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检索条件"机构=Advanced Robotics and Intelligent Control Centre"

共 57 条记录，以下是11-20 订阅

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Adapting addie model for human robot interaction in soccer robotics domain

Adapting addie model for human robot interaction in soccer r...

引用

12th annual RoboCup International Symposium, RoboCup 2008

作者： Mohan, Rajesh Elara Calderon, Carlos A. Acosta Zhou, Changjiu Yang, Tianwu Zhang, Liandong Yang, Yongming Advanced Robotics and Intelligent Control Centre School of Electrical and Electronics Engineering Singapore Polytechnic 500 Dover Road Singapore Singapore

ISBN: (纸本)3642029205

Though human robot interaction has attracted lots of attention in the recent years due to increasing presence of robots in the marketplace, very little work has been done with systematic human robot interaction development using process models. Analysis, Design, Develop, Implement and Evaluate (ADDIE) model is one of the well established systematic process models for developing instructions in instructional design (ID) community. This paper focuses on two issues: 1) guidance in adapting ADDIE model for human robot interaction, and 2) performance improvement in adopting ADDIE model for human robot interaction in soccer robotics domain. Evaluations were performed and adequate results were obtained. ADDIE modelled human robot interaction was used by our Robo-Erectus Junior humanoid robots in the 2 versus 2 humanoid leagues of RoboCup 2007. © 2009 Springer Berlin Heidelberg.

关键词： Human robot interaction

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Modelling human-humanoid robot interaction in soccer robotics domain using NGOMSL

Modelling human-humanoid robot interaction in soccer robotic...

引用

17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN

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

ISBN: (纸本)9781424422135

In the field of human-computer interaction, Natural Goals, Operators, Methods, and Selection rules Language (NGOMSL) model is one of the most popular method for modelling knowledge and cognitive processes for rapid usability evaluation. 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 the commercial markets and very little work has been done with NGOMSL modelling for usability evaluations in human-robot interaction discipline. This paper focuses on applying NGOMSL modelling for usability evaluation of human-humanoid robot interaction in soccer domain. Usability evaluations were performed and adequate results were obtained. Evaluated Interaction design was adopted by our Robo-Erectus Junior version of humanoid robots in the RoboCup 2007 humanoid soccer league. © 2008 IEEE.

关键词： Anthropomorphic robots

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Extended neglect tolerance model & human robot teams

Extended neglect tolerance model & human robot teams

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8th International Conference on Information, Communications and Signal Processing, ICICS 2011

作者： Elara, Mohan Rajesh Calderon, Carlos A. Acosta Zhou, Changjiu Singapore University of Technology and Design Singapore Singapore Advanced Robotics and Intelligent Control Centre Singapore Polytechnic Singapore 139651 Singapore

ISBN: (纸本)9781457700309

Estimating robot performance in human robot teams is a vital problem in human robot interaction community. In previous work, we presented extended neglect tolerance model for estimation of robot performance, where the human operator switches control between robots sequentially based on low degree of minimum acceptable performance level set at 50% of peak performance, taking into account any false alarms in human robot interactions. In this paper, we validate the extended neglect tolerance model for an assistive walking task with high degree of minimum acceptable performance levels set at 80% of peak performance. Experiments were performed with Robo-Erectus@Home, a service robot across tele-operation, and semi-autonomous modes of autonomy where a human operator controlled the robot to perform a walking assistant task. Measured false alarm demands and robot performances were largely consistent with the extended neglect tolerance model predictions for both autonomy modes. We also compared traditionally adopted neglect tolerance and extended neglect tolerance model for the same experimental design. The results showed that the latter offers better estimates of robot performance and attention demands, due to the inclusion of false alarms into the model. © 2011 IEEE.

关键词： Human robot interaction

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Teaching new tricks to a robot learning to solve a task by imitation

Teaching new tricks to a robot learning to solve a task by i...

