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作者： Anderson, Monica D. Chernova, Sonia Dodds, Zachary Thomaz, Andrea L. Touretzky, David S. Computer Science Department University of Alabama United States Robotics Engineering Program Worcester Polytechnic Institute United States Department of Computer Science Harvey Mudd College United States School of Interactive Computing Georgia Institute of Technology United States Center for the Neural Basis of Cognition Carnegie Mellon University United States

The 19th robotics program at the annual AAAI conference was held in Atlanta, Georgia, in July 2010. In this article we give a summary of three components of the exhibition: the Small-Scale Manipulation Challenge: Robotic Chess;the Learning by Demonstration Challenge;and the Education Track. In each section we detail the challenge task. We also describe the participating teams, highlight the research questions they tackled, and briefly describe the systems they demonstrated. Copyright © 2011, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Exhibitions

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Trajectory planning and control for multiple-vehicles systems

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

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Pamosoaji, Anugrah K. Hong, Keum-Shik Ge, Shuzhi Sam School of Mechanical Engineering Pusan National University Busan 609-735 Korea Republic of Department of Cogno-Mechatronics Engineering Pusan National University Busan 609-735 Korea Republic of Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611813 China Department of Electrical and Computer Engineering National University of Singapore 117576 Singapore Singapore

ISBN: (纸本)9781457707223

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. © 2011 IEEE.

关键词： Trajectories

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System design and hardware integration of social robot Nancy

System design and hardware integration of social robot Nancy

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IEEE/SICE International Symposium on System Integration

作者： Shuzhi Sam Ge Chun Fui Liew Yanan Li Jiaqiang Yang Robotics Institute and School of Computer Science and Engineering University of Electronic Science and Technology Chengdu China Social Robotics Laboratory Interactive Digital Media Institute and the Department of Electrical and Computer Engineering National University of Singapore Singapore

This paper gives insight into the system design and hardware architecture of Nancy, which is a social robot in humanoid form that is currently being developed in Social robotics Lab (SRL), Interactive and Digital Media Institute, National University of Singapore. In contrast to industrial robots, the design of Nancy focuses on safety issue, social interaction and attractive appearance. In order to achieve these objectives, Nancy is designed to be user-friendly and approachable. The mechanical structure of Nancy is presented in the beginning. After that, the hardware architecture which includes processor system, vision system, audio system, communication system, power system, and motion system, is described systematically. Finally, the roles of integrated sensors are described and implemented works are summarized.

关键词： Sensors Service robots Universal Serial Bus Joints Brushless motors Educational institutions

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Information sharing on cooperative multi-agent system: a survey

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Journal of Computational Information Systems 2011年第15期7卷 5619-5627页

作者： Zhu, Linglong Xu, Yang Sun, Lin Scerri, Paul School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute of Carnegie Mellon University Pittsburgh PA 15213 United States

Cooperative multi-agent system is promising in many application domains, such as disaster rescue and military affairs. The system is characterized by its distribution, decentralization and generally organized as a mobile ad hoc network. Because of agents' limitation on sensors, they are only partially observable to the environment and the other team members. Agents have to share their sensor information and knowledge with each other so that they can jointly make decisions toward their common goal. In this paper, we survey the related literatures that solve the information sharing problem for the decentralized cooperative multi-agent system. Because of the limited nature of agents' computation and network bandwidth, message propagation should, only or firstly, be allowed for the most important information receivers. Researchers from agent society tried to make a best tradeoff, implicitly or explicitly, between information sharing aiming to improve team utilities and communication costs. Unfortunately, many researches can solve the problem theoretically but the problem is computationally hard in practice. A number of researches starts from heuristic but cannot prove their performance in theory. Most of approaches are simulated in a small team or in a static network regardless of network structure or communication media. Therefore, information sharing in such systems is still an interesting and open question. © 2011 Binary Information Press December, 2011.

关键词： Multi agent systems

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A Cascade Traffic Accident Recognition System Using Multi-sensor Cooperation

A Cascade Traffic Accident Recognition System Using Multi-se...

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International Conference on computer Communication and Management（ICCCM 2011）

作者： Ilkyun Jung Seung-Hun Kim Minho Lee Sung-Bae Cho Intelligent Robotics Research Center Korea Electronics Technology Institute School of Electronics Engineering Kyungpook University Department of Computer Science Yonsei University

This paper presents a cascade system to reliably recognize traffic accidents using multi-sensor cooperation. The system is consisted of a MSN (Master Sensor Node) and number of SN (Sensor Node)s with both low cost DSP and CCD. Each SN computes probabilities of accident with a set of images over time taken at different locations. Once more than one accident being reported, MSN is stimulated and conducts a synthetic decision making process with various information taken from each SN related to the accident. Experimental results show that the proposed cascade system drastically enhance reliability of traffic accident recognition and enables to be set in real environments.

