Social robots should understand the user's nonverbal behavior and respond appropriately. Machine learning is one way of implementing the social intelligence. It provides the ability to automatically learn and impr...
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ISBN:
(纸本)9781728185262
Social robots should understand the user's nonverbal behavior and respond appropriately. Machine learning is one way of implementing the social intelligence. It provides the ability to automatically learn and improve from experience instead of explicitly telling the robot what to do. This paper proposes an end-to-end machine learning method to learn social behaviors for humanoid robots. We adapt sequence-to-sequence architecture consisting of two long short-term memory (LSTM) units. One is an LSTM encoder for encoding the previous sequence of human poses, and the other is an LSTM decoder for generating the next sequence of robot poses. The weights of the LSTMs are trained using human-human interaction data such as greeting and handshaking. The trained model is implemented in a humanoid robot, Pepper, to show its feasibility. Experimental results show that the robot can generate gestures appropriate to the situation and recognize subtle differences in user behavior. In addition, when a user's behavior changes, the transition to another behavior occurs naturally.
Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using sensors and tools attached to the ro...
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ISBN:
(纸本)9781728162126
Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using sensors and tools attached to the robot tip would greatly enhance the usefulness of these robots for exploration in the field. However, because the material at the tip of the robot body continually changes as the robot grows and retracts, it is challenging to keep sensors and tools attached to the robot tip during actuation and environment interaction. In this paper, we analyze previous designs for mounting to the tip of soft growing robots, and we present a novel device that successfully remains attached to the robot tip while providing a mounting point for sensors and tools. Our tip mount incorporates and builds on our previous work on a device to retract the robot without undesired buckling of its body. Using our tip mount, we demonstrate two new soft growing robot capabilities: (1) pulling on the environment while retracting, and (2) retrieving and delivering objects. Finally, we discuss the limitations of our design and opportunities for improvement in future soft growing robot tip mounts.
作者：
Kadar, PeterObuda Univ
Dept Power Syst Alternat Energy Res Knowledge Ctr Becsi U 94 H-1034 Budapest Hungary
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 an...
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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.
The robot, Mark III, working under hostile environments for inspecting pipeline in nuclear power and chemical plants with many mobility capability is made after the successful investigation of the prototypes, Mark I a...
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The presentation is subdivided into two parts. The first part provides a brief survey of techniques and devices related to operator interaction with remote robots or robotlike devices. The survey covers a brief histor...
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Collision avoidance problem of a robot manipulator whose workspace includes moving objects is considered in this paper. It is shown that the proposed personal computer simulation system can be used in a dialogue mode ...
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Humanoid robots are still in a process of the evolution. We are trying to develop a next-generation which have safety, flexibility and multiplicity of uses. A Shoulder structure is one of the keystone, because it cont...
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ISBN:
(纸本)9781424420575
Humanoid robots are still in a process of the evolution. We are trying to develop a next-generation which have safety, flexibility and multiplicity of uses. A Shoulder structure is one of the keystone, because it controls arms and end effectors and it have direct contact with humans and daily life environments. We have designed new shoulder structure following the scapula-collarbone structure for a muscle-driven humanoid robot named "Kojiro" (Fig. 1) [1]. We consider that the scapula-collarbone structures have the following merits, 1)wide range of movement, 2)flexible shoulder like humans, 3)safety from the driving system, 4)allowing space for a lot of parts inside the thorax. The shoulder structure is consisted of scapula, collarbone, upper-arm and thorax. We have devised the spherical shape thorax and scapula structure which realizes desired scapula motions. In this paper, we describe the design process and operation test of the shoulder structure.
The authors are interested in developing self- contained autonomous intelligent mobile robot and its vision system. This paper describes the implementation and the experimental results of the mobile robots1 vision sys...
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This paper describes our preliminary work to tailor machines and structures far robots. Up to now> most of the efforts have been spent for taiIorIng robots for machines and structures. but if we consider the proble...
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This study aims to investigate the intelligence which can make robots adapt to the human environment. This paper points out the problems of the behavior-based robot, and proposes the methods which can generate whole b...
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ISBN:
(纸本)0780366123
This study aims to investigate the intelligence which can make robots adapt to the human environment. This paper points out the problems of the behavior-based robot, and proposes the methods which can generate whole body motions based on body structure and integrates the reflection motions to make the behaviors continuous. The motion performances are compared in two kinds of environments, such as a dynamic environment and a static environment, by using a simulator of the autonomous robot WAMOEBA-2Ri, developed in this research. Finally, we show that the integration parameters of the proposal method reflect the body structure of the robot and environmental structures.
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