引用

2010 IEEE International Conference on robotics, Automation and Mechatronics, RAM 2010

作者： Acosta Calderon, Carlos A. Mohan, Rajesh E. Zhou, Changjiu Advanced Robotics and Intelligent Control Centre School of Electrical and Electronics Engineering Singapore Polytechnic 500 Dover Road Singapore 139651 Singapore

ISBN: (纸本)9781424465033

Learning by imitation represent a useful and promising alternative to programming robots. This paper presents an approach for learning by imitation based on two functional elements used by humans to understand and perform actions. One is the representation of the body that contains information of the body's capabilities. The other one is a snapshot of the body and its relation with the environment at a given instant. These elements are believed to interact to generate among other abilities, the ability to imitate. Learning new tasks is then achieved by imitating the actions' goal as demonstrated. The experimental results with a humanoid robot are presented to validate the approach. ©2010 IEEE.

关键词： Anthropomorphic robots

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Swarm robots task allocation based on response threshold model

Swarm robots task allocation based on response threshold mod...

引用

4th International Conference on Autonomous Robots and Agents, ICARA 2009

作者： Yongming, Yang Zhou, Changjiu Yantao, Tian College of Communication Engineering Jilin University Changchun China Advanced Robotics and Intelligent Control Centre School of Electrical and Electronic Engineering Singapore Polytechnic Singapore

ISBN: (纸本)9781424427130

A task allocation algorithm is proposed for the foraging mission. The goal of the foraging mission is to collect foods timely so that the food consumption at home base can be satisfied. This algorithm is based on response threshold model which can account for the regulation of division of labor in insect societies. This algorithm is scalable and distributed, and no communication strategy is utilized. Simulation experiments are carried out to study the effect of response threshold on the performance of foraging. The simulation experiments verified that this algorithm can respond properly to the change of food density and the change of food consumption rate. ©2009 IEEE.

关键词： Food supply

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Some results on the study of the kneed gait biped

Some results on the study of the kneed gait biped

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2010 International Conference on Mechanic Automation and control Engineering, MACE2010

作者： Liu, Zhenze Tian, Yantao Lang, Shufen Zhou, Changjiu College of Communication Engineering Jilin University Changchun City 130022 China Centre for Advanced Robotics and Intelligent Control Singapore Polytechnic 139651Singapore Singapore

ISBN: (纸本)9781424477388

The new passive gait biped model added with knees can be reduced to a kind of five mass point bar linkage. The variation of the potential energy and the kinetical energy has been discussed. Moreover, the conversion law between kinetic energy and potential energy, the energy distribution between the swing leg and stance leg during the walking process, phase-space limit cycle of a symmetric gait of the robot on a certain degree slope have also been presented in detail in the paper as well as the dipiction about culmination points which exist in potential and kinetic energy conversion of the coupling two legs. All the research above will have realistic significance in helping us to better awaring of walking rules and global properties of the biped gaits of the robot. ©2010 IEEE.

关键词： Potential energy

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Docking system and power management for autonomous mobile robots

Docking system and power management for autonomous mobile ro...

引用

2014 International Conference on Applied Mechanics and Mechanical Automation, AMMA 2014

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

ISBN: (纸本)9783038351511

Mobile robots' tasks depends the batteries to supply power. Automated mobile robots should manage its power to maximize the battery performance. Docking and recharging are crucial abilities to ensure the performance of the power system. This paper presents a complete solution for a power system to address the problem of power management and autonomously recharging of batteries for a mobile robot. The main two aspects in this solution are the power management including charging of the batteries and the docking system are described in detail. The paper presents results that shown the feasibility of the proposed docking station for autonomous recharging. A comparison of different batteries tested in this project is also presented in the paper. © (2014) Trans Tech Publications, Switzerland.

关键词： Mobile robots

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False alarm metrics: Evaluating safety in human robot interactions

False alarm metrics: Evaluating safety in human robot intera...

