Recently, various learning methods are adapted for experimental robot. We can make movement of a robot by giving teaching signals to a robot. But it is heavy for operator to define how to give teaching signals general...
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ISBN:
(纸本)9781424407897
Recently, various learning methods are adapted for experimental robot. We can make movement of a robot by giving teaching signals to a robot. But it is heavy for operator to define how to give teaching signals generally because operator must guess and think of a task and environment and define a function to do that. Here I aim to create teaching signals automatically for each task and environment. In this paper, I suggest a simple rule which is independent of information about any task and environment to create teaching signals for each task and environment. This rule is that a situation which is often happened is good situation. In this paper, I adopt reinforcement learning as learning method and a small-sized humanoid robot as application. I will show creating a reward by adapting a rule and show that a robot can learn and make movement.
Physics-based animations executing on 3D game engines enabled with physics middleware libraries and coprocessors can be used to explore the suitability of potential robot behaviors in working environments and robot co...
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ISBN:
(纸本)9781424407897
Physics-based animations executing on 3D game engines enabled with physics middleware libraries and coprocessors can be used to explore the suitability of potential robot behaviors in working environments and robot configurations that are ill-defined or difficult and time-consuming to model with traditional quantitative tools. We use an inexpensive game development engine and PC hardware to develop physics-based animations of potential biomimetic subterranean robot burrowing behaviors. Qualitative assessment of energy efficiency, burrowing time, and digging capabilities of several biomimetic robot designs are validated with data from physical prototypes operated in a range of soil types and models of soil using colored particles. Results suggest this methodology is applicable to rapid screening of potential robot designs intended to operate in a variety of domains.
The internationalsymposium on Artificial intelligence, robotics, and automation in Space (i-SAIRAS) is a unique forum in which several national space agencies convene and report on the development and infusion of tec...
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The internationalsymposium on Artificial intelligence, robotics, and automation in Space (i-SAIRAS) is a unique forum in which several national space agencies convene and report on the development and infusion of technologies in these broad technical areas for space applications. The ninth meeting in this series took place in February 2008 at Universal City, Los Angeles. This article summarizes notable results and trends from the symposium program and discussions.
This paper presents a global localization method based on map matching. A local map is built by successive splitting and merging scan points. A global map is built by merging all local maps. Local and global map are r...
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ISBN:
(纸本)0780378660
This paper presents a global localization method based on map matching. A local map is built by successive splitting and merging scan points. A global map is built by merging all local maps. Local and global map are represented with line segments that are sorted counterclockwise. Complete line segments are selected to match between two maps. Matching is based on relative position relation of complete line segment. Localization algorithm based on ordinal map and based on relative position relation improves matching efficiency and lowers computational cost. All these techniques have been implemented on our mobile robot ATRVII equipped with 2D laser range scanner SICK.
A power-assist exoskeleton robot, which is directly attached to the user's body and assist the motion in accordance with the user's intension, is one of the most effective human assist robots for the physicall...
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ISBN:
(纸本)9781424407897
A power-assist exoskeleton robot, which is directly attached to the user's body and assist the motion in accordance with the user's intension, is one of the most effective human assist robots for the physically weak persons. Many studies on power-assist robots have been carried out to help the motion of physically weak persons such as disabled, injured, and/or elderly persons. EMG-based control (i.e., control based on the skin surface electromyogram (EMG) signals of the user) is one of the most effective control methods for the power-assist robots, since EMG signals of user's muscles directly reflect the user's motion intension. However, the EMG-based control is not easy to be realized because of many reasons. The paper presents an effective human motion prediction method from the EMG signals using a neuro-fuzzy technique for the control of power-assist exoskeleton robots.
This tutorial gives the idea of the computationalintelligence and the applications to the robotics and automation. First the basics for the computationalintelligence is introduced, including the Neural Networks, Fuz...
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This tutorial gives the idea of the computationalintelligence and the applications to the robotics and automation. First the basics for the computationalintelligence is introduced, including the Neural Networks, Fuzzy System and Evolutionary computation, and then the advanced methodologies are shown in detail. Then the application examples will be given how they can improve the conventional methods and how they can solve the problems in the field of the intelligent system of robotics and automation.
The ultimate goal of rehabilitation for the elderly and people with disabilities is not to recover their lost functions but to make them happy. Self-determination is most important for this purpose. For example, most ...
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ISBN:
(纸本)0780378660
The ultimate goal of rehabilitation for the elderly and people with disabilities is not to recover their lost functions but to make them happy. Self-determination is most important for this purpose. For example, most tetraplegics want to be able to feed by themselves, because a satisfactory meal improves the quality of their lives. If computationalintelligence could perform the task perfectly as they pleased, it could make them happy. However, a simple tool without intelligence, operated by them, can realize a better quality of life than state-of-the-art imperfect computationalintelligence. Contrary to this, such individuals do not want to wash dishes by themselves. An automatic system with computationalintelligence would be useful in this case. It could affect people with mental problems positively or negatively according to the circumstances. computationalintelligence should only be used when it can improve the quality of their lives overall.
This paper presents the motivation, basis and a prototype implementation of an ethical adaptor capable of using a moral affective function, guilt, as a basis for altering a robot's ongoing behavior. While the rese...
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ISBN:
(纸本)9781424448081
This paper presents the motivation, basis and a prototype implementation of an ethical adaptor capable of using a moral affective function, guilt, as a basis for altering a robot's ongoing behavior. While the research is illustrated in the context of the battlefield, the methods described are believed generalizable to other domains such as eldercare and are potentially extensible to a broader class of moral emotions, including compassion and empathy.
This paper aims at providing driver with his blind spot information in advance, taking his intention into consideration We propose an "distributed-sensory-intelligence architecture", which distributed sensor...
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ISBN:
(纸本)0780372034
This paper aims at providing driver with his blind spot information in advance, taking his intention into consideration We propose an "distributed-sensory-intelligence architecture", which distributed sensory intelligence (with pair of sensor and intelligence) and connects each other by network Intelligent Space is the space as if the whole space has high intelligence cooperation with each other switching its role autonomously, by, environmental information This autonomous role switching function is "SOFT DNA" In this paper we aim at realizing safe and comfortable driving support by showing information required for a driver by re-composing environmental formation or recognizing driver intention based on this distributed-sensory-intelligence architecture This proposal can be use in robotics too.
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