2013 IEEE Workshop on Advanced Robotics and its Social Impacts最新文献

Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system 基于肌肉骨骼结构冗余的人体运动生成研究:两连杆系统内力产生势能的分析

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-12-01 DOI: 10.1109/ARSO.2013.6705497

H. Kino, Hiroaki Ochi, K. Tahara, Yuki Matsutani, R. Ishibashi

引用次数: 1

Analysis of electromyography and skin conductance response during rubber hand illusion 橡胶手错觉的肌电和皮肤电导反应分析

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-12-01 DOI: 10.1109/ARSO.2013.6705511

Takuma Tsuji, Hiroshi Yamakawa, A. Yamashita, K. Takakusaki, Takaki Maeda, Motoichiro Kato, H. Oka, H. Asama

引用次数: 13

Towards autonomous excavation by hydraulic excavator — Measurement and consideration on bucket posture and body stress in digging works 面向液压挖掘机自主挖掘——挖掘工作中铲斗姿态和机体应力的测量与思考

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-12-01 DOI: 10.1109/ARSO.2013.6705534

K. Fujino, M. Moteki, Akihiko Nishiyama, S. Yuta

{"title":"Towards autonomous excavation by hydraulic excavator — Measurement and consideration on bucket posture and body stress in digging works","authors":"K. Fujino, M. Moteki, Akihiko Nishiyama, S. Yuta","doi":"10.1109/ARSO.2013.6705534","DOIUrl":"https://doi.org/10.1109/ARSO.2013.6705534","url":null,"abstract":"The Public Works Research Institute (PWRI) has conducted research on the autonomous control of construction machines to eliminate dangerous and laborsome work and has achieved automated execution of excavation and loading in a limited field. This automatic system, however, is not yet fully capable of adjusting to various soil and excavation conditions that are present during restoration work at disaster sites, the originally intended situation for unmanned construction. Basic experiment data then became necessary for us to realize automatic generation of a movement plan to cope with various work operations such as on-slope excavation and the various ground conditions resulting from things such as physical properties or the strength of quarried stone or sediments, and the control of remote-controlled construction machines under such varying conditions. This paper details the experiment we conducted to clarify the relationship between loads working on excavation and strain acting on the bucket link, with the posture and moving direction of the hydraulic shovel as parameters, and describes the basic data necessary to Automatic Control Technology coping with various phenomena at an actual site (such as obstacles).","PeriodicalId":122236,"journal":{"name":"2013 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122684465","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Feed-forward positioning of musculoskeletal-like robotic systems with muscular viscosity: Determination of an adequate internal force 具有肌肉黏度的肌肉骨骼类机器人系统的前馈定位:适当内力的测定

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-12-01 DOI: 10.1109/ARSO.2013.6705498

Yuki Matsutani, Hiroaki Ochi, H. Kino, K. Tahara, Motoji Yamamoto

{"title":"Feed-forward positioning of musculoskeletal-like robotic systems with muscular viscosity: Determination of an adequate internal force","authors":"Yuki Matsutani, Hiroaki Ochi, H. Kino, K. Tahara, Motoji Yamamoto","doi":"10.1109/ARSO.2013.6705498","DOIUrl":"https://doi.org/10.1109/ARSO.2013.6705498","url":null,"abstract":"This paper proposes a new feed-forward positioning method for a musculoskeletal-like robotic system considering a muscle-like nonlinear viscosity, and a new determination method of the internal force using the reinforcement learning scheme. In our previous works, a feed-forward positioning method for the musculoskeletal-like robotic systems has been proposed. In the method, the position regulation of the system can be accomplished by inputting a desired internal force balancing at a desired position. It has been quite effective for the muscle-like driven mechanism because no sensor is necessary to regulate the position. However, this method often induces an overshoot phenomenon when performing a set-point control. In addition, there is another intrinsic problem that musculoskeletal-like redundant-driven mechanisms own the ill-posed problems that the internal force is unable to determine uniquely. In this paper, for the farmer problem, a muscle-like nonlinear viscosity is newly added to the controller to reduce such an overshoot phenomenon and then to expand the stable region of the manipulator. For the latter problem, a determination method of the internal force using a reinforcement learning scheme is newly proposed. In what follows, firstly a new feed-forward controller which considers the muscle-like viscosity is introduced, and shows its effectiveness through numerical simulations. Next, the determination method of the internal force using a reinforcement learning scheme is proposed and its effectiveness is also shown through numerical simulations.","PeriodicalId":122236,"journal":{"name":"2013 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124407294","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