引用

2010 IEEE International Conference on robotics, Automation and Mechatronics, RAM 2010

作者： Elara, Mohan Rajesh Acosta Calderon, Carlos A. Zhou, Changjiu Wijesoma, Wijerupage Sardha Advanced Robotics and Intelligent Control Centre Singapore Polytechnic Singapore 139651 Singapore School of Electrical and Electronics Engineering Nanyang Technological University Singapore 639798 Singapore

ISBN: (纸本)9781424465033

Human robot teams combining the complementary capabilities of robots and humans towards solving potentially complex service tasks are gaining wide spread popularity. Many of these tasks will involve close interactions between the robot and the human it serves thereby making safety a crucial parameter. Erroneous interaction that inevitably arises between human and the robot causes accidents in service robotic applications. Currently, there are no metrics available in human robot interaction community for analyzing erroneous interactions. In this paper, we put forward a new class of false alarm metrics to define, classify and quantify the effects of erroneous interactions in human robot teams and explore the relationship between false alarms, and safety in service robots. We extend the receiver operating characteristics (ROC) curve commonly used in signal processing community to classify robots based on their associated risks. We also show the utility of the designed false alarm metrics and extended ROC curve by applying them to a service robot, Robo-Erectus@Home across tele-operation and semi-autonomous modes of autonomy. ©2010 IEEE.

关键词： Curve fitting

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Development of an autonomous service robot for social interactions

Development of an autonomous service robot for social intera...

引用

8th International Conference on Information, Communications and Signal Processing, ICICS 2011

作者： Calderon, Carlos Antonio Acosta Zhou, Changjiu Mohan, Rajesh Elara Advanced Robotics and Intelligent Control Centre School of Electrical and Electronic Engineering Singapore Polytechnic 139651 Singapore Singapore Singapore University of Technology and Design Singapore 138682 Singapore

ISBN: (纸本)9781457700309

Increasing research and development during these years has explored Human-Robot interactions especially for the challenge of the service robot. While service robots are becoming popular, these robots are just focusing into a specific tasks, and most of them are not ready prepare for the unpredictability of human environments. The efforts to develop more reliable robots that could interact with the human, are promoting the next generation of service robot. This type of robot would be equipped with perception, motion, and manipulation among other skills, to be help humans in daily tasks in different environments. This paper presents Snowie, a service robot used as Receptionist. The Snowie combines visual clues, voice, distance and PC input to detect humans and features in the environment. Guidance is one of the tasks that the receptionist robot must perform. To complete its task Snowie 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. © 2011 IEEE.

关键词： Human robot interaction

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Kuka youBot arm shortest path planning based on geodesics

Kuka youBot arm shortest path planning based on geodesics

引用

IEEE International Conference on robotics and Biomimetics

作者： Liandong Zhang Changjiu Zhou Dalian Jiaotong University Advanced Robotics and Intelligent Control Centre (ARICC)xs Singapore Polytechnic Singapore Advanced Robotics and Intelligent Control Centre (ARICC) Singapore

ISBN: (纸本)9781479927456

The state-of-the-art Kuka youBot is an open-source robot platform. In order to improve youBot arm manipulation performance, a novel robotic trajectory planning method based on geodesics is used for Kuka youBot arm shortest path trajectory planning in this paper. Geodesic is the necessary condition of the shortest length between two points on the Riemannian surface in which the covariant derivative of the geodesic's tangent vector is zero. The Riemannian metric is constructed according to the distance metric by arc length of the youBot arm trajectory to achieve shortest path. Once the Riemannian metric is obtained, the corresponding Riemannian surface is solely determined. Then the geodesic equations on this surface can be determined and calculated. For the given initial conditions of the trajectory, the geodesic equations can be solved and the results are the optimal trajectory of the youBot arm in the joint space for the given metric. The planned trajectories in the joint space can also be mapped into the workspace. A simple trajectory planning example on Kuka youBot arm from camera pose ready point to object grasping point is given to demonstrate the feasibility of the proposed approach.

关键词： Trajectory Planning Joints Measurement Robot kinematics Mathematical model

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