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intelligent Automation & Soft Computing 2011年第8期17卷 1019-1021页

作者： Lizhong Xu[a] Xiaofang Li[a] & Simon X. Yang[b] [a] Hohai University College of Computer and Information Engineering Nanjing China [b] University of Guelph Advanced Robotics and Intelligent Systems Laboratory School of Engineering Guelph Canada

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Evaluating facial displays of emotion for the android robot Geminoid F

Evaluating facial displays of emotion for the android robot ...

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IEEE Workshop on Affective Computational Intelligence (WACI)

作者： Christian Becker-Asano Hiroshi Ishiguro Intelligent Robotics and Communication laboratories Advanced Telecommunication Research Institute Inc. Kyoto Japan Department of Adaptive Machine Systems Osaka University Japan

With android robots becoming increasingly sophisticated in their technical as well as artistic design, their non-verbal expressiveness is getting closer to that of real humans. Accordingly, this paper presents results of two online surveys designed to evaluate a female android's facial display of five basic emotions. We prepared both surveys in English, German, and Japanese language allowing us to analyze for inter-cultural differences. Accordingly, we not only found that our design of the emotional expressions “fearful” and “surprised” were often confused, but also that many Japanese participants seemed to confuse “angry” with “sad” in contrast to the German and English participants. Although similar facial displays portrayed by the model person of Geminoid F achieved higher recognition rates overall, portraying fearful has been similarly difficult for the model person. We conclude that improving the android's expressiveness especially around the eyes would be a useful next step in android design. In general, these results could be complemented by an evaluation of dynamic facial expressions of Geminoid F in future research.

关键词： Humanoid robots Androids Humans Face Europe Pressing

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Control of legged robots with optimal distribution of contact forces

Control of legged robots with optimal distribution of contac...

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2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011

作者： Righetti, Ludovic Buchli, Jonas Mistry, Michael Schaal, Stefan Computational Learning and Motor Control Lab. University of Southern California Los Angeles CA 90089 United States Max Planck Institute for Intelligent Systems Tübingen Germany Dept. of Advanced Robotics Italian Institute of Technology Genoa Italy Disney Research Pittsburgh Pittsburgh PA 15213 United States

ISBN: (纸本)9781612848679

The development of agile and safe humanoid robots require controllers that guarantee both high tracking performance and compliance with the environment. More specifically, the control of contact interaction is of crucial importance for robots that will actively interact with their environment. Model-based controllers such as inverse dynamics or operational space control are very appealing as they offer both high tracking performance and compliance. However, while widely used for fully actuated systems such as manipulators, they are not yet standard controllers for legged robots such as humanoids. Indeed such robots are fundamentally different from manipulators as they are underactuated due to their floating-base and subject to switching contact constraints. In this paper we present an inverse dynamics controller for legged robots that use torque redundancy to create an optimal distribution of contact constraints. The resulting controller is able to minimize, given a desired motion, any quadratic cost of the contact constraints at each instant of time. In particular we show how this can be used to minimize tangential forces during locomotion, therefore significantly improving the locomotion of legged robots on difficult terrains. In addition to the theoretical result, we present simulations of a humanoid and a quadruped robot, as well as experiments on a real quadruped robot that demonstrate the advantages of the controller. © 2011 IEEE.

关键词： Controllers

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Complex emotion categorization and tagging for Chinese

Complex emotion categorization and tagging for Chinese

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IEEE International Conference on Natural Language Processing and Knowledge Engineering (NLP-KE)

作者： Peilin Jiang Fuji Ren Fei Wang Nanning Zheng Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an China Graduate School of Advanced Technology and Science University of Tokushima Tokushima Japan Department of Information Science & Intelligent Systems University of Tokushima Tokushima Japan

To understand emotion and make machine emotion is one of the goals of affective computing. In order to understand language from interface of machine, both the meaning and the emotion are necessary to be interpreted correctly. But until now the study of fine-grained theory of emotion is still full of challenges. In this paper, a novel method to analyze emotion category is proposed according to the statistics of affective word hierarchy in Dictionary of contemporary Chinese. The emotion hierarchy is called complex emotion. Firstly, over 7,000 common affective words have be annotated and their detailed explanations had been collected for an affective lexicon, then we analyze the consistent relationship in the affective lexicon and consequently 52 salient complex emotion state hierarchies are categorized and tagged by a lexical affective clustering algorithm. The complex emotions are compared to the traditional definitions of basic emotions in psychology and have been evaluated to be valid by kappa value in the experiment. Moreover we also have tagged the semantic orientation for the collected words.

