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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Dongheui Lee Gerd Hirzinger Christian Ott Yoshihiko Nakamura Department of Electrical Engineering and Information Technology Technical University of MunichGerma Institute of Robotics and Mechatronics German Aerospace Center (DLR e.V.) Department of Mechano-Informatics The University of TokyoJapan

This video presents our recent research on the integration of physical human-robot interaction (pHRI) into imitation learning. First, a marker control approach for realtime human motion imitation is shown. Secondly, physical coaching in addition to observational learning is applied for the incremental learning of motion primitives. Last, we extend imitation learning to learning pHRI which includes the establishment of intended physical contacts. The proposed methods were implemented and tested using the IRT humanoid robot and DLR’s humanoid upper-body robot Justin.

关键词： Humans Robot kinematics Hidden Markov models Humanoid robots Education Springs

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Deliberation of value-sympathy model for adaptive service attendant system

Deliberation of value-sympathy model for adaptive service at...

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Annual Conference of Industrial Electronics Society

作者： Satoshi Suzuki Masaya Ando Hiroshi Hashimoto Hajime Asama Department of Robotics and Mechatronics Tokyo Denki University Chiyoda Tokyo Japan Department of Design Chiba Institute of Technology Japan Advanced Institute of Industrial Technology Japan School of Engineering University of Tokyo Japan

For service engineering, a mathematical model of customers is indispensability. This paper presents a design procedure of the service value-sympathy model by utilizing Self-Organizing Map (SOM) to establish a formulation of the model implementable to the service devices. The model is expressed as a mapping function of SOM computed using the questionnaire data on the service recipients, and the questionnaire is designed using results of the qualitative analysis to the service providers. The effectiveness of the design procedure and the modeling method were verified through the case-study of the hotel reception service. Predicting the guest satisfaction using the obtained value-sympathy model, an accuracy of the model and its feasibilities were investigated. Although the matching ratio in the cross-validation was not sufficiently high, a direction to create a new value concerning the service engineering could be shown.

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E-wobble: An electronic wobble board for ankle and toe rehabilitation

E-wobble: An electronic wobble board for ankle and toe rehab...

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IEEE International Workshop on Medical Measurement and Applications (MEMEA)

作者： Ali Karime Hussein Al-Osman Wail Gueaieb Jihad Mohamad Alja'am Abdulmotaleb El Saddik Multimedia Communication Research Laboratory (MCRLab) University of Ottawa Ottawa ONT Canada Machine Intelligence Robotics and Mechatronics (MIRaM) University of Ottawa Canada Department of Computer Science and Engineering Qatar University Doha Qatar

Foot-drop is a common symptom among post stroke patients. It is characterized by the inability of a person to raise his/her foot at the ankle and to drag the toes during swing. To overcome such disability, long-term rehabilitation is crucial. However, such treatment might not be accessible to many people, especially those living far from the cities where most of the rehabilitation centers are located. In this paper, we present our interactive rehabilitation system called “E-Wobble” that consists of a modified version of a wobble board mounted with sensors and actuators. The proposed system aims to help patients with foot-drop symptoms so they can train their ankles and toes from home. The E-Wobble tangible interface is associated with a 2D golf game that motivates the patients to spend more time exercising while having fun.

关键词： Games Sensors Robots Accelerometers Foot Actuators Training

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Trajectory planning and control for multiple-vehicles systems

Trajectory planning and control for multiple-vehicles system...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Anugrah K. Pamosoaji Keum-Shik Hong Shuzhi Sam Ge School of Mechanical Engineering Pusan National University Busan South Korea Department of Cogno-Mechatronics Engineering Pusan National University Busan South Korea Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology Chengdu China Department of Electrical and Computer Engineering National University of Singapore Singapore

Algorithms for trajectory planning and control for a multiple-vehicles system are investigated. An issue of designing collision-free trajectories on a group of crossing paths is tackled. The trajectories are modeled as a set of via-points coupled with their associated achieving time. Furthermore, a tracking controller design dealing with actuators constraints and all via points' achieve times is proposed. By applying the controller, each vehicle is guaranteed to get closer to the desired via-points without any obstacle-avoidance motions. Simulation results showing the generated trajectories and tracking performance is presented.

关键词： Vehicles Trajectory Planning Acceleration Educational institutions Simulation Control design

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Gearbox Ripple Rejection of Robots Using Observer and Adaptive Control Theory

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IFAC Proceedings Volumes 2011年第1期44卷 893-898页

作者： Sebastian Maier Johann Bals Marc Bodson Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Muenchner Str. 20 Department of Electrical and Computer Engineering University of Utah 50 S Central Campus Dr. Salt Lake City UT 84112 USA

Abstract Robots are often run with permanent magnet synchronous motors (PMSM) with a high ratio gearbox. Both parts can produce parasitic oscillations (ripples), which let the robot shake at tool center point. The gearbox ripple problem is more complicated to be solved with control theory because only motor side sensors should be used. Due to the internal model principle gearbox side information is necessary to solve the problem. The first algorithm uses an observer to get gearbox side information where the second algorithm uses a gearbox side rate sensor. The algorithms are tested with a nonlinear SISO problem and with a nonlinear MIMO system. In both cases the ripples are canceled with an adaptive controller which estimates the phase and magnitude of the ripple. This adaptive controller is designed separately and is added to the existing basis controller. The algorithms are tested in simulation and on a testbed, which is an industrial application.

