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2020 Workshop on Adapted interaction with Social robots, cAESAR 2020

作者： Manzi, Federico Di Dio, Cinzia Itakura, Shoji Kanda, Takayuki Ishiguro, Hiroshi Massaro, Davide Marchetti, Antonella Research Unit on Theory of Mind Department of Psychology Università Cattolica del Sacro Cuore Milan Italy Centre for Baby Science Doshisha University Kyoto Japan Faculty of Education Università Cattolica del Sacro Cuore Milan Italy Human-Robot Interaction Laboratory Kyoto University Kyoto Japan ATR Kyoto Japan Department of Adaptive Machine System Osaka University Toyonaka Japan

Several empirical and theoretical studies have examined the role of robots in child-robot interaction, and they have shown that robotic agents could be perceived as social partners. Nonetheless, studies on moral development in pre-schoolers classically involve a human subject as violator of moral norms. No studies have ever analysed the situation in which the violator is a robotic agent. Investigating moral judgment to a moral transgression through use of the Happy Victimizer Task, and its effects on prosocial behaviour measured by means of the Dictator Game (DG), previous studies showed that children's emotion attribution to a human victimizer can predict children's altruistic behaviour. Following from these studies, which underline children's sensitivity to violations of moral norms by a human partner, the present study aims at evaluating the effects of moral transgression on children's moral judgment in Japanese pre-schoolers aged 5 years. Crucially, this study involved a child victimizer (CV) and a robot victimizer (RV). The present study aims to investigate the victimizer's agent effect (human or robot) on children's evaluation of two different video-recorded moral transgressions stories (Stealing and Not-Sharing) and on children's altruistic behaviour measured through DG. The robot is judged worse than the human independent of the story;however, children attribute more positive emotion to the victimizer in the Not-Sharing story than Stealing story. The results on the DG showed no differences in children's altruistic behaviour toward another human as a function of the victimizer's agency, thus showing an equal distribution that is typical of this age. This data supports a decoupling between judgement and behaviour. Additionally, results on judgement support the hypothesis that children perceived the robot as a "perfect" machine or, at least, as a different kind of interactive entity. Copyright © 2020 Creative Commons License Attribution 4.0 International (CC BY

关键词： human robot interaction

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A Self-calibration Method for robot Based on Geometric Constraints

A Self-calibration Method for Robot Based on Geometric Const...

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IEEE International Conference on Information and Automation

作者： Jingfei Shi Hongsheng Zhang Yuan Liu Daqing Wang Lifu Gao Robot Sensors and Human-Machine Interaction Laboratory Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui China

ISBN: (纸本)9781509041039

Focusing on the self-localization problems of the seeds sampling robot system during the operation process, this paper proposes a self-calibration method of industrial robot. It is based on geometric constraints of points in the coordinate system of the seed sampling box, which realizes the automatic acquisition of the absolute coordinates of robot target points by using the homogeneous coordinate transformation matrix and solves the self-localization problems. The test results show that the absolute value of the relative difference of theoretical coordinates and the actual coordinates is less than 5%o, which means the method is correct and practicable and can meet the requirements of practical work. It is easy to implement and it has advantages of low cost and high accuracy, which is of great significance to solve the self-localization of the workpiece.

关键词： industrial robot seeds sampling geometric constraints self-calibration

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A self-calibration method for robot based on geometric constraints

A self-calibration method for robot based on geometric const...

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2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016

作者： Shi, Jingfei Zhang, Hongsheng Liu, Yuan Wang, Daqing Gao, Lifu Robot Sensors and Human-Machine Interaction Laboratory Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui230031 China Department of Automation University of Science and Technology of China Hefei Anhui China College of Power Engineering Chong Qing University Chongqing China

ISBN: (纸本)9781509041022

Focusing on the self-localization problems of the seeds sampling robot system during the operation process, this paper proposes a self-calibration method of industrial robot. It is based on geometric constraints of points in the coordinate system of the seed sampling box, which realizes the automatic acquisition of the absolute coordinates of robot target points by using the homogeneous coordinate transformation matrix and solves the self-localization problems. The test results show that the absolute value of the relative difference of theoretical coordinates and the actual coordinates is less than 5‰, which means the method is correct and practicable and can meet the requirements of practical work. It is easy to implement and it has advantages of low cost and high accuracy, which is of great significance to solve the self-localization of the workpiece. © 2016 IEEE.

