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32nd Chinese Control Conference (CCC)

作者： Renon, Pierre Yang, Chenguang Ma, Hongbin Cui, Rongxin Beijing Inst Technol Key Lab Intelligent Control & Decis Complex Syst Beijing 100081 Peoples R China Univ Plymouth Sch Comp & Math Plymouth PL4 8AA Devon England Northwestern Polytech Univ Sch Marine Engn Xian Peoples R China

ISBN: (纸本)9789881563835

The paper describes our preliminary investigation of haptic interaction between the human and virtual iCub robot. With haptic interaction, the user is able to have tactile sensensaiton of the robot environment, and hence to manipulate a robot remotely, for instance, from the user's office to perform some tasks at home, or a patient operation, realized by a surgeon several miles away. In this work, haptic interaction has been implemented using a 3D joystick, Novint Falcon, to connect with a virtual robot created by the Cub Simulator, which works with YARP interface and simulates the real iCub robot developed by Italian scientists. To this end, two approaches based on CHAI3D and MATLAB are introduced and implemented in this paper and furthermore, some ideas to improve the human-robot interaction performance have also been discussed.

关键词： haptic interaction virtual robot iCub Simulator CHAI3D YARP Novint Falcon

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Contact Force Rendering Method Based on robot Dynamics 30

Contact Force Rendering Method Based on Robot Dynamics

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30th Chinese Control and Decision Conference (CCDC)

作者： Wei, Qing Liu, Nailong Liu, Zhaoming Cui, Long Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China

ISBN: (纸本)9781538612446

Force perception is the primary means for operators to perceive the environment accurately, and a contact force rendering method based on the robot dynamics is proposed for rigid contact tasks. Firstly, the normal contact force is calculated by the rigid contact model and the robot dynamics, and then the tangential force is calculated according to the friction model. In order to improve the computational stability, the flexible joint model is designed, and the additional force and torque are used to compensate the pose error introduced by the sampling calculation. Finally, the proposed algorithm is verified in our self-developed robot simulation system, experiments show that the algorithm has high real-time performance, and the stable contact between the robot with the environment can be achieved through the master hand motion filtering and feedback force variable stiffness rendering in human-computer interaction.

关键词： Contact Force Rendering virtual robot Rigid Contact

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Haptic Interaction Between Human and virtual iCub robot Using Novint Falcon with CHAI3D and MATLAB

Haptic Interaction Between Human and Virtual iCub Robot Usin...

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第三十二届中国控制会议

作者： Pierre Renon Chenguang Yang Hongbin Ma Rongxin Cui School of Computing and Mathematics University of Plymouth Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479900305

The paper describes our preliminary investigation of haptic interaction between the human and virtual iCub robot. With haptic interaction,the user is able to have tactile sensensaiton of the robot environment,and hence to manipulate a robot remotely,for instance,from the user's office to perform some tasks at home,or a patient operation,realized by a surgeon several miles *** this work,haptic interaction has been implemented using a 3D joystick,Novint Falcon,to connect with a virtual robot created by the Cub Simulator,which works with YARP interface and simulates the real iCub robot developed by Italian *** this end,two approaches based on CHAI3D and MATLAB are introduced and implemented in this paper and furthermore,some ideas to improve the human-robot interaction performance have also been discussed.

关键词： haptic interaction virtual robot iCub Simulator CHAI3D YARP Novint Falcon

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Contact Force Rendering Method Based on robot Dynamics

Contact Force Rendering Method Based on Robot Dynamics

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第30届中国控制与决策会议

作者： Qing Wei Nailong Liu Zhaoming Liu Long Cui State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences

关键词： Contact Force Rendering virtual robot Rigid Contact

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robot Reinforcement Learning for Automatically Avoiding a Dynamic Obstacle in a virtual Environment 10

Robot Reinforcement Learning for Automatically Avoiding a Dy...

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10th International Scientific Conference on Future Information Technology (FutureTech)

作者： Phuong Chu Hoang Vu Yeo, Donghyeon Lee, Byeonggwon Um, Kyhyun Cho, Kyungeun Dongguk Univ Grad Sch Dept Multimedia Engn 26 Pil Dong 3 Ga Seoul 100715 South Korea

ISBN: (纸本)9783662474877;9783662474860

In a virtual environment, a robot can serve people by bringing things to them. However, when a robot moves within a house, it collides with a dynamic obstacle. These collisions make it difficult for a robot to complete its mission. We therefore apply reinforcement learning to the robot to make it more intelligent. Consequently, the robot can automatically move to avoid the dynamic obstacle in order to successfully complete its mission.

关键词： Reinforcement learning virtual environment automatic dynamic obstacle virtual robot

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Haptic industrial robot control with variable time delayed bilateral teleoperation

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INDUSTRIAL robot-THE INTERNATIONAL JOURNAL OF robotICS RESEARCH AND APPLICATION 2016年第4期43卷 390-402页

作者： Soyguder, Servet Abut, Tayfun Firat Univ Dept Mech Engn Elazig Turkey Mus Alparslan Univ Dept Mech Engn Mus Turkey

Purpose - This study attempts to control the movement of industrial robots with virtual and real-time variable time delay. The improved variable wave method was used for analyzing position tracking performance and stability of the system. Design/methodology/approach - This study consists of both theoretical and real-time operations. Teleoperation systems that provide information about point or environment that people cannot reach and are one of the important robotic works that include the human-machine interaction technology were used to obtain the necessary data. robots, as the simulated virtual environment to achieve real behaviors, were found to be important for the identification of damage that may occur during the tests performed by real robots and then in terms of prevention of errors identified in algorithm development stages. Findings - The position and speed controls of the real-virtual-real robots consist of the teleoperation system. Also, in this study, the virtual environment was created;variable time delay motion control with teleoperation was performed and applied in the simulation and real-time environment;and the performance results were analyzed. Originality/value - The teleoperation system created in the laboratory consists of a six-degree-of-freedom (dof) master robot, six-dof industrial robot and six-dof virtual robot. A visual interface is designed to provide visual feedback of the virtual robot's movements to the user.

