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检索条件"任意字段=Conference on Next-Generation Robots and Systems"

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Symbiosis between humans and networked communication robots

Symbiosis between humans and networked communication robots

引用

International conference on Electrical Machines and systems

作者： Hagita, Norihiro ATR Intelligent Robot & Commun Labs Kyoto Japan

ISBN: (纸本)9788986510089

This paper discusses symbiosis between humans and networked communication robots from the viewpoint of communication media. The "network robot system" integrating ubiquitous networking and robot technologies, is introduced in order to improve performance for sensing and human robot interaction and create brand new markets in the robot services. The communication robots in the system have come into greater use by being networked with humans, mobile phones and ubiquitous sensors (cameras, tags, wearable computers, etc.). This paper also introduces several field experiments with the system at elementary schools, at a science museum, at a train station. The results of field experiments indicate the potential of networked communication robots as next-generation communication media.

关键词： Human robot interaction

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Fuzzy based decision making for the discrete-continuous control of humanoid robots

Fuzzy based decision making for the discrete-continuous cont...

引用

IEEE/RSJ International conference on Intelligent robots and systems

作者： Milighetti, Giulio Kuntze, Helge-Bjoern Fraunhofer Inst IITB Syst Measurement Conrol & Diag MRD Karlsruhe Germany

ISBN: (纸本)9781424409129

Within the next years a new generation of humanoid robots able to manage autonomously sophisticated tasks in a complex, time varying domestic and public environment is going to be developed. To cope with these advanced requirements a new multi-sensor based discrete-continuous supervisory control concept is proposed, which is able to accomplish even complex human skills. Each skill is divided into a sequence of elementary actions (so called Primitive Skills). Depending on the multi-sensor perception of the current state of the system, the discrete control has to provide an optimal selection and activation of the appropriate sequence of action and control strategy. An on-line decision making algorithm based on the structure of Primitive Skills (PS) has been implemented. On a lower level the continuous control has to assure that each PS is performed by means of the most appropriate sub-controllers. The theoretical approach and first experimental results of the ongoing research are presented in this paper.

关键词： discrete-continuous control Petri-nets primitive Skill fuzzy decision making humanoid robots

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Humanoid robotics

Humanoid robotics

引用

International conference on Control, Automation and systems, ICCAS 2007

作者： Yokoi, Kazuhito AIST/IS-CNRS/ST2I Joint Robotics Laboratory National Institute of Advanced Industrial Science and Technology Tsukuba Japan

ISBN: (纸本)8995003871

With a physical form similar to that of a human, humanoid robots can be used as proxies or assistants to perform tasks in a real-world environment on behalf of humans. Various humanoid robots have been developed worldwide, and currently, humanoid robots are able to work in our daily life environment. This paper introduces some of the ongoing research and development of humanoid, and discusses the problems, approaches and applications for the next generation humanoid.

关键词： Anthropomorphic robots

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Basic studies on wet adhesion system for wall climbing robots

Basic studies on wet adhesion system for wall climbing robot...

引用

IEEE/RSJ International conference on Intelligent robots and systems

作者： Miyake, Tohru Ishihara, Hidenori Yoshimura, Motoi Kawagwa Univ Grad Sch Engn 2217-20 Hayashi Cho Takamatsu Kagawa 7610396 Japan Kagawa Univ Fac Engn Takamatsu Kagawa 760 Japan

ISBN: (纸本)9781424409129

This paper reports a vacuum-based wet adhesion system for wall climbing robots. In this adhesion system, a suction cup adheres on a wet surface. The problems addressed are an adherability on a rough surface, which is comes from the seal action of a liquid, and low friction between suction cup and adhered rough and smooth surfaces which is comes form lubricating action of a liquid. Generally, it is difficult that a vacuumed suction cup adheres on rough surface such concrete plate and hardly slidable. In this paper, the adhesion force and friction when a suction cup adheres on smooth glass plate and concrete plate are measured and compared wet condition with dry condition. The experiment result showed that a viscosity is important at the sealing performance of adhesion on rough surface. The silicon oil of a viscosity of 5000cSt allows a suction cup to adhere on concrete surface. In this condition it comes up to the adhesion force when a suction cup adheres on smooth glass with dry condition.

关键词： Adhesion

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Polar polynomial curve for smooth, collision-free path generation between two arbitrary configurations for nonholonomic robots

Polar polynomial curve for smooth, collision-free path gener...

引用

2007 IEEE 22nd International Symposium on Intelligent Control, ISIC 2007

作者： Lai, Xue Cheng Mamun, Abdullah Al Ge, Shuzhi Sam Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)142440441X

This paper studies a geometric-based method for smooth path generation for nonholonomic mobile robots, which are subject to dynamic and curvature constraints. It first studies polar polynomial curve and its properties for it to be used in curvature-smooth transition. In the design of such a path, it is examinable whether the robot constraints and curvature requirement are satisfied. Then, connection using such a curve is extended to the case that the robot is performing rotation at its start position. next, a computationally efficient way is proposed for collision test of the curve in order to achieve real-time path planning. Finally, extensive simulation experiments are carried out to verify the proposed method. © 2007 IEEE.

