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IeeE International Workshop on intelligent Robots and systems (IROS)

作者： P. Goel G.S. Sukhatme Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA University of Southern California Los Angeles CA US

An efficient strategy based on an artificial neural network is presented to enable a mobile robot to move autonomously and build a rough map of its environment. The paper describes a technique based on a neural network which uses data from sonars to recognize features online. Our method is systematic, simple and yields very good results. Moreover, it is generalizable in the sense that one can train the robot to recognize particular features of interest. We have implemented and tested this technique successfully on-board a mobile robot which uses a 68332 processor and does not have support for floating point arithmetic and file structure. Once trained, the robot can recognize the features on the fly and react to them appropriately.

关键词： Neural networks Mobile robots Artificial neural networks Robot sensing systems intelligent robots Sonar detection Acoustic reflection Sonar navigation Target tracking robotics and automation

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Robust localization using relative and absolute position estimates

Robust localization using relative and absolute position est...

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IeeE International Workshop on intelligent Robots and systems (IROS)

作者： P. Goel S.I. Roumeliotis G.S. Sukhatme Department of Computer Science Institute of Robotics and Intelligent Systems University of Southern California Los Angeles CA USA University of Southern California Los Angeles CA US

A low cost strategy based on well calibrated odometry is presented for localizing mobile robots. The paper describes a two-step process for correction of 'systematic errors' in encoder measurements followed by fusion of the calibrated odometry with a gyroscope and GPS resulting in a robust localization scheme. A Kalman filter operating on data from the sensors is used for estimating position and orientation of the robot. Experimental results are presented that show an improvement of at least one order of magnitude in accuracy compared to the un-calibrated, un-filtered case. Our method is systematic, simple and yields very good results. We show that this strategy proves useful when the robot is using GPS to localize itself as well as when GPS becomes unavailable for some time. As a result robot can move in and out of enclosed spaces, such as buildings, while keeping track of its position on the fly.

关键词： Robustness Mobile robots Global Positioning System Robot sensing systems intelligent robots Error correction Gyroscopes Orbital robotics Navigation Robot localization

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Design and Evaluation of Expressive Turn-Taking Hardware for a Telepresence Robot

Design and Evaluation of Expressive Turn-Taking Hardware for...

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IeeE International Workshop on Robot and Human Communication (ROMAN)

作者： Naomi T. Fitter Youngseok Joung Marton Demeter Zijian Hu Maja J. Matarić Collaborative Robotics and Intelligent Systems (CoRIS) Institute Oregon State University Corvallis OR USA Department of Computer Science University of Southern California Los Angeles CA USA

ISBN: (纸本)9781728126234

Although nonverbal expressive abilities are an essential element of human-to-human communication, telepresence robots support only select nonverbal behaviors. As a result, telepresence users can experience difficulties taking turns in conversation and using various cues to obtain the attention of others. To expand telepresence robot users' abilities to hold the floor during conversation, this work proposes and evaluates new types of expressive telepresence robot hardware. The described within-subjects study compared robot user and co-present person experiences during teamwork activity conditions involving basic robot functions, expressive LED lights, and an expressive robot arm. We found that among participants who preferred the arm-based expressiveness, individuals in both study roles felt the robot operator to be more in control of the robot during the arm condition, and participants co-located with the robot felt closer to their teammate during the arm phase. Participants also noted advantages of the LED lights for notification-type information and advantages of the arm for increasing perceptions of the robot as a human-like entity. Overall, these findings can inform future work on augmenting the nonverbal expressiveness of telepresence robots.

关键词： Robot REMOTE CONTROL Arm spiral arm Conversation Turning

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User Perception and Evaluation of a Portrait Drawn by KUKA KR3 AGILUS Manipulator 9th

User Perception and Evaluation of a Portrait Drawn by KUKA K...

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9th International Conference on Interactive Collaborative robotics, ICR 2024

作者： Zagirov, Aidar Chebotareva, Elvira Osokin, Sergey Li, Hongbing Magid, Evgeni Intelligent Robotics Department Institute of Information Technology and Intelligent Systems Kazan Federal University 35 Kremlevskaya St. Kazan420008 Russia Department of Instrument Science and Engineering Shanghai Jiao Tong University Minhang Shanghai200240 China School of Electronic Engineering Tikhonov Moscow Institute of Electronics and Mathematics HSE University 34 Tallinskaya St. Moscow Russia

