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Extending NGOMSL model for human-humanoid robot interaction in the soccer robotics domain

Applied Bionics and Biomechanics 2008年第4期5卷 235-241页

作者： Mohan, Rajesh Elara Calderon, Carlos Antonio Acosta Zhou, Changjiu Yue, Pik Kong Advanced Robotics and Intelligent Control Centre School of Electrical and Electronics Engineering Singapore Polytechnic 500 Dover Road Singapore Singapore

In the field of human-computer interaction, the Natural Goals, Operators, Methods, and Selection rules Language (NGOMSL) model is one of the most popular methods for modelling knowledge and cognitive processes for rapid usability evaluation. The NGOMSL model is a description of the knowledge that a user must possess to operate the system represented as elementary actions for effective usability evaluations. In the last few years, mobile robots have been exhibiting a stronger presence in commercial markets and very little work has been done with NGOMSL modelling for usability evaluations in the human-robot interaction discipline. This paper focuses on extending the NGOMSL model for usability evaluation of human-humanoid robot interaction in the soccer robotics domain. The NGOMSL modelled human-humanoid interaction design of Robo-Erectus Junior was evaluated and the results of the experiments showed that the interaction design was able to find faults in an average time of 23.84 s. Also, the interaction design was able to detect the fault within the 60 s in 100% of the cases. The Evaluated Interaction design was adopted by our Robo-Erectus Junior version of humanoid robots in the RoboCup 2007 humanoid soccer league.

关键词： Anthropomorphic robots

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Human and humanoid robot interaction using 6-axis force torque sensors

Human and humanoid robot interaction using 6-axis force torq...

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2012 7th IEEE Conference on Industrial Electronics and Applications, ICIEA 2012

作者： Zhang, Liandong Zhou, Changjiu Advanced Robotics and Intelligent Control Centre Singapore Polytechnic Singapore Singapore

ISBN: (纸本)9781457721175

This paper presents a human and humanoid robot interaction method using 6-axis force/torque sensors. The Zero Moment Point (ZMP) can be calculated in real time when external forces from human act on the robot. Then the robot will perceive the human intention and walk along the direction where ZMP is moving. We develop a unified formulation of real-time ZMP detection system using 6-axis force/torque sensor in the framework of Lie group. Then the robot is controlled to walk along the ZMP moving direction. Experiment is conducted to verify the effectiveness of the proposed human-robot interaction control system. © 2012 IEEE.

关键词： Anthropomorphic robots

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Rate-distortion optimized reference picture selection

Rate-distortion optimized reference picture selection

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2012 7th IEEE Conference on Industrial Electronics and Applications, ICIEA 2012

作者： Yang, Tianwu Zhou, Changjiu Advanced Robotics and Intelligent Control Centre Singapore Polytechnic Singapore 139651 Singapore

ISBN: (纸本)9781457721175

Most common video coding standards employ spatiotemporal prediction techniques to increase coding efficiency. As a result, compressed video data is sensitive to the transmission error due to error propagation. An adaptive reference picture selection (RPS) is proposed to improve the error resilience in real-time video transmission. A global rate-distortion optimization (RDO) is developed to intelligently select the reference picture from a reference picture list, such that the end-to-end distortion is minimized. The coupling variables in the global RDO are decoupled by applying primal decomposition approach iteratively. Experimental results in H.264/AVC indicate that the proposed adaptive RPS significantly outperforms the ACK and NACK mode of the classic RPS, and error resilient RDO in H.264/AVC reference software as well. © 2012 IEEE.