A Gaussian Particle Filter based Factorised Solution to the Simultaneous Localization and Mapping problem 基于高斯粒子滤波的同时定位与映射问题的分解解

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-12-01 DOI: 10.1109/ARSO.2013.6705515

Akshay Rao, Han Wang, Zhen-Cheng Hu, J. Mullane

引用次数: 5

Design and development of a new biologically-inspired mouth mechanism and musical performance evaluation of the WF-4RVI WF-4RVI新型仿生口腔机制的设计与开发及音乐性能评价

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-12-01 DOI: 10.1109/ARSO.2013.6705529

J. Solis, Ken'ichi Ozawa, K. Petersen, A. Takanishi

{"title":"Design and development of a new biologically-inspired mouth mechanism and musical performance evaluation of the WF-4RVI","authors":"J. Solis, Ken'ichi Ozawa, K. Petersen, A. Takanishi","doi":"10.1109/ARSO.2013.6705529","DOIUrl":"https://doi.org/10.1109/ARSO.2013.6705529","url":null,"abstract":"The research on the development of the anthropomorphic flutist robot at Waseda University has been focused in emulating the anatomy and physiology of the organs involved during the flute playing from an engineering point of view, facilitating the symbiosis between the human and the robot (i.e. active interaction between musician and musical robot) and proposing novel applications for humanoid robots (i.e. music education). As a result of this research, the Waseda Flutist Robot No.4 Refined IV has been developed and a musical-based interaction system implemented so the robot is capable of interacting with musicians by processing both aural and visual cues. However; there is a trade-off relationship between the duration of the flute sound produced by the robot and the sound pressure (volume). In fact, the robot is only capable of playing sounds low-pitched sounds for long periods. In addition, a husky sound is detected while playing high-pitch sounds. From our discussions with professional players, this effect is caused due to the inner shape of the oral cavity. From this, the conversion efficiency ratio between from the exhaled air from the artificial lungs to the produced sound is too low. For this purpose, we have obtained MR images of the head from professional players in order to re-design the oral cavity of the flutist robot. A total of 5 prototypes were tested and the best one has been selected and integrated into the Waseda Flutist Robot No. 4 Refined VI (WF-4RVI). A set of experiments were proposed in order to verify the improvements of the conversion efficiency ratio as well as the sound evaluation function score. From the experimental results, we could verify the improvements compared with the previous version of the flutist robot.","PeriodicalId":122236,"journal":{"name":"2013 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122220413","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Creating socially acceptable robots: Leaning grasp configurations for object handovers from demonstrations 创建社会可接受的机器人:从演示中学习对象移交的抓取配置

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-11-01 DOI: 10.1109/ARSO.2013.6705512

Wesley P. Chan, Iori Kumagai, Shunichi Nozawa, Youhei Kakiuchi, K. Okada, M. Inaba

引用次数: 3

A field study of the human support robot in the home environment 对家庭环境下的人类支持机器人进行了实地研究

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-11-01 DOI: 10.1109/ARSO.2013.6705520

Kunimatsu Hashimoto, F. Saito, Takashi Yamamoto, Koichi Ikeda

引用次数: 41

Robot development in cooperation with patients: Application of Hyper-Tether to support Home Oxygen Therapy patients 与患者合作开发机器人:应用Hyper-Tether支持家庭氧疗患者

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-11-01 DOI: 10.1109/ARSO.2013.6705502

Ben Allan, G. Endo, Yu Iemura, E. F. Fukushima, M. Iribe, Toshio Takubo, M. Ohira

引用次数: 0

Consideration and Evaluation of benefits of human shaped service robots [The report of experimental introduction to a shopping center] 人形服务机器人的效益思考与评价[某购物中心实验导入报告]

2013 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2013-11-01 DOI: 10.1109/ARSO.2013.6705522

K. Takeuchi, T. Yoshimi, Ken Hashimoto, Toru Tanaka

引用次数: 3