ISBN: (纸本)9783031713590

Creating an artistic portrait is considered one of the most complex areas of a generative art. Currently, generative artificial intelligence (AI) has made significant advancements in generating portraits of people based on photographic images. This has opened up new opportunities for utilizing AI achievements in robotic artistry. However, questions related to evaluation and human perception of such works, including their artistic value, remain open. In our work, we present experimental results of integrating the processing of human photographs using the generative model InstantID with a drawing robot and studying users’ reactions to the obtained images. In our experiments, we generated graphic portraits of people and constructed their images using KUKA KR3 AGILUS robot. We then asked participants to rate the resulting portraits based on three parameters: similarity/recognition, beauty/aesthetics, and evoked emotions. The results of the experiments can be used in social robotics, including art therapy that involves social robots and human-robot interaction. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Social robots

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Adaptive predictive control of a class of discrete-time MIMO nonlinear systems with uncertain couplings

Adaptive predictive control of a class of discrete-time MIMO...

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作者： Yang, Chenguang Li, Yanan Ge, Shuzhi Sam Lee, Tong Heng Department of Bioengineering Imperial College London London SW7 2AZ United Kingdom Social Robotics Lab Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781424474264

In this paper, a novel adaptive predictive control is presented for a class of multi-input-multi-output (MIMO) nonlinear systems in block-triangular form with uncertain couplings of states/delayed states as well as inputs among subsystems. For each subsystem of the MIMO system, future states prediction is developed and using the predicted future states, adaptive predictive control is designed under certainty equivalence principal to compensate the parametric uncertainties in the couplings. To eliminate the functional uncertainties in the couplings, a novel compensation mechanism is developed for each subsystem. Under the proposed adaptive controls, all the signals in the closed-loop MIMO systems are guaranteed to be globally bounded. In addition, all the output tracking errors are guaranteed to converge to zeros. The effectiveness of the proposed control is demonstrated in the simulation. © 2010 AACC.

关键词： Couplings

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Learning multiple collaborative tasks with a mixture of Interaction Primitives

Learning multiple collaborative tasks with a mixture of Inte...

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IeeE International Conference on robotics and Automation (ICRA)

作者： Marco Ewerton Gerhard Neumann Rudolf Lioutikov Heni Ben Amor Jan Peters Guilherme Maeda Department of Computer Science Technische Universität Darmstadt Darmstadt Germany Institute of Robotics and Intelligent Machines Georgia Institute of Technology Atlanta GA USA 3Max Planck Institute for Intelligent Systems Tuebingen Germany

Robots that interact with humans must learn to not only adapt to different human partners but also to new interactions. Such a form of learning can be achieved by demonstrations and imitation. A recently introduced method to learn interactions from demonstrations is the framework of Interaction Primitives. While this framework is limited to represent and generalize a single interaction pattern, in practice, interactions between a human and a robot can consist of many different patterns. To overcome this limitation this paper proposes a Mixture of Interaction Primitives to learn multiple interaction patterns from unlabeled demonstrations. Specifically the proposed method uses Gaussian Mixture Models of Interaction Primitives to model nonlinear correlations between the movements of the different agents. We validate our algorithm with two experiments involving interactive tasks between a human and a lightweight robotic arm. In the first, we compare our proposed method with conventional Interaction Primitives in a toy problem scenario where the robot and the human are not linearly correlated. In the second, we present a proof-of-concept experiment where the robot assists a human in assembling a box.

关键词： Trajectory Robot kinematics Handover Hidden Markov models Fasteners

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Complete algorithms for reorienting polyhedral parts using a pivoting gripper

Complete algorithms for reorienting polyhedral parts using a...

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IeeE International Conference on robotics and Automation (ICRA)

作者： A. Rao D. Kriegman K. Goldberg Department of Computer Science Utrecht University Postbus Utrecht Netherlands Center for Systems Science Department of Electrical Engineering Yale University New Heaven CT USA University of Utrecht Netherlands Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los Angeles CA USA

To rapidly feed industrial parts on an assembly line, Carlisle et. al. (1994) proposed a flexible part feeding system that drops parts on a flat conveyor belt, determines the pose of parts with a vision system and manipulates them into a desired pose. A robot arm with 4-DOF is capable of moving parts through 6-DOF when equipped with a passive pivoting axis between the parallel jaws of its gripper. We refer to these actions as pivot grasps. This paper considers the planning problem. Given a polyhedral part shape, coefficient of friction and a pair of stable configurations as input, find pairs of grasp points that will cause the part to pivot from one stable configuration to the other. For some transitions, pivot grasps may not exist. For a part with n faces and m stable configurations, we give an O(m/sup 2/n log n) algorithm to generate the m/spl times/m matrix of pivot grasps. When the part is star shaped, this reduces to O(m/sup 2/n). We also study a generalization that considers "capture regions" around stable configurations. Both algorithms are complete in that they are guaranteed to find pivot grasps when they exist.