关键词： Curve fitting

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Dance partner robot cooperative motion generation with adjustable length of dance step stride based on physical interaction

Dance partner robot cooperative motion generation with adjus...

引用

2007 IEEE/RSJ International conference on Intelligent robots and systems

作者： Takahiro Takeda Yasuhisa Hirata Kazuhiro Kosuge Department of Bioengineering and Robotics University of Tohoku Sendai Japan

As an example of platforms for realizing the effective human-robot coordination with physical interactions, a dance partner robot has been developed, which could dance together with a human by estimating the next dance step intended by the human. Generating robot's active motion so as to be adapted to its user could be one of essential functions in the next generation robotic technology. This paper proposes the cooperative motion generation method for the robot, which is implemented by adjusting length of dance step stride based on physical interaction between the human and the robot. Experimental results illustrate the validity of the proposed method.

关键词： Robot kinematics Human robot interaction Intelligent robots Mobile robots Robot sensing systems Motion estimation Robot control Detectors USA Councils

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Sensor feedback modification methods that are suitable for the short cycle pattern generation of humanoid walking

Sensor feedback modification methods that are suitable for t...

引用

2007 IEEE/RSJ International conference on Intelligent robots and systems

作者： Koichi Nishiwaki Satoshi Kagami Digital Human Research Center National Institute for Advanced Industrial Science and Technology Koto Tokyo Japan

A sensor feedback framework that realizes robust walking of humanoids are discussed in the present paper. We have proposed an online walking control system that generates a dynamically stable motion pattern in short cycles, such as 40 [ms]. The system is capable of reflecting the actual motion status modified by sensor feedback to the pattern generation of the next period so that the long-term stability of the walking is maintained using the dynamic model. We herein propose three categories of adaptation as a framework for realizing robust walking via the short-cycle generation system: 1) absorption of the error of the dynamic model, 2) reactive adaptation to the disturbance, and 3) adjustment of the parameters that are used to generate the walking pattern. Feedback methods for each category are discussed and validated on the full-size humanoid HRP-2.

关键词： Feedback Legged locomotion Control systems Robot sensing systems Sensor systems Humanoid robots Intelligent robots Intelligent sensors Robustness Motion control

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Humanoid robotics

Humanoid robotics

引用

International conference on Control, Automation and systems ( ICCAS)

作者： Kazuhito Yokoi National Institute of Advanced Industrial Science and Technology (AIST) AIST/IS-CNRS/ST2I Joint Robotics Laboratory Tsukuba Japan

关键词： Humanoid robots Robotics and automation Humans Service robots Shape Automatic control Control systems Electrical equipment industry Industrial control Research and development

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Fuzzy based decision making for the discrete-continuous control of humanoid robots

Fuzzy based decision making for the discrete-continuous cont...

引用

2007 IEEE/RSJ International conference on Intelligent robots and systems

作者： Giulio Milighetti Helge-Bjorn Kuntze Systems for Measurement Control and Diagnosis (MRD) Fraunhofer Institut IITB Karlsruhe Germany

Within the next years a new generation of humanoid robots able to manage autonomously sophisticated tasks in a complex, time varying domestic and public environment is going to be developed. To cope with these advanced requirements a new multi-sensor based discrete- continuous supervisory control concept is proposed, which is able to accomplish even complex human skills. Each skill is divided into a sequence of elementary actions (so called Primitive Skills). Depending on the multi-sensor perception of the current state of the system, the discrete control has to provide an optimal selection and activation of the appropriate sequence of action and control strategy. An on-line decision making algorithm based on the structure of Primitive Skills (PS) has been implemented. On a lower level the continuous control has to assure that each PS is performed by means of the most appropriate sub-controllers. The theoretical approach and first experimental results of the ongoing research are presented in this paper.

关键词： Fuzzy control Decision making Robot control Humanoid robots Intelligent robots Service robots Robot sensing systems Control systems Humans Optimal control

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Symbiosis between Humans and Networked Communication robots

Symbiosis between Humans and Networked Communication Robots

引用

International conference on Electrical Machines and systems 2007(ICEMS2007)(第十届国际电机与系统会议)

作者： Norihiro Hagita ATR Intelligent Robotics and Communication Laboratories Kyoto Japan

This paper discusses symbiosis between humans and networked communication robots from the viewpoint of communication media. The “network robot system” integrating ubiquitous networking and robot technologies, is introduced in order to improve performance for sensing and human robot interaction and create brand new markets in the robot services. The communication robots in the system have come into greater use by being networked with humans, mobile phones and ubiquitous sensors (cameras, tags, wearable computers, etc.). This paper also introduces several field experiments with the system at elementary schools, at a science museum, at a train station. The results of field experiments indicate the potential of networked communication robots as next-generation communication media.

关键词： Symbiosis Robot sensing systems Mobile communication Human robot interaction Mobile robots Mobile handsets Sensor systems Wearable sensors Robot vision systems Cameras

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