were specified in the null space. This generated a jumping motion considering arm swing. During simulations, this method provided a jump height almost four times the jump height that obtained without arm swing.

关键词： Humanoid robots Null space Manipulators Stability analysis Trajectory Planning Intelligent robots

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A Minimum Energy Filter for Localisation of an Unmanned Aerial Vehicle

A Minimum Energy Filter for Localisation of an Unmanned Aeri...

引用

IEEE conference on Decision and Control

作者： Jack Henderson Mohammad Zamani Robert Mahony Jochen Trumpf Systems Theory and Robotics Australian National University Land Division Defence Science and Technology Group Australia

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

Accurate localisation of unmanned aerial vehicles is vital for the next generation of automation tasks. This paper proposes a minimum energy filter for velocity-aided pose estimation on the extended special Euclidean group. The approach taken exploits the Lie-group symmetry of the problem to combine Inertial Measurement Unit (IMU) sensor output with landmark measurements into a robust and high performance state estimate. We propose an asynchronous discrete-time implementation to fuse high bandwidth IMU with low bandwidth discrete-time landmark measurements typical of real-world scenarios. The filter's performance is demonstrated by simulation.

关键词： robots Unmanned aerial vehicles Trajectory Robot kinematics Pose estimation Mathematical model Velocity measurement

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