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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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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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Ensembles of Neural Networks for Robust Reinforcement Learning

Ensembles of Neural Networks for Robust Reinforcement Learni...

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International Conference on Machine Learning and Applications (ICMLA)

作者： Alexander Hans Steffen Udluft Neuroinformatics and Cognitive Robotics Laboratory Ilmenau University of Technology Ilmenau Germany Intelligent Systems and Control Corporate Technology Siemens AG Germany

Reinforcement learning algorithms that employ neural networks as function approximators have proven to be powerful tools for solving optimal control problems. However, their training and the validation of final policies can be cumbersome as neural networks can suffer from problems like local minima or over fitting. When using iterative methods, such as neural fitted Q-iteration, the problem becomes even more pronounced since the network has to be trained multiple times and the training process in one iteration builds on the network trained in the previous iteration. Therefore errors can accumulate. In this paper we propose to use ensembles of networks to make the learning process more robust and produce near-optimal policies more reliably. We name various ways of combining single networks to an ensemble that results in a final ensemble policy and show the potential of the approach using a benchmark application. Our experiments indicate that majority voting is superior to Q-averaging and using heterogeneous ensembles (different network topologies) is advisable.

关键词： Training Function approximation Artificial neural networks Network topology Approximation algorithms Neurons

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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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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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Light-weight mobile robot for hydrodynamic treatment of concrete and metal surfaces

Light-weight mobile robot for hydrodynamic treatment of conc...

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International Conference on Applied robotics for the Power Industry (CARPI)

作者： Zdenko Kovacic Borislav Balac Stjepan Flegaric Kristijan Brkic Matko Orsag LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of electrical Engineering and Computing University of Zagreb Zagreb Croatia Inteco d o o Zagreb Croatia

The paper presents a modular design of a lightweight mobile robot for hydrodynamic treatment of concrete and metal surfaces. The robot is composed of three fully separable modules: an under-carriage with two tracks, an electric cabinet containing power electronics, communication and control, and a robot arm with various water jet tools. Modularity and smaller robot weight allows easy transportation, operation in ordinary construction conditions and maneuvering in very confined spaces. The on-board PLC controls the following robot axes: two robot tracks, a beam, a rotor tool, lance swing and pitch angles, and tool-to-surface distance deviation. Ultrasound sensors mounted on the robot allow automatic adjustment of a tool towards a treated surface. Experimental results obtained in real exploitation conditions (during a bridge repair) have confirmed all advantages of the described robot design.

关键词： Power industry Service robots Conferences

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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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Generating Dynamically Stable Walking Patterns for Humanoid Robots Using Quadratic System Model

Generating Dynamically Stable Walking Patterns for Humanoid ...

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2010 IEEE/ASME international conference on advanced intelligent mechatronics (AIM 2010)

作者： Wael Suleiman Fumio Kanehiro Kanako Miura Eiichi Yoshida CNRS-AIST JRL (Joint Robotics Laboratory) UMI3218/CRT Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

The approximation of humanoid robot by an inverted pendulum is one of the most used model to generate a stable walking motion. Many studies have been carried out to improve the reliability of this model. One of the proposed models is the quadratic system model, which has been validated by conducting real experiments on the humanoid robot. In this paper, we propose several controlling algorithms for the quadratic system. Some of these algorithms are devoted for on-line and off-line walking pattern generation algorithms for the humanoid robot. Dynamically stable walking patterns have been generated in order to validate these algorithms. The stability and feasibility of walking patterns have been confirmed using dynamical simulation and conducting real experiments on the humanoid robot HRP-4C.

关键词： Humanoid robot ZMP control Optimization Nonlinear system control

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge control Theory real-time control law problems special search future ADP basis

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Wavelet-based pre-filtering for low cost inertial sensors

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Journal of Applied Sciences 2010年第19期10卷 2217-2230页

作者： Hasan, Ahmed M. Samsudm, K. Ramli, A.R. Azmir, R.S. Computer Systems Research Group Department of Computer and Communication Systems Universiti Putra Malaysia 43400 UPM-Serdang Malaysia Intelligent Systems and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia 43400 UPM-Serdang Malaysia Research Center of Excellence Universiti Putra Malaysia 43400 UPM-Serdang Malaysia

This study proposed to de-noise the IMU signal by effectively band-limiting the signal at the output of each inertial measurement sensor prior to its mechanization and further processing by the Strapdown INS (SDINS) algorithm. Wavelet Multi-Resolution Algorithm (WMRA) is utilized to improve the performance of the inertial sensors by removing their short term noise. The aim of this study is to reveal how WMRA is utilized to improve the performance of the inertial measurement unit systems and investigate how wavelet analysis can be used to analyse and de-noise output of the low-cost inertial sensors. The proposed multi-level decomposition was applied to real accelerometer and gyroscopes data obtained from MEMS IMU (MotionPak II). Different level of decomposition and thresholding filter was evaluated to obtain optimal results. Analysis of the results demonstrate reducing the INS position and velocity error for the specific IMU. © 2010 Asian Network for Scientific Information.

关键词： Inertial navigation systems

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