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

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A Convex Optimization Approach for Online Human Walking Motion Adaptation

A Convex Optimization Approach for Online Human Walking Moti...

引用

Workshop on Digital Media and Digital Content Management (DMDCM)

作者： Qing Tang Rong Xiong Jian Chu Changjiu Zhou State Key Laboratory of Industrial Control Technology University of Zhejiang Hangzhou China ARICC(Advanced Robotics and Intelligent Control Centre) Singapore polytechnics Singapore

For human-like locomotion, applying human motion capture data (HMCD) to the humanoid robot is a nature way. However, adapting HMCD online is a non-trivial problem. Not only because achieving both kinematic similarity and dynamic stability is difficult but also because such an optimization problem is intractable. This paper proposes an online adaptation approach using convex optimization for humanoid's walking motion, where the optimal objectives of kinematic similarity and dynamic stability can be simultaneously considered and easily balanced. With an inverted pendulum model based dynamics formulation of zero moment point (ZMP) in the framework of Lie group, the optimal objectives and constraints on both kinematics and dynamics are formulized into a second order cone programming problem. The simulation experiments show that the proposed method is promising for adapting HMCD online as well as simultaneously achieving and balancing the kinematic similarity and dynamic stability.

关键词： Joints Kinematics Mathematical model Equations Humanoid robots Dynamics Optimization

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Development of an autonomous service robot for social interactions

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

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International Conference on Information, Communications and Signal Processing

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

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.

关键词： Humans Face Service robots Navigation Robot vision systems

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Software framework for a humanoid robotic arm

Software framework for a humanoid robotic arm

引用

International Conference on Information, Communications and Signal Processing

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

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.

关键词： Robots Joints Actuators Kinematics Collision avoidance Servers Software

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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...

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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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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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False alarm metrics: Evaluating safety in human robot interactions

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

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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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Optimal energy gait planning for humanoid robot using geodesics

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

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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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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...

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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

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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False alarm metrics: Evaluating safety in human robot interactions

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

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IEEE Conference on robotics, Automation and Mechatronics

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

ISBN: (纸本)9781424465033;9781424465064

关键词： Safety Human robot interaction Service robots ISO standards Rehabilitation robotics intelligent robots Hazards Industrial accidents Standards development Measurement standards

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Experimenting Extended Neglect Tolerance Model for Human Robot Interactions in Service Missions

Experimenting Extended Neglect Tolerance Model for Human Rob...

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International Conference on control, Automation, robotics and Vision

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

ISBN: (纸本)9781424478149

In this paper, we validate the extended neglect tolerance model for estimation of human robot team performance in relation to robot autonomy and compare its results with the traditionally adopted neglect tolerance model which assumes zero false alarms in human robot interactions. Extended neglect tolerance model estimates robot performance in human robot teams, where the human operator switches control between robots sequentially, based on acceptable performance levels, taking into account any false alarms and their respective demands. 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.

关键词： tolerance model Human machine interaction False alarms neglect Robot Autonomy

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