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Adaptive robotics in the entertainment industry

Adaptive robotics in the entertainment industry

引用

2003 ieee international symposium on computational intelligence in robotics and automation, CIRA 2003

作者： Lund, Henrik Hautop Maersk Mc-Kinney Moller Institute for Production Technology University of Southern Denmark Campusvej 55 Odense M.5230 Denmark

ISBN: (纸本)0780378660

In this paper, I discuss the market for adaptive robots in the entertainment industry, and some of the most promising avenues for the future development of this field. A United Nations report forecast an impressive 800% growth of this industry within 2-3 years. However, there are many issues that has to be considered when entering this field/market. Most notably, robotic toy systems can be developed to become either closed or open systems. Here, I promote open systems based on different psychological considerations, and I describe a few systems that we developed to enlighten the possibilities for open systems. © 2003 ieee.

关键词： robotics

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Measurement and comparison of human and humanoid walking

Measurement and comparison of human and humanoid walking

引用

ieee international symposium on computational intelligence in robotics and automation

作者： Kagami, S Mochimaru, M Ehara, Y Miyata, N Nishiwaki, K Kanade, T Inoue, H Digital Human Research Center National Institute of Advanced Science and Technology Japan CREST Program Japan Science and Technology Corporation (JST) Japan Teikyo University Faculty of Medical Technology Japan University of Tokyo School of Information Science and Technology Japan Carnegie Mellon University Robotics Institute United States

ISBN: (纸本)0780378660

This paper describes our research efforts aimed at understanding human being walking functions. Using motion capture system, force plates and distributed force sensors, both human being and humanoid H7 walk motion were captured. Experimental results are shown. Comparison in between human being with H7 walk in following points are discussed : 1) ZMP trajectories, 2) torso movement, 3) free leg trajectories, 4) joint angle usage, 5) joint torque usage. Furthermore, application to the humanoid robot is discussed.

关键词： Anthropomorphic robots

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A closed-loop neuro-parametric methodology for the calibration of a 5 DOF measuring robot

A closed-loop neuro-parametric methodology for the calibrati...

引用

ieee international symposium on computational intelligence in robotics and automation

作者： Tiboni, M Legnani, G Magnani, P Tosi, D Univ Brescia Dipartimento Meccan Applic I-25123 Brescia Italy

ISBN: (纸本)0780378660

The paper deals with the calibration of industrial robots, a very important issue in robotics. A methodology to improve the accuracy obtained by classical parametric methodologies is proposed. The method is based on the application of a neural network together with a classical parametric model of the robot kinematic. Due to this combination of methodologies the approach could be defined as "hybrid neuro-parametric method". Experimental results prove an improvement in the robot accuracy.

关键词： Calibration Service robots Kinematics Parametric statistics Orbital robotics Manufacturing industries Shape measurement Neural networks Position measurement Footwear

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A behavior monitoring architecture for a mobile robot: Enhancing intelligence to behavior-based robotics

A behavior monitoring architecture for a mobile robot: Enhan...

引用

ieee international symposium on computational intelligence in robotics and automation

作者： Suksakulchai, S Wilkes, DM Kawamura, K King Mongkuts Univ Technol Thonburi Thailand

ISBN: (纸本)0780378660

This paper presents a new behavior-based architecture for a mobile robot. The architecture coordinates behaviors based on a robot's internal condition and environment information. This approach combines the subsumption and schema-based approaches together with a unique feature called Request or Redundant Mode. By monitoring a behavior's expected outcome, an unproductive behavior can request its redundant behavior to take over a task. On the other hand, when the requesting behavior can do the task again, it can take the task back. The results show that a system with the new architecture yields better performance than a system without it. Moreover, the new architecture can change behaviors' levels and modes, add new behaviors, delete unused behaviors, and create new behaviors or tasks from existing behaviors at run-time, without reprogramming or restarting the entire system.

关键词： pain value strength value hybrid architecture behavior monitoring redundant behavior

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A motion compression method by fuzzy relational equations

A motion compression method by fuzzy relational equations

引用

ieee international symposium on computational intelligence in robotics and automation

作者： Nobuhara, H Hirota, K Tokyo Inst Technol Dept Computat Intelligence & Syst Sci Tokyo 152 Japan

ISBN: (纸本)0780378660

A motion compression method by max t-norm composite fuzzy relational equations (MCF) is proposed. In the case of MCF, a motion sequence is divided into intra,pictures (I-pictures) and predictive-pictures (P-pictures). The I-pictures and the P-pictures are compressed by using uniform coders and non-uniform coders, respectively. In order to perform an effective compression and reconstruction of the P-pictures, a design method of non-uniform coders is proposed. The proposed design method is based on an overlap level of fuzzy sets and a fuzzy equalization. Through an experiment using 10 P-pictures, it is confirmed that the root means square errors of the proposed method is decreased to 89.4% of the uniform coders, under the condition that the compression rate is 0.0057. A result of motion compression and reconstruction of motion (standard motion imagery) by MCF is also presented.

关键词： Design

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Surveillance robotics: analyzing scenes by colors analysis and clustering

Surveillance Robotics: analyzing scenes by colors analysis a...