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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International Conference on Control, Instrumentation, and Automation

作者： Hamed Kazemi Vahid Johari Majd Majid M. Moghaddam Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Intelligent Control Systems Laboratory Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Moalem University Tehran Iran Mechanical Engineering Department Tarbiat Modares University Tehran Iran

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability.

关键词： Mathematical model Legged locomotion Dynamics Equations Joints Robot kinematics

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Crane control via parallel distributed fuzzy LQR controller using genetic fuzzy rule selection

Crane control via parallel distributed fuzzy LQR controller ...

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International Conference on Control, Instrumentation, and Automation

作者： M. Adeli H. Zarabadipour M. Aliyari Shoorehdeli Department of robotics and mechatronics School of Science and Technology Nazarbayev University Astana Kazakhstan Department of Electrical Engineering Shahid Rajaee University Tehran Iran DORA S.p.A. STMicroelectronics group Aosta — Italy Agrate Brianza MI Italy Department of mechanical engineering School of Engineering Nazarbayev University Astana Kazakhstan Department of Electrical and Computer Engineering University of Stavanger Stavanger Norway

Overhead crane is an industrial structure that is widely used in many harbors and factories. It is usually operated manually or by some conventional control methods. In this paper, we propose a hybrid controller includes both position regulation and anti-swing control. According to Takagi-Sugeno fuzzy model of an overhead crane and genetic algorithm, a fuzzy controller is designed with parallel distributed compensation and Linear Quadratic Regulation. Using genetic algorithm, important fuzzy rules are selected and so the number of rules decreased and design procedure need less computation and its computation needs less time. Further, the stability of the overhead crane with the parallel distributed fuzzy LQR controller is discussed. The stability analysis and control design problems is reduced to linear matrix inequality (LMI) problems. Simulation results illustrated the validity of the proposed parallel distributed fuzzy LQR control method and it was compared with a similar method parallel distributed fuzzy controller with same fuzzy rule set.

关键词： Cranes Mathematical model Genetic algorithms Nonlinear systems Stability analysis Control design Linear matrix inequalities

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Adding emotional tag to augment context-awareness in social network services

Adding emotional tag to augment context-awareness in social ...

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IEEE Instrumentation and Measurement Technology Conference

作者： Kazi Masudul Alam Md. Abdur Rahman Abdulmotaleb El Saddik Wail Gueaieb Multimedia Communication Research Laboratory (MCRLab) University of Ottawa Canada Multimedia Communication Research Laboratory (MCRLab) School of Information Technology and Engineering University of Ottawa Canada Umm Al-Qura University Makkah Al Mukarramah Saudi Arabia Machine Intelligence Robotics and Mechatronics (MIRaM) Laboratory

In this paper we address the challenges and design considerations to add emotional tag to existing Internet-based social network services. We propose an emotion tagger that takes content from diversified Internet-based services and maps the analyzed content to an emotional value which can be used to augment semantic values of Internet-based service. To show a proof of concept working environment, we add the proposed emotion tagger with our earlier developed context-aware social network framework called SenseFace and investigate the efficiency of the tagger. We finally present our preliminary integration results.

关键词： Context Social network services Data mining Multimedia communication Portals Blogs Databases

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Homography-based ground area detection for indoor mobile robot using binocular cameras

Homography-based ground area detection for indoor mobile rob...

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IEEE Conference on robotics, Automation and mechatronics

作者： Peiqi Ke Cai Meng Jihao Li Ying Liu Image Processing Center School of Astronautics Beihang University Beijing 100191 China Social Robotics Lab Interactive Digital Media Institute National University of Singapore 119613 Singapore Mechatronics Engineering Department School of Mechanical Engineering Beijing University of Science Technology 100083 China Industrial Robot & Production Automation Lab School of Mechanical Engineering University of Science & Technology Beijing 100083 China

Drivable area detection is an important issue for mobile robot to work in indoor and outdoor environments with safety and security with respect to itself and environment. In this paper, we propose an approach to detect the ground area for indoor mobile robots with binocular cameras. At first, the ground induced homography between onboard binocular cameras is calibrated. In ground area detection, the right eye image is warped to left eye by the homography and subtracted by the left eye image. From the difference image the rough non-ground regions can be detected. Then the closed contours on the difference image and the left eye image are searched to segment them into regions. These corresponding regions are compared to judge whether they belong to ground plane. The conducted experiments show that the proposed method is valid in detecting ground area.

关键词： Mobile robots Cameras Conferences Automation Image segmentation Robot vision systems

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Design and Control of a Coupling Mechanism-Based Prosthetic Hand

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Journal of Shanghai Jiaotong university(Science) 2010年第5期15卷 571-577页

作者：王新庆刘伊威姜力杨大鹏李楠刘宏黄海 State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics German Aerospace Center Key Laboratory of Science and Technology for National Defence of Autonomous Underwater Vehicle Harbin Engineering University

A five-fingered,multi-sensory and biomimetic hand is *** cambered palm is specially designed by utilizing the knowledge of *** position of each finger is arranged according to human hand *** finger with three phalanges could fulfill flexion-extension movement *** the fingers are designed using coupling link *** location of the thumb is designed by maximizing interaction area between the thumb and other *** opposite thumb could grasp along a cone surface,while maintaining its *** hardware architecture is divided into control system and human-machine interaction *** mechanical parts,sensors and motion control systems are integrated in the hand *** addition,a skin-like glove is designed,which makes the hand more *** to our primary experimental results,the hand can accomplish several grasp modes by applying an intuitive surface electromyography control *** success rate of 10 modes is up to 90%.

关键词： prosthetic hand coupling mechanism electromyography control support vector machine (SVM)

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