关键词： Grippers robotics and automation Service robots Feeds Belts Machine vision computer science intelligent robots Manipulators Robotic assembly

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Entropy Maximization in High Dimensional Multiagent State Spaces

Entropy Maximization in High Dimensional Multiagent State Sp...

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International Symposium on Multi-Robot and Multi-Agent systems (MRS)

作者： Ayhan Alp Aydeniz Enrico Marchesini Robert Loftin Kagan Tumer Collaborative Robotics and Intelligent Systems Institute Oregon State University Corvallis Oregon USA Laboratory for Information & Decision Systems Massachusetts Institute of Technology Cambridge Massachusetts USA Department of Computer Science University of Sheffield Sheffield United Kingdom

Underwater or planetary exploration are prime examples of missions that can benefit from autonomous agents working together. However, discovering effective team-level behaviors (i.e., coordinated joint actions) is challenging in these domains as agents typically receive a sparse reward (zero-or constant-for the majority of the interactions). To address this issue, intrinsic rewards encourage agents to explore diverse policies to visit the state space more effectively. Unfortunately, as the agents’ state space grows, intrinsic reward-based (i.e., curiosity) approaches become less effective as they cannot effectively distinguish a diverse set of states. In this direction, we introduce state entropy maximization for multiagent learning where agents explore using local (dense) rewards and learn to solve the coordination task by leveraging global (sparse) rewards. Because of the intrinsic ability to balance local and global rewards, our approach enables the state entropy function to remain effective in high dimensional state spaces. Experiments in tightly coupled tasks requiring complex joint actions, show that local entropy-based rewards enable agents to discover successful team behaviors in high dimensional spaces where previous hand-tuned count-based rewards fail.

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On the applicability of knowledge-based systems in communication

On the applicability of knowledge-based systems in communica...

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Israel Conference on computer systems and Software Engineering

作者： A. Kandel J.M. Perl M. Schneider Computer Science Department and the Institute for Expert Systems and Robotics Florida State University Tallahassee FL USA Computer Science Department Florida Institute of Technology Melbourne FL USA

A knowledge-based system (COMEX) is presented which replaces or augments the human operator of a communication station in a multilink, multidrop communication network. The system accepts some preliminary information from a human operator, from utility programs running on the same processor, and from external sensors. The system comprises an expert system that operates on three distinct knowledge bases in order to reach an optimal solution for the communication problem. COMEX is written in Turbo Pascal and runs on an IBM-compatible PC, which functions as the communication station controller. When used in a fully automatic mode, it performs efficiently all the functions of an experienced and expert operator, equipment parameters selection and setting, and complete message handling.< >

关键词： Knowledge based systems Communication system control Expert systems Humans Frequency Control systems Automatic control intelligent systems Satellite broadcasting Artificial satellites

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Efficient State Abstraction using Object-centered Predicates for Manipulation Planning

arXiv

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arXiv 2020年

作者： Agostini, Alejandro Lee, Dongheui Human-centered Assistive Robotics Department of Electrical and Computer Engineering Technical University of Munich Munich80333 Germany Intelligent and Interactive Systems Department of Computer Science University of Innsbruck Innsbruck6020 Austria Institute of Robotics and Mechatronics Wessling Germany

The definition of symbolic descriptions that consistently represent relevant geometrical aspects in manipulation tasks is a challenging problem that has received little attention in the robotic community. This definition is usually done from an observer perspective of a finite set of object relations and orientations that only satisfy geometrical constraints to execute experiments in laboratory conditions. This restricts the possible changes with manipulation actions in the object configuration space to those compatible with that particular external reference definitions, which greatly limits the spectrum of possible manipulations. To tackle these limitations we propose an object-centered representation that permits characterizing a much wider set of possible changes in configuration spaces than the traditional observer perspective counterpart. Based on this representation, we define universal planning operators for picking and placing actions that permits generating plans with geometric and force consistency in manipulation tasks. This object-centered description is directly obtained from the poses and bounding boxes of objects using a novel learning mechanisms that permits generating signal-symbols relations without the need of handcrafting these relations for each particular scenario. Copyright © 2020, The Authors. All rights reserved.

关键词： Wave functions

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