The focus of this work is to investigate and quantify the ability of a humanoid 'hybrid face' robot to effectively convey emotion to a human observer by mapping their physiological (EEG) response to perceived ...
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Current approaches to determine the orientation and maintain balance of mobile robots typically rely on gyro and tilt sensor data. This paper presents an image-based sensor fusion approach using sensed data from a MEM...
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Current approaches to determine the orientation and maintain balance of mobile robots typically rely on gyro and tilt sensor data. This paper presents an image-based sensor fusion approach using sensed data from a MEMS gyro and a digital image processing system. The approach relies on the statistical property of man-made or cultural environments to exhibit predominately more horizontal and vertical edges than oblique edges. The gyro data and statistical image data is Kalman filtered to estimate the roll angle. The system was tested both indoors and outdoors at the University of Arizona campus, and it demonstrated continuous roll angle drift correction, without prior knowledge of or training on the environment. The algorithm was then implemented in a biped walking robot to demonstrate the real-time, end-to-end proof of concept.
A cognitive collaborative multi-agent control architecture that addresses real-world control problems for swarms of mobile robots is proposed. The swarm's emergent behaviour is obtained by using a distributed Part...
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A cognitive collaborative multi-agent control architecture that addresses real-world control problems for swarms of mobile robots is proposed. The swarm's emergent behaviour is obtained by using a distributed Particle Swarm Optimization inspired algorithm. A swarm-user interface is also presented and offers a way for a human operator to interact with and guide the robotic swarm without limiting its emergent intelligence. The architecture is designed as a multi-agent system developed using JADE Framework. Three types of agents were defined: local behaviour agent, social behaviour agent and graphical user interface (GUI) agent. Each robot is associated with a pair of a local and a social behaviour agents which implement the reactive component and the interaction between the robots. The swarm forms a hierarchical structure composed of subswarms and neighbourhoods based on tasks and goals defined by the user or the swarm itself. The GUI agent is used as a link between the human expert and the swarm. The architecture was tested on a swarm of e-puck robots.
This paper presents an investigation focused on cooperation of a small industrial robot and a human operator. During their cooperation the collision is expected only between the robot end-effector and the lower arm of...
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This paper presents an investigation focused on cooperation of a small industrial robot and a human operator. During their cooperation the collision is expected only between the robot end-effector and the lower arm of the human worker. To ensure safe and comfortable human-robot interaction the impact must not cause any injury or considerable pain to the human operator. An investigation with human volunteers was performed, to study the impact between the robot and the man. To determine a safe range of the impact intensity with human subjects, a preliminary investigation was performed on one of the authors of this paper. During the experiment, the volunteers determined the pain they felt after each impact using a graphical user interface. In the experiments, the robot end-effector collided with the volunteer's lower arm perpendicularly at a constant deceleration. The point of impact was positioned midway between the wrist and the elbow on the dorsal aspect of the lower arm. The robot end-effector was displaced from the initial point toward the point of impact along a straight line. Several tests were carried out at maximal velocity, different robot decelerations, various end- effector shapes, and varying depth of stop point with regard to the arm surface. The impacts between robot end-effector and human arm were evaluated using a measuring system comprised of a force sensor and an optical measuring system. The goal of the investigation was to determine the correlation between the pain intensity felt during the impact and the impact energy density.
Dynamics and control of a space robotic system with flexible appendages during a docking operation is studied here. Flexible appendages such as solar panels of a space free flying robotic system during a manoeuvre may...
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Dynamics and control of a space robotic system with flexible appendages during a docking operation is studied here. Flexible appendages such as solar panels of a space free flying robotic system during a manoeuvre may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbances on the moving base, which in turn produces error in the position and speed of the manipulating end-effectors. In this paper, first the system dynamics is partitioned into two rigid and flexible bodies' motion, and a practical model for control implementations on compounded rigid-flexible multi-body systems is developed. Then, based on a designed path/trajectory for a space robotic system, the multiple impedance control and the augmented object model algorithm are extended to perform an object manipulation task by such complicated rigid-flexible multi-body systems. Finally, a space free flying robotic system is simulated during a docking operation which contains two 2-DOF planar manipulators, and a rotating antenna and a camera as its third and fourth arms, appended with two solar panels. Obtained results reveal the merits of the proposed model and developed controllers which will be discussed.
A dynamics model for a hexapod robot is developed in this paper which avoids extra calculations to yield a compact set of dynamic equations. To this end, foot interaction with the ground is modeled based on a complian...
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A dynamics model for a hexapod robot is developed in this paper which avoids extra calculations to yield a compact set of dynamic equations. To this end, foot interaction with the ground is modeled based on a compliant model, and a force distribution method is implemented in finding required friction forces. This leads to minimum slippage possibility and energy consumption. Furthermore, a scheme is proposed to generate an appropriate rhythmic gait and the ZMP criterion is successively used for checking the robot stability during its planned motion. In conclusion, obtained results are presented for robot stable motion based on the designated gait along a straight path.
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 focuse...
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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.
Improvement of microcantilever-based sensors and actuators chiefly depends on how comprehensively they are modeled and precisely formulated. Atomic Force Microscopy (AFM) is the most widespread application of microcan...
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In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor use...
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In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed.
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