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Difference of efficiency in human-robot interaction according to condition of experimental environment

4th International Conference on Social robotics, ICSR 2012

作者： Ahn, Ho Seok Lee, Dong-Wook Choi, Dongwoon Lee, Duk-Yeon Hur, Manhong Lee, Hogil Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-791 Korea Republic of Intelligent Robotics and Communication Laboratories Advanced Telecommunications Research Institute International Kyoto 619-0288 Japan

ISBN: (纸本)9783642341021

Human-robot Interaction is most important function for social robot systems. Android robot systems, which have human-like appearance, are used for interaction with humans because they have the merit of showing their emotions by similar way to humans. Lots of these robot systems are developed and verified their efficiency and performance by analyzing the experimental results from questionnaire method. However, the results from questionnaire method can be different from many conditions. In this paper, we analyze the difference of experimental results from questionnaire method by comparing three groups: the first group gains benefits by competition, the second group gains benefits without competition, and the last group does not gain anything. For these experiments, android head system EveR-4 H33, which has 33 motors inside of head to show its facial expressions, is used. © 2012 Springer-Verlag.

关键词： Human robot interaction

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Tuning the S-curve Motion Profile in Short Distance Case

Tuning the S-curve Motion Profile in Short Distance Case

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American Control Conference

作者： Chang-Wan Ha Keun-Ho Rew Kyung-Soo Kim Soohyun Kim Department of Mechanical Engineering Korea Advanced Institute of Science and Technology (KAIST) 291 Daehak-no Yuseong-gu Daejeon 305-701 Repub-lic of Korea Robot-Automation Division of Department of Mechanical Engineering Hoseo University Asan-si Chungnam 336-795 Republic of Korea

ISBN: (纸本)9781479901777

In this paper, tuning the S-curve motion profile in short distance case is newly proposed to achieve fast movement with less residual vibration. The characteristics of the motion profile are analytically investigated using time- and Laplace-domain approaches. By adjusting tuning parameters, to place the zeros of the motion profile at the nearest position from the vibratory poles of the system, the residual vibration can be minimized. By simulation, the effectiveness of the proposed approach is validated.

关键词： Short Distance Case motion profile proposed approach is validated

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Active Landmark Configuration for Accurate Nano-Positioning

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IFAC Proceedings Volumes 2013年第5期46卷 594-599页

作者： Shuai Yuan Lianqing Liu Zhidong Wang Ning Xi Yuechao Wang Zaili Dong State Key Lab. Robot. SIA. Chinese Academy of Sciences Shenyang 110016 China Shenyang Jianzhu University Shenyang110168 Chinae Graduate University of the Chinese Academy of Sciences Beijing 100039 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba 275-0016 Japan Dept. of Electrical and Computer Engineering Michigan State University US

The spatial uncertainties of atom force microscopy (AFM) tip position hinder the AFM based nano-manipulation. Although the landmark based tip localization can be applied to improve the tip position accuracy in the task space, the PZT nonlinearity and system drift are still a challenge to compensation performance when the tip is positioned far from the landmark. Therefore this paper proposes an active landmark configuration. This method first estimates the nearby area called as the landmark domain around the target position, and then actively manipulates the landmark into the landmark domain by using virtual hand to improve the positioning accuracy. Simulation and experiment illustrate the validity of the proposed method.

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Static compensation ZMP algorithm preventing tips-over of a tele-operation excavator

Static compensation ZMP algorithm preventing tips-over of a ...

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29th International Symposium of Automation and robotics in Construction, ISARC 2012

作者： Yu, Bo-Hyun Park, Ki-Young Lee, Kyung-Don Han, Chang-Soo Department of Robot Technology Institute for Advanced Engineering Young-in Korea Republic of Department of Mechanical Engineering Hanyang University An-san Korea Republic of

Purpose: Research on tele-operated excavators that protect the operator from the risk of tip-over excavators in hazardous working areas has increased in popularity. The tele-operated excavator is able to protect workers from risks in hazardous working areas, but the operator cannot directly access the tip-over information from the tele-operated excavator. We propose the static compensation ZMP (Zero Moment Point) algorithm for preventing excavator tip-overs. Method: Firstly, kinematic and kinetic analysis of the excavator was performed. Secondly, static compensation ZMP algorithm, which uses ZMP algorithm to determine gait stability of a biped walking robot, was developed to prevent tips-over of tele-operation excavator. Static compensation ZMP algorithm minimizes ZMP-error due to rapidly changing excavator acceleration using the center of gravity through a static compensation algorithm. Finally, the result of the proposed algorithm is simulated by RecurDyn model with Matlab Simulink co-simulation method. Results & Discussion: In the simulation result ZMP has been compared to static compensation ZMP-algorithm using an excavator dynamic model. From these results we see that the ZMP value is bigger than the static compensation ZMP. This means that the general ZMP is disturbed due to rapidly changing excavator acceleration. This problem is minimized by the static compensation ZMP-algorithm.

关键词： MATLAB

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Gesture motion programming by applying robot motion hierarchy structure for the educational/entertainment robot Engkey

Gesture motion programming by applying robot motion hierarch...

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IEEE Workshop on advanced robotics and its Social Impacts, ARSO

作者： Jaewoo Kim Kyoung Soo Chun Dong-Soo Kwon Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology Daejeon South Korea

Educational/entertainment robots are usually designed to perform various gesture motions for nonverbal communication or interaction with humans[1]. This paper proposed a robot motion programming methodology by applying three-level robot motion hierarchical structure and a gesture variation method that can easily apply emotional attributes (Joy, Normal or Sad) to a robot's gesture. Experiments and evaluation tests are conducted with a graphical robot motion simulator and a real robot named Engkey, which is developed to carry out several tasks for interactive English education in elementary school or interactive games for elderly people.