关键词： Teleoperation Time delay Haptic robot Industrial robot Improved wave variable method virtual robot

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16 Years of RoboCup Rescue

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KUNSTLICHE INTELLIGENZ 2016年第3-4期30卷 267-277页

作者： Sheh, Raymond Schwertfeger, Soeren Visser, Arnoud Curtin Univ Bentley WA Australia Shanghai Tech Univ Shanghai Peoples R China Univ Amsterdam Amsterdam Netherlands

The RoboCup Rescue competitions have been initiated in 2000. To celebrate 16 years of research and development in this socially relevant initiative this article gives an overview of the experience gained during these competitions. This article provides an overview the stateof- the- art and the lessons learned from the RoboCup Rescue competitions.

关键词： Humanoid robot Rescue robot Small robot Standard Test Method virtual robot

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Bootstrapping Humanoid robot Skills by Extracting Semantic Representations of Human-like Activities from virtual Reality 14

Bootstrapping Humanoid Robot Skills by Extracting Semantic R...

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14th IEEE-RAS International Conference on Humanoid robots (Humanoids)

作者： Ramirez-Amaro, Karinne Inamura, Tetsunari Dean-Leon, Emmanuel Beetz, Michael Cheng, Gordon Tech Univ Munich Inst Cognit Syst Fac Elect Engn D-80290 Munich Germany Natl Inst Informat Tokyo Japan Univ Bremen Inst Artificial Intelligence D-28359 Bremen Germany

ISBN: (纸本)9781479971749

Advancements in virtual Reality have enabled well-defined and consistent virtual environments that can capture complex scenarios, such as human everyday activities. Additionally, virtual simulators (such as SIGVerse) are designed to be user-friendly mechanisms between virtual robots/agents and real users allowing a better interaction. We envision such rich scenarios can be used to train robots to learn new behaviors specially in human everyday activities where a diverse variability can be found. In this paper, we present a multi-level framework that is capable to use different input sources such as cameras and virtual environments to understand and execute the demonstrated activities. Our presented framework first obtains the semantic models of human activities from cameras, which are later tested using the SIGVerse virtual simulator to show new complex activities (such as, cleaning the table) using a virtual robot. Our introduced framework is integrated on a real robot, i.e. an iCub, which is capable to process the signals from the virtual environment to then understand the activities performed by the observed robot. This was realized through the use of previous knowledge and experiences that the robot has learned from observing humans activities. Our results show that our framework was able to extract the meaning of the observed motions with 80 % accuracy of recognition by obtaining the objects relationships given the current context via semantic representations to extract high-level understanding of those complex activities even when they represent different behaviors.

关键词： control engineering computing digital simulation humanoid robots virtual reality SIGVerse virtual simulator human-like activity representation humanoid robot skill iCub robot semantic representation semantic representation extraction virtual environment virtual robot Cameras Cleaning Motion segmentation robot vision systems Semantics Training virtual reality virtual environments Cameras Humanoid robots robot vision system control engineering computing Semantics Motion segmentation Digital simulation Computer Simulation robot Functional training

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Motion Control in virtual Reality Based Teleoperation System 23

Motion Control in Virtual Reality Based Teleoperation System

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23nd Signal Processing and Communications Applications Conference (SIU)

作者： Abut, Tayfun Soyguder, Servet Mus Alparslan Univ Makine Muhendisligi Bolumu Mus Turkey Firat Univ Makine Muhendisligi Bolumu Elazig Turkey

ISBN: (纸本)9781467373869

Teleoperation is a robot technology that allows people to prepare and develop the ability to tasks in unknown environments. virtual reality is defined as a dynamic combination of technology which is a simulation environment created by a computer to obtain the natural interaction. Teleoperation of virtual and real-time robots is one of the objectives of this study. In this study, motion control was carried out using virtual reality in robotic teleoperation system. Besides, motion equations of virtual and real robot were obtained mid PID and feed-forward calculated torque control method were used to robot control. As a result, the target virtual environment created and one-way motion control was carried out with teleoperation. Applications in virtual and real environments were investigated with results.

关键词： Teleoperation Calculated Torque PID virtual robot Realtime robot

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ROS-MUSIC toolchain for spiking neural network simulations in a robotic environment

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BMC Neuroscience 2015年第1期16卷 1-2页

作者： Philipp Weidel Renato Duarte Karolína Korvasová Jenia Jitsev Abigail Morrison Institute of Advanced Simulation (IAS-6) & Institute of Neuroscience and Medicine (INM-6) Forschungszentrum Juelich 52425 Juelich Germany Faculty of Psychology Institute of Cognitive Neuroscience Ruhr-University Bochum 44801 Bochum Germany Simulation Laboratory Neuroscience - Bernstein Facility for Simulation and Database Technology Institute for Advanced Simulation Jülich Aachen Research Alliance Jülich Research Center Jülich Germany

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