One of the main aims of humanoid robotics is to develop robots that are capable of interacting naturally with people. However, to understand the essence of human interaction, it is crucial to investigate the contribut...
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Research on humanoid robots has produced various uses for their body properties in communication. In particular, mutual relationships of body movements between a robot and a human are considered to be important for sm...
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Research on humanoid robots has produced various uses for their body properties in communication. In particular, mutual relationships of body movements between a robot and a human are considered to be important for smooth and natural communication, as they are in human-human communication. We have developed a semi-autonomous humanoid robot system that is capable of cooperative body movements with humans using environment-based sensors and switching communicative units. And we conducted an experiment using this robot system and verified the importance of cooperative behaviors in a route-guidance situation where a human gives directions to the robot. This result indicates that the cooperative body movements greatly enhance the emotional impressions of human in a route-guidance situation. We believe these results allow us to develop interactive humanoid robots that sociably communicate with humans.
In this paper, a non-time based tracking controller of a nonholonomic mobile robot is first analyzed. Non-time based motion controllers have been successfully applied to many areas such as robot motion control, multi-...
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In this paper, a non-time based tracking controller of a nonholonomic mobile robot is first analyzed. Non-time based motion controllers have been successfully applied to many areas such as robot motion control, multi-robot coordination, force control, robotic teleoperation and manufacturing automation. However, by the traditional non-time based motion controller many suffer from oscillations in both the linear and angular velocities when there is a large initial tracking error. In this paper, a traditional non-time based tracking controller is optimized using a genetic algorithm, which is used to generate the model parameters that could guarantee the system stability and convergence of tracking error. Simulations using a nonholonomic mobile robot model with a four degree of freedom are conducted to investigate the performance of the proposed controller. The results using the proposed model is compared to those of the conventional model. Generally the proposed model performs better than the conventional model because the genetic algorithm can provide better parameters to minimize tracking error and the oscillation.
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