关键词： Psychology Dictionaries Educational institutions Semantics Clustering algorithms Tagging Presses

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Approximate Recursive Bayesian Filtering Methods for Robot Visual Search

Approximate Recursive Bayesian Filtering Methods for Robot V...

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IEEE International Conference on robotics and Biomimetics

作者： Sina Radmard Elizabeth A. Croft Collaborative Advanced Robotics and Intelligent Systems Laboratory Mechanical Engineering Department University of British Columbia

ISBN: (纸本)9781457721366

Visual servoing is an essential enabling technology for robots operating in semi- and un-structured contexts, such as robot assistants working in collaboration with people. However, due to dynamic and unpredictable nature of such environments, existing methods of target tracking can lose visibility of task/target, leading to servo failure. In such situations, it is desirable that the robot reacquire the target in an autonomous/automatic fashion. In this paper we take a fresh look at this problem by examining the simplified case of a pantilt mounted camera visually searching for a lost target. We adopt Lost Target Search techniques based on Recursive Bayesian Filtering algorithms that have been applied to other search platforms such as aerial search and rescue. We investigated both an approximate grid-based filter and a sequential Monte Carlo method, namely particle filter. In both cases we use a new sensor-based observation model. The particle filter exhibited superior performance over approximate grid-based filter in our simulations, and was utilized in a follow-on experiment. In the experiment, we improved the particle filter performance by considering the a priori target tracking information in the motion model. Finally, we discuss the implications of this approach to higher degree of freedom robot systems.

关键词： Robot Particle filters Bayesian filtering Target tracking Visual servoing Recursive Approximate Visual Search Targets Monte Carlo technique

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Exploring the uncanny valley with geminoid HI-1 in a real-world application

Exploring the uncanny valley with geminoid HI-1 in a real-wo...

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作者： Becker-Asano, Christian Ogawa, Kohei Nishio, Shuichi Ishiguro, Hiroshi Intelligent Robotics and Communications Laboratory Advanced Telecommunications Research Institute Intl. 2-2-2 Hikaridai Keihanna Science City Kyoto Japan Department of Adaptive Machine Systems Osaka University Osaka Japan

ISBN: (纸本)9789728939182

This paper presents a qualitative analysis of 24 interviews with visitors of the ARS Electronica festival in September 2009 in Linz, Austria, who interacted with the android robot Geminoid HI-1, while it was tele-operated by the first author. Only 37.5% of the interviewed visitors reported an uncanny feeling with 29% even enjoying the conversation. In five cases the interviewees' feelings even changed during the interaction with Geminoid HI-1. A number of possible improvements regarding Geminoid's bodily movements, facial expressivity, and ability to direct its gaze became apparent, which inform our future research with and development of android robots.

关键词： Human robot interaction

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A Spedal Issue of intelligent Automation and Soft Computing GUEST EDITORIAL:COMPUTING AND INFORMATION TECHNOLOGIES FOR AGRICULTURE

A Spedal Issue of Intelligent Automation and Soft Computing ...

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World Automation Congress 2010

作者： DAOLIANG LI SIMON X.YANG EU-China Centre for Information and Communication Technologies China Agricultural University Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph

The global must pay more attention on agriculture to support the huge population on the earth and to promote sustainable *** the development of computing and information technologies such as 3S,computer,mathematics,communication,and their application in agriculture,'Informatized Agriculture'has been chased by many countries to scientifically manage agriculture and achieve low input high outcome.