引用

ieee international symposium on computational intelligence in robotics and automation

作者： Castelnovi, M Musso, P Sgorbissa, A Zaccaria, R Univ Genoa LaboratoriumDIST Genoa Italy

ISBN: (纸本)0780378660

We describe a surveillance system which allows a mobile robot, operating within a familiar setting, to detect unexpected changes in the environment (i.e., presence or absence of objects or persons, unexpectedly opened/closed doors or windows, etc.). To achieve this, the robot "looks at" the environment through a TV camera;next, it compares what "it sees" in a specific moment with what "it should see" at that same location. In particular, an approach is proposed for images comparison which requires to find color clusters in the color histograms corresponding to the images to be compared: by analyzing the color clusters in the two images, the system detects similarities or differences between them and consequently deduces if something has changed in the scene. Since the techniques proposed in literature usually rely on the geometrical characteristics of the objects to be detected (besides cromination), "ad hoc" algorithms have been implemented for color clusters comparison;the proposed techniques can be used alone or in cooperation with existing pattern recognition methods in order to increase the performance of the whole system.

关键词： Color

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Multitask reinforcement learning on the distribution of MDPs

Multitask reinforcement learning on the distribution of MDPs

引用

ieee international symposium on computational intelligence in robotics and automation

作者： Tanaka, F Yamamura, M Tokyo Inst Technol Dept Computat Intelligence & Syst Sci Tokyo 152 Japan

ISBN: (纸本)0780378660

In this paper we address a new problem in reinforcement learning. Here we consider an agent that faces multiple learning tasks within its lifetime. The agent's objective is to maximize its total reward in the lifetime as well as a conventional return in each task. To realize this, it has to be endowed an important ability to keep its past learning experiences and utilize them for improving future learning performance. This time we try to phrase this problem formally. The central idea is to introduce an environmental class, BV-MDPs that is defined with the distribution of MDPs. As an approach to exploiting past learning experiences, we focus on statistics (mean and deviation) about the agent's value tables. The mean can be used as initial values of the table when a new task is presented. The deviation can be viewed as measuring reliability of the mean, and we utilize it in calculating priority of simulated backups. We conduct experiments in computer simulation to evaluate the effectiveness.

关键词： Reinforcement learning

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An incremental learning using schema extraction mechanism for autonomous mobile robot

An incremental learning using schema extraction mechanism fo...

引用

ieee international symposium on computational intelligence in robotics and automation

作者： Kondo, T Ito, N Ito, K Tokyo Inst Technol Dept Computat Intelligence & Syst Sci Interdisciplinary Grad Sch Sci & Engn Tokyo 152 Japan

ISBN: (纸本)0780378660

Recently, a number of skillful robots have been developed. One of them can walk and move upstairs just Eke human beings. However it can so far only demonstrate preprogrammed motions according to the external commands/situations. Therefore an autonomous adaptation ability has been highly anticipated. Meanwhile, humans can learn new motions such as catching/kicking a ball, in spite of his/her high dimensional sensorimotor DOF (degree of freedom). In this learning process, it can be hypothesized that the learner actively constrains the DOF by him/her-self using learning skills, in this paper referred to as schema. In this study, a learning method for autonomous mobile robots operating in unknown environments is proposed, where not only a learning mechanism for sensorimotor mappings but also an extraction/re-use mechanism of the schemata (i.e. constraint rules for learning) is implemented. Through the results of simulations and real experiments of mobile robot navigation, the validity of the proposed method is clarified.

关键词： Extraction

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Genetic algorithm-based stereo vision with no block-partitioning of input images

Genetic algorithm-based stereo vision with no block-partitio...

引用

2003 ieee international symposium on computational intelligence in robotics and automation, CIRA 2003

作者： Wang, Biao Chung, Ronald Shen, Chun-Iin College of Automation Engr. Nanjing Univ. of Aero. and Astro. Nanjing China Dept. of Automation and CAE Chinese University of HK Hong Kong Hong Kong

ISBN: (纸本)0780378660

Stereo correspondence could be formulated as an optimization problem. Most of the existing solutions, however, adopt the gradient-based approaches, requiring an initialization close to the correct solution. This paper presents an alternative approach, which is genetic algorithm based, that has larger tolerance toward the quality of the initialization. Each candidate for the three-dimensional description of the imaged scene is encoded as an individual that embraces thousands or even millions of chromosomes, and a population of such individuals are allowed to evolve to reach a globally optimal or near-optimal solution. Our solution framework also includes a coarse-to-fine matching strategy to reduce the matching ambiguity and the computations needed. Experimental results on synthetic and real images are shown to illustrate the performance of the approach. © 2003 ieee.

关键词： Genetic algorithms

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Task-based configuration design for 3-legged modular parallel robots using simplex methods

Task-based configuration design for 3-legged modular paralle...

引用

2003 ieee international symposium on computational intelligence in robotics and automation, CIRA 2003

作者： Dash, Anjan Kumar Chen, I.-Ming Yeo, Song Huat Yang, Guilin School of Mechanical and Production Engineering Nanyang Technological University Singapore639798 Singapore Automation Technology Division Singapore Institute of Manufacturing Technology Singapore638075 Singapore

ISBN: (纸本)0780378660

This paper presents a methodology for optimal design of 6-DOF modular parallel manipulators. In type synthesis, a general methodology is presented to choose a type of configuration using a look-up table. This table, constructed based on the experience and knowledge in the database, gives suitable robot configurations for different types of tasks. In dimensional synthesis, actuation scheme along with the geometric parameters are considered as design variables. An appropriate objective function and constraints are selected;Simplex optimization algorithm is used. A light machining operation is chosen as the task. The experiment demonstrates that the global coordinates of the task points affects the actuation scheme for better performance. © 2003 ieee.

关键词： Table lookup

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