关键词： Errors

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Robotic arm force sensing interaction control

Robotic arm force sensing interaction control

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2012 7th IEEE Conference on Industrial Electronics and Applications, ICIEA 2012

作者： Han, Xinyu Zhang, Liandong Zhou, Changjiu Advanced Robotics and Intelligent Control Centre Singapore Polytechnic 500 Dover Road 139651 Singapore Singapore

ISBN: (纸本)9781457721175

The ability of human to perform physical tasks is limited, not by his intellect, but by his physical strength. If, in an appropriate environment, a machine could make a detection of human's intentions and then finish the corresponding actions. In this situation, the mechanical power is closely integrated with the mechanical strength of human arm under the control of the human intellect. As a result of that the system will be superior to a loosely integrated combination of a human and a fully automated robot. Therefore, this paper presents a force control system for industrial robotic manipulator and an active force and torque sensing technique to sends out the corresponding instruction when been effected by the external power. The proposed sensor is implemented on the top of manipulator. This sensor can be the transducer measuring and outputting forces and torques from all three Cartesian coordinates. The research objective is a 3 DOF (degree of freedom) manipulator, which can be operated in a natural and intuitive manner by utilizing the force information by the unpredicted pushing and pulling action apply to the robot during human-robot interaction. On the other hand, it can be real time implemented in the simulator system. At same time, it is confirmed that the effectiveness about maintain the stability of the 6 DOF manipulator through simulation using ODE (Open Dynamics Engine). © 2012 IEEE.

关键词： Human robot interaction

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Rhythmic locomotion control of humanoid robot

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7th Mexican International Conference on Artificial Intelligence, MICAI 2008

作者： Acosta Calderon, Carlos Antonio Mohan, Rajesh Elara Zhou, Changjiu Advanced Robotics and Intelligent Control Centre School of Electrical and Electronic Engineering Singapore Polytechnic 139651 Singapore

ISBN: (纸本)3540886354

This paper presents a structure of a neural oscillator which is used as Central Pattern Generator for a biped robot locomotion. This architecture is suitable to generate different rhythmic motions, according to the amplitude and frequency of the system. The presented approach uses two reflexes to attain the stability in the sagittal and coronal planes. Results of the system on a simulated biped robot and a real robot show the feasibility of this approach. © 2008 Springer Berlin Heidelberg.

关键词： Anthropomorphic robots

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Robotic companion lead the way!

Robotic companion lead the way!

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2008 10th International Conference on control, Automation, robotics and Vision, ICARCV 2008

作者： Calderon, Carlos Antonio Acosta Mohan, Rajesh Elara Zhou, Changjiu Advanced Robotics and Intelligent Control Centre School of Electrical and Electronic Engineering Singapore Polytechnic 139651 Singapore Singapore

ISBN: (纸本)9781424422876

During last years, robotic research has explored Human-Robot interactions especially for the challenge of the robot companion. This type of robot would be equipped with perception, motion, and manipulation among other skills, to be help humans in daily tasks. Guidance is one of the tasks that the robot companion must perform. This paper describes Robbie, a wheeled robot companion uses for guiding missions. The Robbie combines visual clues, voice, distance and PC input to detect humans and features in the environment. To complete its task Robbie could receive extra information from smart beacons located in the building. The paper also explores two modalities to the guiding missions. Finally, experiments are presented in order to highlight the relevance of the approach. © 2008 IEEE.

关键词： Human robot interaction

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A distributed embedded control architecture for humanoid soccer robots

A distributed embedded control architecture for humanoid soc...

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10th International Conference on Climbing and Walking Robots, CLAWAR 2007

作者： Acosta Calderon, Carlos Antonio Zhou, Changjiu Yue, Pik Kong Wong, Mike Elara, Mohan Rajesh Advanced Robotics and Intelligent Control Centre School of Electrical and Electronic Engineering Singapore Polytechnic 139651 Singapore Singapore

ISBN: (纸本)9812708154

This paper presents an embedded control architecture developed for a soccerplaying humanoid robot, namely Robo-Erectus Junior. Robc-Erectus is a project developed in the advanced robotics and intelligent control centre of Singapore Polytechnic that will participate in the KidSize category in the Humanoid League of RoboCup 2007. The Robo-Erectus project has reached a new stage with this latest version of the robot. The new mechanical, electronic design, and embedded control architecture are described in this paper. The limitations of size force us to implement this architecture in an embedded network. The features of this new version are described in detail focusing on the modules of gait generation, vision, behaviour control, and communication. © 2007 World Scientific Publishing Co. Pte. Ltd.