关键词： Automation A Spedal Issue of intelligent Automation and Soft Computing GUEST EDITORIAL:COMPUTING AND INFORMATION TECHNOLOGIES FOR AGRICULTURE

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Robot Companions for Citizens

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Procedia Computer Science 2011年 7卷 47-51页

作者： Paolo Dario Paul F.M.J. Verschure Tony Prescott Gordon Cheng Giulio Sandini Roberto Cingolani Rüdiger Dillmann Dario Floreano Christophe Leroux Sheila MacNeil Pieter Roelfsema Xenophon Verykios Antonio Bicchi Chris Melhuish Alin Albu-Schäffer The BioRobotics Institute Scuola Superiore Sant’Anna viale Rinaldo Piaggio 34. 56025 Pontedera Italy Laboratory for Synthetic Perceptive Emotive and Cognitive Systems Catalan and Institute of Advanced Research (ICREA) Technology Department Universitat Pompeu Fabra Roc Boronat 138. 08018 Barcelona Spain Department of Psychology The University of Sheffield Western Bank Sheffield S10 2TN UK Institute for Cognitive Systems Technische Universität München Karlstrasse 45/II. 80333 München Germany Robotics Brain and Cognitive Sciences Istituto Italiano di Tecnologia Via Morego 30. 16163 Genova Italy Istituto Italiano di Tecnologia Via Morego 30. 16163 Genova Italy Institute for Anthropomatics Karlsruhe Institute of Technology Adenauerring 2 (Building 50.20). 76131 Karlsruhe Germany Laboratory of Intelligent Systems École polytechnique fédérale de Lausanne Station 11. CH-1015 Lausanne Switzerland CEA LIST Interactive Robotics Laboratory 18 route du panorama BP6. 92265 Fontenay Aux Roses cedex France The Kroto Research Institute North Campus University of Sheffield Broad Lane Sheffield S3 7HQ UK Netherlands Institute for Neuroscience Koninklijke Nederlandse Akademie Van Wetenschappen Meibergdreef 47. 1105 BA Amsterdam The Netherlands Department of Chemical Engineering University of Patras Karatheodoris 1 University Campus GR 265 00 Patras Interdepartmental Research Center “E. Piaggio” Faculty of Engineering University of Pisa via Diotisalvi 2.56100 Pisa Italy Department of Computing Engineering and Mathematical Sciences University of Bristol and the West of England Bristol Robotics Laboratory (BRL) DuPont Building Bristol Business Park Bristol BS16 1QD UK DLR Institute of Robotics and System Dynamics P.O.Box 1116. 82230 Wessling Germany

This paper describes the scientific vision and objectives of the FET Flagship candidate initiative Robot Companions for Citizens. Robot Companions will be a new generation of machines that will primarily help and assist elderly people in activities of daily living in their workplace, home and in society. They will be the ICT solution for a new sustainable welfare.

关键词： robotics nanotechnologies material science tissue engineering biomaerials neuroscience social neuroscience human and social sciences ethical and legal issues

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A goal-oriented fuzzy reactive control for mobile robots with automatic rule optimization

A goal-oriented fuzzy reactive control for mobile robots wit...

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2010 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Anmin Zhu Simon X. Yang School of Computer Science and Software Engineering Shenzhen University China Advanced Robotics and Intelligent Systems ARIS) Laboratory School of Engineering University of Guelph Canada

To realize real-time goal-oriented navigation for a mobile robot in unpredictable environments, a fuzzy reactive system is proposed in this paper. Besides the establishment of the fuzzy logic system, this paper focuses on the the physical meaning of the parameters in the fuzzy system, and proposes a systematic method to automatically suppress redundant fuzzy rules from the rule base. Under the control of the proposed system with automatic redundant fuzzy rule removal, the mobile robot can preferably avoid obstacles autonomously, and generate reasonable trajectories toward the target in various situations. The effectiveness and efficiency of the proposed approach are demonstrated by simulation and experimental studies.

关键词： Mobile robots Robot sensing systems Wheels Fuzzy logic Navigation

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A survey on intelligent interaction and cooperative control of multi-robot systems

A survey on intelligent interaction and cooperative control ...

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International Conference on Control and Automation (ICCA)

作者： Anmin Zhu Simon X. Yang School of Computer Science and Software Engineering Shenzhen University China Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

Multi-robot systems have drawn the attention of many different research communities, such as physics, electronics, control, computer science, mathematics, and biology. Motivated by the growing popularity of multi-robot system and related coordination approaches, this paper surveys and analyzes the relevant literature, including six classification dimensions: system architectures, communication and robotic sensor networks, swarm intelligence and swarm robotics, cooperation among robots, applications, and research projects.

关键词： Control systems Multirobot systems Robot sensing systems Robot kinematics intelligent robots Physics Communication system control Biological control systems Computer science Mathematics

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