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

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Software framework for a humanoid robotic arm

Software framework for a humanoid robotic arm

引用

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

作者： Wiedemann, Jorg Baro, Maximilian Seybold, Paul Calderon, Carlos Antonio Acosta Zhang, Liandong Munich University of Applied Sciences 80335 Munich Germany Advanced Robotics and Intelligent Control Centre School of Electrical and Electronic Engineering Singapore Polytechnic 139651 Singapore Singapore

ISBN: (纸本)9781457700309

This paper provides a brief description of the software framework of the arm of Robo-Erectus Senior a Adultsize Soccer Playing Humanoid Robot developed at advanced robotics and intelligent control centre of Singapore Polytechnic. This paper covers the hardware and software overview, the kinematics and the collision detection modules of the manipulator. © 2011 IEEE.

关键词： Anthropomorphic robots

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Robotic arm force sensing interaction control

Robotic arm force sensing interaction control

引用

IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Xinyu Han Liandong Zhang Changjiu Zhou Advanced Robotics and Intelligent Control Centre Singapore polytechnics Singapore

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).

关键词： Robot sensing systems Robot kinematics Manipulators Force Service robots Kinematics

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Recognition and generation of motion primitives with humanoid robots

Recognition and generation of motion primitives with humanoi...

引用

IEEE/ASME (AIM) International Conference on advanced intelligent Mechatronics

作者： Carlos Antonio Acosta Calderon Rajesh Elara Mohan Changjiu Zhou Advanced Robotics and Intelligent Control Centre Singapore Polytechnic Singapore

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.

关键词： Humanoid robots Humans Motion analysis Kinematics intelligent robots Legged locomotion Biological system modeling Motion control Rehabilitation robotics control systems

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Evaluating Virtual Emotional Expression Systems for Human Robot Interaction in Rehabilitation Domain

Evaluating Virtual Emotional Expression Systems for Human Ro...

引用

International Conference on Cyberworlds

作者： Rajesh Elara Mohan Carlos Acosta Antonio Calderon Changjiu Zhou Pik Kong Yue Advanced Robotics & Intelligent Control Centre Singapore polytechnics Singapore

As rehabilitation robots are increasingly serving to improve the quality of life for physically disabled people in clinical environments, the concept of emotional expressiveness in robots becomes increasingly important. The human perception of robot's emotional expressions plays a crucial role in human robot interaction. Virtual expression systems outperform hardware systems in realizing human like expressions due the limitations in hardware actuators and advances in animation tools. This paper evaluates the human perception of robot's emotional expressions with two different virtual emotional expression systems: one where the robot exhibits emotions through icon faced expressions and in other the robot exhibits emotions through human faced expressions in clinical environment. A rehabilitation HRI research robot Robbie is introduced and the results of the comparative study on human perception of robotpsilas emotional expressions with two different systems are discussed.

关键词： Human robot interaction Rehabilitation robotics Humanoid robots intelligent robots Hardware Actuators Facial animation Face recognition Target recognition Senior citizens

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Rate-distortion optimized reference picture selection

Rate-distortion optimized reference picture selection

引用

IEEE Conference on Industrial Electronics and Applications (ICIEA)

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

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.

关键词： Video coding Streaming media Decoding Optimization Rate-distortion Encoding PSNR

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Optimal energy gait planning for humanoid robot using geodesics

Optimal energy gait planning for humanoid robot using geodes...

引用

IEEE Conference on robotics, Automation and Mechatronics

作者： Liandong Zhang Changjiu Zhou Peijie Zhang Zhiwei Song Yue Pik Kong Xinyu Han Advanced Robotics and Intelligent Control Centre (ARICC) Singapore polytechnics Singapore

ISBN: (纸本)9781424465033;9781424465064

A novel gait planning method using geodesics for humanoid robot is given in this paper. Both center of gravity (COG) and the exact Single Support Phase (SSP) are studied in our energy optimal gait planning based on geodesics. The kinetic energy of a 2-dimensional inverted pendulum is obtained at first. We regard the kinetic energy as the Riemannian metric and the geodesic on this metric is studied and this is the shortest line between two points on the Riemannian surface. This geodesic is the optimal kinetic energy gait for the COG because the kinetic energy along geodesic is invariant according to the geometric property of geodesics and the walking is stable and no impact. Then the walking in Single Support Phase is studied and the energy optimal gait for the swing leg is obtained using our geodesics method. Finally, experiments using traditional joint angles interpolating method and using our geodesics optimization method are carried out respectively and the corresponding currents of the joint motors are recorded. With the currents comparing results, the feasibility of this new gait planning method is verified.

