robots today are taking more and more complex roles thus they are getting smarter and more human-like. One complex function, specific to social robots, is the role of robots in human-robot interaction. They are helpfu...
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ISBN:
(纸本)9783030008253;9783030008246
robots today are taking more and more complex roles thus they are getting smarter and more human-like. One complex function, specific to social robots, is the role of robots in human-robot interaction. They are helpful in the process of social human-robot interaction while performing a specific task like teaching, assisting, entertaining, etc. The ability to recognize emotions has a significant role for social robots. A robot that can understand emotions could be able to interact according to that emotion. In this paper, we propose a model for robotic behavior adapting to the user's emotions. The humanoid robot Nao is used in the role of emotion-aware teacher for teaching math. Its main purpose is to teach and entertain the user while adapting its behavior to the user's emotional state derived from the facial expression. The robot uses reinforcement learning to learn which action to perform in a specific emotional state. It employs the Q-learning algorithm, maximizing the next action's award - a value that depends on the current emotional state of the user. An experimental study with a selected group of subjects is conducted to assess the proposed behavior. We evaluated the robot's ability to recognize emotions and the subjects' experience of interacting with the robot.
This paper focuses on designing a kind of six degree of freedom teaching robot(STROB) and developing its trajectory planning method. STROB structure is introduced and kinematics parameters model is established. In ord...
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This paper focuses on designing a kind of six degree of freedom teaching robot(STROB) and developing its trajectory planning method. STROB structure is introduced and kinematics parameters model is established. In order to make STROB generate smooth and continuous trajectory, non-uniform Bsplines interpolation methods is analyzed and used to generate the robot's curved trajectory path. The simulation and practical application verify the proposed method effectiveness. The designed STROB can not only generate smooth and continuous trajectory path fast and smoothly, but also has the features that the robot body structure and control system are open and the inner structure of each joint is visible and debugged separately. It is suitable for popularization and application in teaching.
At present, various colleges and universities have extensively carried out practical training courses for industrial robots. If students are trained entirely in actual equipment, they will be limited by the number of ...
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At present, various colleges and universities have extensively carried out practical training courses for industrial robots. If students are trained entirely in actual equipment, they will be limited by the number of venues, equipment, complex structure, operation frequency and use safety. This requires students to carry out the necessary safety operation simulation training before carrying out the actual operation. Virtual safety training can effectively simulate the operation of robots, and design corresponding safety hazards to prevent students from misoperation. In this paper, a safety training simulation system is designed for the teaching robot. It provides an effective solution for the safety training of the teaching robot.
This work describes the development of a novel embedded teaching system for multi-jointed robots. Differing from the traditional teaching panel method, the proposed method does not require any complex computations for...
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This work describes the development of a novel embedded teaching system for multi-jointed robots. Differing from the traditional teaching panel method, the proposed method does not require any complex computations for coordinate transformation and is a simpler scheme. The proposed teaching system includes a small teaching robot, which is scaled to the real jointed robot, however, joints are replaced with potentiometers. An embedded electrical control system contains the main control board and joint control cards. The main control board receives voltage signals from the teaching robot and transforms them into position commands for the motion of each joint. All the position commands are recorded on the main control board using the desired sample rate. In trajectory planning mode, the operator drags the teaching robot to generate the desired motion. The electrical control system drives the real jointed robot in response to the received voltage signals from the teaching robot. Trajectory teaching can be done naturally without expertise. The teaching system architecture, control board design and program flowchart are described and implemented.
A new robot that makes use of MR-fluid clutches for simulating torque is proposed to provide an appropriate device for training physical therapy students in knee-joint rehabilitation. The feeling of torque provided by...
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A new robot that makes use of MR-fluid clutches for simulating torque is proposed to provide an appropriate device for training physical therapy students in knee-joint rehabilitation. The feeling of torque provided by the robot is expected to correspond to the torque performance obtained by physical therapy experts in a clinical setting. The torque required for knee-joint rehabilitation, which is a function of the rotational angle and the rotational angular velocity of a knee movement, is modeled using a mechanical system composed of typical spring-mass-damper elements. The robot consists of two MR-fluid clutches, two induction motors, and a feedback control system. In the torque experiments, output torque is controlled using the spring and damper coefficients separately. The values of these coefficients are determined experimentally. The experimental results show that the robot would be suitable for training physical therapy students to experience similar torque feelings as needed in a clinical situation.
It is standard now in undergraduate and graduate courses in robotics to teach the basic concepts of position control design strategies. Due to the geared motors inherent in most educational and industrial manipulators...
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It is standard now in undergraduate and graduate courses in robotics to teach the basic concepts of position control design strategies. Due to the geared motors inherent in most educational and industrial manipulators, sophisticated control design strategies such as the inverse dynamics technique cannot be easily demonstrated in a laboratory setting. A direct drive 5-bar-linkage manipulator with reduced motor torque requirements is proposed in this paper for such a purpose. The manipulator dynamics are easily understood by undergraduates and an inverse dynamics control strategy is suggested which can be easily designed by students at the undergraduate level.
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