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检索条件"机构=Intelligent Robotics Program of Industrial Technology Research Institute"

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Autonomous environment manipulation to assist humanoid locomotion

Autonomous environment manipulation to assist humanoid locom...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Martin Levihn Koichi Nishiwaki Satoshi Kagami Mike Stilman Institute for Robotics and Intelligent Machines Georgia Institute of Technology Atlanta GA USA Digital Human Research Center National Institute of Advanced Industrial Science and Technology (AIST) Tokyo Japan

Legged robots have unique capabilities to traverse complex environments by stepping over and onto objects. Many footstep planners have been developed to take advantage of these capabilities. However, legged robots also have inherent constraints such as a maximum step height and distance. These constraints typically limit their reachable space, independent of footstep planning. Thus, we propose that robots such as humanoid robots that have manipulation capabilities should use them. A robot should autonomously modify its environment if necessary. We present a system that enabled a real robot to use a box to create itself a stair step or place a board on the ground to cross a gap, allowing it to reach its otherwise unreachable goal configuration.

关键词： Planning Robot kinematics Humanoid robots Visualization Space exploration Service robots

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Stability Analysis of Nonlinear Systems using Dynamic-Routh's Stability Criterion: A New Approach

Stability Analysis of Nonlinear Systems using Dynamic-Routh'...

引用

International Conference on Advances in Computing, Communications and Informatics

作者： Basant Kumar Sahu Madan M. Gupta Bidyadhar Subudhi Centre for Industrial Electronics and Robotics National Institute of Technology Intelligent Systems Research Laboratory College of Engineering University of Saskatchewan

ISBN: (纸本)9781467361262

In this paper, we proposed a new method to analyze the condition and region of stability of nonlinear time-varying systems by introducing the notions of dynamic poles and dynamic-Routh's stability method. The stability analysis is carried out in a special type of complex plane called g(t)-plane which is similar to the traditional s-plane where both real and imaginary axis have time dependent parameters. The theorem is established and numerical examples from literature are solved with simulation results to show the efficacy and accuracy of the proposed method. The phase plane curve is presented for showing the stability condition of the nonlinear time varying systems.

关键词： Nonlinear time-varying systems Dynamic-Routh's stability approach Dynamic poles

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Humanoid robot as an evaluator of assistive devices

Humanoid robot as an evaluator of assistive devices

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IEEE International Conference on robotics and Automation (ICRA)

作者： Kanako Miura Eiichi Yoshida Yoshiyuki Kobayashi Yui Endo Fumio Kanehioro Keiko Homma Isamu Kajitani Yoshio Matsumoto Takayuki Tanaka CNRS-AIST JRL (Joint Robotics Laboratory) Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology Japan Digital Human Research Center DHRC-AIST AIST Japan IS-AIST Japan Hokkaido University Japan

This paper presents a basic study on feasibility of usage of humanoid robots as an evaluator of assistive devices, by taking advantage of its anthropomorphic shape. In this new application humanoid are expected to help evaluation through quantitative measures, which is difficult with human subjects, and also to reduce the burden coming from ethical concerns with costly tests by human subjects. Taking a passive supportive wear “Smart Suit Lite” designed to relieve the load at lower back as an example, we have conducted pilot experiments by using the humanoid robot HRP-4C. The motion to be performed by the humanoid is obtained through retargeting technique from measured human lifting motion. The supportive effect is first estimated by simulation taking into account the mechanism of the supportive device. The experimentation of humanoid hardware brought us encouraging results on the basic feasibility of this application, as we observed a clear decrease of the torque for lifting when wearing the device as expected by the simulation.

关键词： Joints Torque Assistive devices Hip Humanoid robots Torso

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Fuzzy separation potential function based flocking control of multiple AUVs

Fuzzy separation potential function based flocking control o...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： Basant Kumar Sahu Madan M. Gupta Bidyadhar Subudhi University of Saskatchewan Saskatoon SK CA Intelligent Systems Research Laboratory College of Engineering University of Saskatchewan Saskatoon SAS Canada Centre for Industrial Electronics and Robotics National Institute of Technology Rourkela Odisha India

ISBN: (纸本)9781479903467

In this paper, we present a flocking control algorithm for a group of autonomous underwater vehicles (AUVs) using the leader-follower concept. Leader vehicle have global knowledge of desired trajectory and other AUVs are chosen as followers which are mounted with sensors to estimate the positions of neighbor AUVs. The follower vehicles have no knowledge of desired path. There is a flocking center is estimated to keep all AUVs connected in group. This flocking center is a virtual point whose position can be calculated by applying consensus algorithm. The controller for the leader and follower AUVs are designed using fuzzy variable based artificial potential functions. The efficacy and accuracy of the developed controller is verified through simulation studies considering four AUVs flocking in a group.

关键词： Symmetric matrices Vehicles Lead Trajectory Vectors Integrated circuits Algorithm design and analysis

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Development of a reconfigurable miniature throwable robot for indoor surveillance

Development of a reconfigurable miniature throwable robot fo...