关键词： robot motion Wheels Joints Hardware Programming profession

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Development of a real-time IMU-based motion capture system for gait rehabilitation

Development of a real-time IMU-based motion capture system f...

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IEEE International Conference on robotics and Biomimetics

作者： W. Kong S. Sessa S. Cosentino M. Zecca K. Saito C. Wang U. Imtiaz Z. Lin L. Bartolomeo H. Ishii T. Ikai A. Takanishi School of Advanced Science and Engineering Waseda University Shinjuku-ku Tokyo Graduate School of Advanced Science and Engineering Waseda University Tokyo Japan Global Robot Academia Waseda University Tokyo Japan School of Mechanical and Automotive Engineering South China University of Technology Guangzhou China Waseda Daigaku Shinjuku-ku Tokyo JP Department of Rehabilitation Tokyo Women's Medical University Hospital Tokyo Japan Department of Modern Mechanical Engineering Waseda University Tokyo Japan

ISBN: (纸本)9781479927456

A common problem among elderly people is the loss of motor ability. Rehabilitation exercises can help these people recover strength and maintain a good level of mobility. However, high costs and the need for special equipment make professional rehabilitation impractical for regular use in daily life, precluding elderly the possibility to perform focalized training at home. The idea of telerehabilitation is becoming more and more concrete with the rapid development of internet technology. Telerehabilitation would allow the user to perform exercises at home with online professional direction from the doctor. However, at the present state, the doctor cannot obtain real-time and quantitative data from the user, and this limits the training effectiveness. To overcome this problem, an extremely miniaturized, portable motion capture system, named WB-4R, has been developed. Calibration and real-time link orientation reconstruction are very important to improve the accuracy in real-time measurement. In this paper, using the positive results of preliminary experiments on lower limbs, the authors will show the feasibility of the method and confirm the effectiveness of the developed system.

关键词： Calibration Educational institutions Sensor phenomena and characterization Accuracy Accelerometers Magnetometers

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Laser scanner based foot motion detection for intuitive robot user interface system

Laser scanner based foot motion detection for intuitive robo...

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IEEE International Workshop on robot and Human Communication (ROMAN)

作者： Ju-Hwan Seo Jeong-Yean Yang Dong-Soo Kwon Department of Mechanical Engineering and Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology Daejeon South Korea

In order to achieve effective interaction between humans and robots, user interface system is one of important factors. To achieve a valid and appropriate user interface system, we have introduced a new system that consists of a beam projector that can display images for interacting with users and a laser scanner that can detect user's foot motion so that the system recognizes user's input and intention. In this paper, we have focused on how to cause projected images to be rectangular so that users can interact with ordinary rectangular images instead of trapezoidal images that will be produced if the beam projector attached on the robot projects images sideling and how to distinguish user's foot motions according to two classifications, drag motion and click motion. Finally, we have executed a test for checking the validity of the proposed system and have examined limitations and proposed further work for this system.

关键词： Foot robots User interfaces Laser beams Laser applications Footwear Cameras

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Appropriate emotions for facial expressions of 33-DOFs android head EveR-4 H33

Appropriate emotions for facial expressions of 33-DOFs andro...

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2012 21st IEEE International Symposium on robot and Human Interactive Communication, RO-MAN 2012

ISBN: (纸本)9781467346054

There are many theories about basic emotions, and we do not know which emotions are appropriate to use. Also, faces of robots are designed differently and require different ways to embody emotional expressions. Therefore, in this paper we address the appropriate emotions for facial expressions of EveR-4 H33, which is controlled by thirty-three motors for head system. EveR-4 H33 displays her facial expressions for certain emotions selected from typical basic emotion theories. Then, audiences at an exhibition evaluate her facial expressions, by enjoying a game of emotional correction. We analyze the results of the game, and decide appropriate emotions for EveR-4 H33. © 2012 IEEE.

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Appropriate Emotions for Facial Expressions of 33-DOFs Android Head EveR-4 H33

Appropriate Emotions for Facial Expressions of 33-DOFs Andro...

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IEEE International Symposium on robot and Human Interactive Communication

作者： Ho Seok Ahn Dong-Wook Lee Dongwoon Choi Duk-Yeon Lee Manhong Hur Hogil Lee Intelligent Robotics and Communication Laboratories Advanced Telecommunications Research Institute International Department of Applied Robot Technology Korea Institute of Industrial Technology

ISBN: (纸本)9781467346047

关键词： Facial Expression Emotions Game theory Game animals Methyltestosterone Androids robot

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Study on analytical modelling of sandwich type piezoelectric transducer using bending vibration mode

Study on analytical modelling of sandwich type piezoelectric...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhang, Qiang Shi, Shengjun Chen, Weishan State Key Laboratory of Advanced Robot and System University of Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

In this paper, an analytical model of sandwich type piezoelectric transducer using bending vibration mode is presented. The piezoelectric transducer is simplified as a constant cross section composite beam with free-free boundary condition. The Timoshenko beam theory is involved in the analytical modelling of piezoelectric transducer, and structure parameters sensitivity of bending resonant frequency are obtained. The analytical model is validated by comparing against the result of finite element method. The first three order resonant frequencies and vibration curves of bending mode are obtained. The analytical model provides a theoretical basis for designing and optimization of the sandwich type piezoelectric transducer using bending vibration mode. © 2012 IEEE.

关键词： Piezoelectric transducers

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