关键词： traffic accident recognition, cascade system, multi-senor cooperation, SN, MSN

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Neural-network-based human intention estimation for physical human-robot interaction

Neural-network-based human intention estimation for physical...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Shuzhi Sam Ge Yanan Li Hongsheng He Robotics Institute and 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 National University of Singapore Singapore SG

To realize physical human-robot interaction, it is essential for the robot to understand the motion intention of its human partner. In this paper, human motion intention is defined as the desired trajectory in human limb model, of which the estimation is obtained based on neural network. The proposed method employs measured interaction force, position and velocity at the interaction point. The estimated human motion intention is integrated to the control design of the robot arm. The validity of the proposed method is verified through simulation.

关键词： Humans Robots Trajectory Force Impedance Hidden Markov models Estimation

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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4th International Conference on Interaction sciences: IT, Human and Digital Content, ICIS 2011

作者： Ge, Shuzhi Sam Liew, Chun Fui Li, Yanan Department of Electrical and Computer Engineering Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China Social Robotics Lab NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9788988678442

This paper presents a social interactive robot Nancy that has been developed in Social robotics Laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills. © 2011 AICIT.

关键词： Graphical user interfaces

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Mechanical design of social robot Nancy

Mechanical design of social robot Nancy

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IEEE/SICE International Symposium on System Integration

作者： S. S. Ge M. R. Safizadeh Y. Li Social Robotics Laboratory Interactive Digital Media Institute and the Department of Electrical and Computer Engineering National University of Singapore Singapore Robotics Institute and School of Computer Science and Engineering University of Electronic Science and Technology Chengdu China Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and the NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore

This paper presents the mechanical design of a social robot, Nancy, developed by Social robotics Laboratory, Interactive and Digital Media Institute, National University of Singapore. The objective of our project is to introduce the social robot which is capable to interact with people, especially the elderly, based on fundamental, functional and social tasks. We developed Nancy with multi-module structure and 32 degrees of freedom (DOFs), including 24 and 8 DOFs in upper-body and lower-body, respectively. 8 DOFs are considered in each arm to make Nancy able to imitate human limbs' motion. Nancy's head involves eye and eyelid motions with 3 DOFs which is on top of a 2-DOFs neck. The wheeled-base is designed in such a way to facilitate the multi-directional movements for Nancy. One of our main objectives in Nancy's mechanical design is to obtain powerful and smooth motion, light-weight joints and simple kinematics. They are achieved by Bowden cable-pulley mechanism driven by actuators located in lower-body. Accordingly, all joints are designed to have intersected axes. Most joints are driven by brushless D.C. motors embedded with electrical brake system to stabilize the robot, especially in case of power loss.

关键词： Robots Joints Shoulder Pulleys Neck Wrist Mechanical cables

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Design and development of Nancy, a social robot

Design and development of Nancy, a social robot

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： S.S. Ge J.J. Cabibihan Z. Zhang Y. Li C. Meng H. He M.R. Safizadeh Y.B. Li J. Yang Robotics Institute and School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu China Department of Electrical and Computer Engineering National University of Singapore Singapore National University of Singapore Singapore SG Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore

In this paper, we present the design of a social robot, Nancy, which is developed as a platform for engaging social interaction. Targeting for a social, safe, interactive and user-friendly robot mate, the design philosophy of Nancy is presented with mechanical, electrical, artificial skin and software specifications. In particular, there are 32 degrees of freedom (DOFs) through the whole body of Nancy, and the social intelligence is implemented based on vision, audio and control subsystems.

关键词： Robots Joints Humans DC motors Cameras Visualization Skin

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Robust Tracking by Reduced-order Disturbance Observer: Linear Case

Robust Tracking by Reduced-order Disturbance Observer: Linea...

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IEEE Conference on Decision and Control

作者： Juhoon Back Hyungbo Shim Nam H. Jo Jung-Su Kim School of Robotics Kwangwoon University Seoul Korea School of Electrical Engineering and Computer Science Seoul National University Seoul Korea School of Electrical Engineering Soongsil University Seoul Korea Dept. of Control and Instrumentation Engineering Seoul National University of Science and Technology Seoul Korea

ISBN: (纸本)9781612848006

The disturbance observer (DOB) is one of the widely-used control methods for robust tracking under plant uncertainties and external disturbances. Typically it is implemented by two (so-called) Q-filters as well as an inverse model for the nominal plant. Observing that these two Q-filters have identical dynamics, we propose a reduced-order implementation of the conventional DOB configuration. Moreover, we analyze this newly proposed configuration and claim that the robust stability condition, which has been found for the conventional configuration, still holds for the reduced-order case, and the robust transient performance can also be maintained as before with a saturation function introduced in the feedback loop.

关键词： disturbance observer Feedback loop Inverse method Control Methods Steady state tracking Transient performance external disturbance

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