关键词： Humanoid robots Legged locomotion Kinetic energy Energy consumption Motion planning Leg Computational geometry Genetic algorithms Energy efficiency Manipulators

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Neural Oscillator for Rhythmic Motion control of Biped Robot

Neural Oscillator for Rhythmic Motion Control of Biped Robot

引用

International Conference on Signal Processing, Communication and Networking (ICSCN)

作者： Carlos A. Acosta Calderon Mohan Rajesh Elara Changjiu Zhou Lingyun Hu Bharathiselvan Iniya Advanced Robotics and Intelligent Control Centre Advanced Robotics and Intelligent Control Centre Singapore polytechnics Singapore School ofElectrical and Electronics Department of Electronics and Communication Engineering SRM University Tamil Nadu India

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. Results of the system on a simulated biped robot show the feasibility of this approach.

关键词： Oscillators Motion control Limit-cycles intelligent robots Signal generators Legged locomotion Neurons Humans Nonlinear dynamical systems intelligent control

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A new sensor fusion framework to deal with false detections for low-cost service robot localization

A new sensor fusion framework to deal with false detections ...

引用

2013 IEEE International Conference on robotics and Biomimetics, ROBIO 2013

作者： Zhiwei, Song Yiyan, Wang Changjiu, Zhou Yi, Zhou Advanced Robotics and Intelligent Control Centre Singapore Polytechnic 500 Dover Road Singapore 139651 Singapore Engineering Product Development Singapore University of Technology and Design 20 Dover Drive Singapore 138682 Singapore

ISBN: (纸本)9781479927449

The popularization of service robots requires that robots are not expensive and can work very well in human daily living environment. Due to lighting condition and/or cluttered background, there are false detections occasionally for landmark-based robot localization with low-cost color camera or infrared sensors. However, traditional frequently used methods, such as Extended Kalman Filter (EKF) and Particle Filter (PF), can't cope with the problem of false detection. A novel sensor fusion framework is proposed in this paper for robot localization, which is capable of dealing with the problem of false detection. It has been tested in a real receptionist robot equipped with an infrared camera and wheel encoders. Experiments illustrate that the proposed method has a better performance than EKF and PF when false detections occur, while maintaining almost same performance during other times. © 2013 IEEE.

关键词： Extended Kalman filters

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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

IEEE Conference on robotics, Automation and Mechatronics

作者： Carlos A. Acosta Calderon Rajesh E. Mohan Changjiu Zhou School of Electrical and Electronics Engineering Advanced Robotics and Intelligent Control Centre Singapore polytechnics Singapore

ISBN: (纸本)9781424465033;9781424465064

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.

关键词： Education Educational robots Robot kinematics intelligent robots Robot programming intelligent control Humanoid robots Human robot interaction Learning systems Data mining

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Virtual-RE: A Humanoid Robotic Soccer Simulator

Virtual-RE: A Humanoid Robotic Soccer Simulator

引用

International Conference on Cyberworlds

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

This paper focuses on the creation of a realistic simulation of a humanoid robot in a virtual environment. This model will help researchers to implement and study different behaviours of the humanoid robot Robo-Erectus without its physical presence. The dynamics and the appearance of the robot and the other objects within the simulator are faithfully reproduced in the virtual environment. Moreover, the virtual robot can be controlled with the same program controlling the real robot. The simulator has been used successfully to generate and test behaviours for the robot to prepare for the RoboCup 2008.

关键词： Humanoid robots Robot sensing systems Orbital robotics Mobile robots Legged locomotion Robot control intelligent robots Virtual environment Testing Costs

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