关键词： Industrial robots

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Design of Control System on the Bidirectional Sealing Door for TECA

Design of Control System on the Bidirectional Sealing Door f...

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IEEE International Conference on Information and Automation

作者： Daqing Wang Yuan Liu Yunjian Ge Buyun Wang Huibin Cao Jian Sun Yuxiang Sun Lifu Gao Department of Automation University of Science and Technology of China Robot Sensors and Human-Machine Interaction Laboratory Institute of Intelligent Machines Chinese Academy of Sciences

ISBN: (纸本)9781467391054

The Transfer Equipment Cask (TECA) is a key solution for Remote Handling (RH), and the bidirectional sealing door system (BSD) is the key component of the TECA. The control system of BSD is introduced in this paper. Moreover, the experiment on TECA indicates that the design of control system is feasible and the effect is satisfactory.

关键词： TECA The bidirectional sealing door Synchronous control system PID

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Autonomous position holding and point to point flying control of quadrotor UAVs

Autonomous position holding and point to point flying contro...

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World Congress on Intelligent Control and Automation (WCICA)

作者： M. Liu H. Liu X. Wei Laboratory of Robot Sensors and Human-Machine Interaction Institute of Intelligent Machines CAS Hefei China Department of Automation University of Science and Technology of China Hefei China

Position holding, also called hovering, is a key specification of rotor based aircraft. Its control problem for small quadrotor UAVs (unmanned aerial vehicles) is addressed in this paper. Given the flight dynamics of quadrotors, the P+D+DD based position holding control laws are presented. For the resultant two loop overall configuration, the outer loop controls the throttle magnitude required to reach the target position and generates the reference attitude command for the inner loop, while the inner attitude loop ensures that aircraft's thrust is orientated to the target. The control algorithm is validated via a serial of field tests on a platform developed, including position holding and point to point navigation, showing the effectiveness of the approaches. Some implementation issues, such as translation velocity estimation, its Kalman filter design and multiple sensor data fusion are also addressed.

关键词： sensors Global Positioning System Acceleration Attitude control Kalman filters Estimation Accelerometers

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A High Accuracy Automatic Timing Method for Photo Finish Systems

A High Accuracy Automatic Timing Method for Photo Finish Sys...

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2014 IEEE International Conference on Progress in Informatics and Computing

作者： Jianfeng Li Yuman Nie Min Zhao Feng Shuang Bo Zhu Zhengmao Xie Zaijin Feng Department of Automation University of Science and Technology of China Robot Sensor and Human-Machine Interaction Laboratory Institute of Intelligent Machines Chinese Academy of Sciences

In this paper we proposed a high accuracy automatic timing method for photofinish systems, as manual detection is subjective and time-consuming. Athlete objects are detected and extracted automatically, effective interferences elimination algorithm is proposed for torsolocating and finish line detection. The effectiveness of this method is verified by 2511 samples from 390 track events' original image data, and it achieved the accuracy of 82.07% within a tolerance of 2 ms time error. The experiment results show the objectivity and accuracy.

关键词： automatic photo finish track timing line scan image processing body parts detection

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Sports biomechanics infomation acquisition and analysis based on Miniature Inertial Measurement

Sports biomechanics infomation acquisition and analysis base...