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2012 7th IEEE Conference on industrial Electronics and Applications, ICIEA 2012

作者： Qu, Yuan Liu, Rong Chen, Rui Cheng, Sheng Wang, Ludan Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China Intelligent Robotics Institute Kunshan Industrial Technology Research Institute Kunshan Jiangsu Province China

ISBN: (纸本)9781457721175

This paper presents an innovative mechanical design of a reconfigurable miniature throwable robot. The robot keeps in spherical shape to buffer shock and to protect inner sub-systems in falling, and it transforms to a two-wheeled mobile robot in surveillance via wireless control. Two generations of the robot have been constructed, and details in mechanical design, principle of transformation and a servo-system for adjusting view level of micro-camera are discussed. Experiments are also presented, and effectiveness of the design has been approved. © 2012 IEEE.

关键词： Mobile robots

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Difference of efficiency in human-robot interaction according to condition of experimental environment

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4th International Conference on Social robotics, ICSR 2012

作者： Ahn, Ho Seok Lee, Dong-Wook Choi, Dongwoon Lee, Duk-Yeon Hur, Manhong Lee, Hogil Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-791 Korea Republic of Intelligent Robotics and Communication Laboratories Advanced Telecommunications Research Institute International Kyoto 619-0288 Japan

ISBN: (纸本)9783642341021

Human-Robot Interaction is most important function for social robot systems. Android robot systems, which have human-like appearance, are used for interaction with humans because they have the merit of showing their emotions by similar way to humans. Lots of these robot systems are developed and verified their efficiency and performance by analyzing the experimental results from questionnaire method. However, the results from questionnaire method can be different from many conditions. In this paper, we analyze the difference of experimental results from questionnaire method by comparing three groups: the first group gains benefits by competition, the second group gains benefits without competition, and the last group does not gain anything. For these experiments, android head system EveR-4 H33, which has 33 motors inside of head to show its facial expressions, is used. © 2012 Springer-Verlag.

关键词： Human robot interaction

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Appropriate emotions for facial expressions of 33-DOFs android head EveR-4 H33

Appropriate emotions for facial expressions of 33-DOFs andro...

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2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012

ISBN: (纸本)9781467346054

There are many theories about basic emotions, and we do not know which emotions are appropriate to use. Also, faces of robots are designed differently and require different ways to embody emotional expressions. Therefore, in this paper we address the appropriate emotions for facial expressions of EveR-4 H33, which is controlled by thirty-three motors for head system. EveR-4 H33 displays her facial expressions for certain emotions selected from typical basic emotion theories. Then, audiences at an exhibition evaluate her facial expressions, by enjoying a game of emotional correction. We analyze the results of the game, and decide appropriate emotions for EveR-4 H33. © 2012 IEEE.

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Uses of Facial Expressions of Android Head System according to Gender and Age

Uses of Facial Expressions of Android Head System according ...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Ho Seok Ahn Dong-Wook Lee Dongwoon Choi Duk-Yeon Lee Manhong Hur Hogil Lee Intelligent Robotics and Communication Laboratories Advanced Telecommunications Research Institute International Department of Applied Robot Technology Korea Institute of Industrial Technology

ISBN: (纸本)9781467317139

This paper analyzes emotional expressions of an android head system according to gender and age. We use an EveR-4 H33 controlled by thirty-three motors for facial expression. EveR-4 H33 is a head system for an android face consists of three layers: a mechanical layer, an inner cover layer and an outer cover layer. Facial expressions of robots are different from the purposes of robots. In addition, feeling of emotional expressions is also different from humans depending on age, gender, etc. Therefore, we find the appropriate uses of EveR-4 H33 in this paper. EveR-4 H33 shows her facial expressions about some emotions. Then, audiences of exhibition evaluate her facial expressions by enjoying a game of emotional correction. We analyze the results of the game according to gender and age, and decide appropriate uses of EveR-4 H33.

关键词： Android Facial expression Emotional expression EveR Human-Robot Interaction Facial Expression Gender Methyltestosterone Androids Robot Emotions Aged Game theory Game animals Head

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Appropriate Emotions for Facial Expressions of 33-DOFs Android Head EveR-4 H33

Appropriate Emotions for Facial Expressions of 33-DOFs Andro...

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IEEE International Symposium on Robot and Human Interactive Communication

ISBN: (纸本)9781467346047

关键词： Facial Expression Emotions Game theory Game animals Methyltestosterone Androids Robot

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Development of a reconfigurable miniature throwable robot for indoor surveillance

Development of a reconfigurable miniature throwable robot fo...

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IEEE Conference on industrial Electronics and Applications (ICIEA)

作者： Yuan Qu Rong Liu Rui Chen Sheng Cheng Ludan Wang Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China Intelligent Robotics Institute Kunshan Industrial Technology Research Institute Kunshan Jiangsu China

关键词： Batteries Service robots Mobile robots Cameras Robot vision systems Receivers

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