关键词： Anthropomorphic robots

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Recognition and generation of motion primitives with humanoid robots

Recognition and generation of motion primitives with humanoi...

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2009 IEEE/ASME International Conference on advanced intelligent Mechatronics, AIM 2009

ISBN: (纸本)9781424428533

Recently, interest in analysis and generation of human and human-like motion has increased in various areas. In robotics, in order to operate a humanoid robot, it is necessary to generate motions that have strictly dynamic consistency. Furthermore, human-like motion for robots will bring advantages such as energy optimization. This paper presents a mechanism to recognize and generate human-like motions, such as walking and kicking, for a humanoid robot using a simple model based on observation and analysis of human motion. Our ultimate goal is to establish a design principle of a controller in order to achieve natural human-like motions. The approach presented here rests on the principle that in most biological motor learning scenarios some form of optimization with respect to a physical criterion is taking place. In similar way, the equations of motion for the humanoid robot systems are formulated in such a way that the resulting optimization problems can be solved reliably and efficiently. The simulation results show that faster and more accurate searching can be achieved to generate efficient human-like gait. In comparison with methods that do not include observation of human gait. The gait has been successfully used to control Robo-Erectus, a soccer-playing humanoid robot, which is one of the foremost leading soccer-playing humanoid robots in the RoboCup Humanoid League. ©2009 IEEE.

关键词： Anthropomorphic robots

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Development of a hospital mobile platform for logistics tasks

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Digital Communications and Networks 2015年第2期1卷 102-111页

作者： Carlos Antonio Acosta Calderon Elara Rajesh Mohan Buck Sin Ng School of Electrical and Electronic Engineering Singapore Polytechnic Singapore University of Technology and Design Advanced Robotics and Intelligent Control Centre Singapore Polytechnic

Healthcare services heavily rely on healthcare staff and subsequently, there is the need to improve healthcare staff's workflow. The deployment of an automated mobile base will help enhance the productivity of logistics tasks in the hospital, like collection and delivery. By improving such logistic tasks healthcare personal is able to focus on other tasks to serve the community better. Currently there are commercial solutions to deal with these logistic tasks,where a mobile base is able to move from one place to another in a structured environment like a hospital. In this paper, we present our approach to develop a cost effective mobile base to be used for delivery in healthcare amenities. The proposed approach is able to navigate among stations in the hospital by first creating a map of the floor and then indicating the location of these stations. This reduces the additional cost of drawing lines on the floor or to put laser markers and many of the commercial solutions required. In addition, the proposed solution is able to navigate while being safe for the people moving around and to the transported *** paper discusses the design consideration of the system, the navigation and the battery management to ensure that the system is able to run autonomously without the need recharge often.

关键词： Mobile base Delivery Autonomous navigation

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Design of a tele-operated field robot

Design of a tele-operated field robot

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2011 Defense Science Research Conference and Expo, DSR 2011

作者： Wang, Yiyan Song, Zhiwei Zhou, Yi Zhou, Changjiu School of Electrical and Electronic Engineering Singapore Polytechnic Singapore Advanced Robotics and Intelligent Control Centre Singapore Polytechnic Singapore

ISBN: (纸本)9781424492763

A design of a tele-operated field robot for search and rescue is discussed in this paper. The paper introduces the overall structural, mechanic design, manipulation and locomotion, tele-operation with sensor fusion and an intuitive user interface on the field robot. In addition, new cross-platform software architecture, RobotKernel, is implemented in the robot. With this standardized software architecture, programming from different research groups can be easily re-used. © 2011 IEEE.

关键词： Software architecture

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