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3rd Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, IEEE-CYBER 2013

作者： Lu, Zeyuan Su, Benyue Wang, Guangjun Cao, Huibin Ma, Tingting Shuang, Feng Ge, Yunjian Robot Sensors and Human-Machine Interaction Laboratory Institute of Intelligent Machines Chinese Academy of Sciences Hefei 23001 China

ISBN: (纸本)9781479906109

To fully evaluate the quality of movement the athlete performed, sports biomechanics information acquisition and analysis at barycenter is conducted based on Miniature Inertial Measurement Unit. The methods to acquire accurate speed, key point identification and index of redundant movement of the subject are proposed. Key point detection is realized by cascaded logical analysis. Velocity estimation is derived by approximate equation. Gesture Energy index is proposed which provides quantity clue for distinguishing of sports quality based on angular velocity record from Miniature Inertial Measurement Unit corresponding to key point. Experiments of measurements on athletes are done to prove the validation of the methods put forward. The velocity results of approximate equation are comparable to the results of video analysis. Phase identification procedure and Gesture Energy index are also proven to be practicable. The methods could offer some aided information to coaches in daily training. © 2013 IEEE.

关键词： Sports

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A high accuracy automatic timing method for photo finish systems

A high accuracy automatic timing method for photo finish sys...

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IEEE International Conference on Progress in Informatics and Computing (PIC)

作者： Jianfeng Li Yuman Nie Min Zhao Feng Shuang Bo Zhu Zhengmao Xie Zaijin Feng Department of Automation University of Science and Technology of China Hefei Anhui China Robot Sensor and Human-Machine Interaction Laboratory Chinese Academy of Sciences Hefei Anhui China Fairplay Technology Co. Ltd Shenzhen China

ISBN: (纸本)9781479920327

In this paper we proposed a high accuracy automatic timing method for photo finish systems, as manual detection is subjective and time-consuming. Athlete objects are detected and extracted automatically, effective interferences elimination algorithm is proposed for torso locating and finish line detection. The effectiveness of this method is verified by 2511 samples from 390 track events' original image data, and it achieved the accuracy of 82.07% within a tolerance of 2 ms time error. The experiment results show the objectivity and accuracy.

关键词： Accuracy Head Torso Timing Interference Algorithm design and analysis Manuals

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An automatic timing method for photo finish

An automatic timing method for photo finish

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8th International Conference on Computer Science and Education, ICCSE 2013

作者： Zhao, Min Nie, Yuman Li, Jianfeng Shuang, Feng Xie, Zhengmao Feng, Zaijin Department of Automation University of Science and Technology of China Hefei Anhui China Robot Sensors and Human-Machine Interaction Laboratory Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui China Fairplay Technology Co. Ltd. Shenzhen China Fengpin Technology Co. Ltd. Shenzhen China

ISBN: (纸本)9781467344623

Manual detection in photo finishing is subjective and of low efficiency. In this study, an automatic detection method is proposed to detect the finish line on the photograph. The object is abstracted by a self-adaption background substraction algorithm based on the specific feature of line scan image. Then an estimative target region mehod is proposed to detect the effective body part for the finish line. The effectiveness of this method is verified by 1312 samples which contain a single contestant, and achieved the correctness of 86.3% within a tolerance of 4ms time-accuracy. The experiment indicates the proposed method can achieve objective and accurate detection result. © 2013 IEEE.

关键词： Image processing

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Design of a novel gait simulator for rehabilitation training

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sensors and Transducers 2013年第3期150卷 90-96页

作者： Liu, Yongjiu Song, Quanjun Wang, Buyun Liu, Yanyang Nie, Yuman Wang, Hui Shuang, Feng Robot Sensors and Human-Machine Interaction Laboratory Institute of Intelligent Machines Chinese Academy of Sciences Hefei 230027 Anhui China Department of Automation University of Science and Technology of China Hefei 230031 Anhui China

Aiming at helping patients bring back some of their lost physical capabilities due to injury or illness, this paper presents a novel gait simulator for their rehabilitation training. It can simulate the normal gait trajectory approximately and guide the patient's feet to follow the preset trajectory repetitively. The gait simulator was developed based on an end-effector structure equipped with electrical servo motor driver. In addition, corresponding control strategies, including passive training mode and speed adaptation training mode, were conducted for the control of the gait simulator. Furthermore, a number of experiments were carried out for healthy subjects and patients to test its stability and flexibility. Experimental results demonstrate that this developed gait simulator has reached designed object and has shown promising prospects as a tool of gait rehabilitation training for people with low limb impairments. © 2013 IFSA.

关键词： Trajectories

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