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2005 International Symposium on Computational Intelligence in Robotics and Automation最新文献

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Experiments and examination of mirror image cognition using a small robot 基于小型机器人的镜像认知实验与检验
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554325
J. Takeno, Keita Inaba, Tohru Suzuki
{"title":"Experiments and examination of mirror image cognition using a small robot","authors":"J. Takeno, Keita Inaba, Tohru Suzuki","doi":"10.1109/CIRA.2005.1554325","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554325","url":null,"abstract":"Four steps are required to demonstrate mirror image cognition using a robot. These steps are: 1) the robot imitates the action of its own image reflected in a mirror, 2) the robot imitates an action taken intentionally by another robot as imitative behavior, 3) the third one is conducted in an environment where the other robot is controlled completely via cables from the self-robot to imitate the behaviour, and 4) the robot imitates the random actions of another robot. In the 1st step, it is a fact that the mirror image of the robot is the same action as the robot itself performs, however, it is possible that the mirror image could be another individual intentionally performing an action in the same manner as oneself, or it could be another performing the same action as oneself by coincidence. However, these possibilities can be eliminated by discriminating the 1st step from the other steps using a given evaluation method.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"123 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120913196","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: 44
Is someone watching me? - consideration of social facilitation effects in human-robot interaction experiments 有人在监视我吗?-在人机交互实验中考虑社会促进效应
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554254
Sarah N. Woods, K. Dautenhahn, C. Kaouri
{"title":"Is someone watching me? - consideration of social facilitation effects in human-robot interaction experiments","authors":"Sarah N. Woods, K. Dautenhahn, C. Kaouri","doi":"10.1109/CIRA.2005.1554254","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554254","url":null,"abstract":"This discussion paper considers the implications of the psychological phenomena of social facilitation effects for human-robot interaction (HRI) studies. Research studies in HRI have significantly increased over the past few years. Such studies investigate, for example, robot appearance and behaviour, and the responses of subjects to robots. However, the possible effects of the experimental context on results from human-robot interaction studies have attracted little attention. In this paper, we provide an overview of robot trials with children and adults, as part of the Cogniron project. Observations from video footage are reported, with particular consideration for the influence of the social context and social facilitation effects, including task complexity, evaluation context and type of presence on outcomes of human-robot interaction studies. Lessons learnt and future design implications for human-robot interaction studies are provided.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123804790","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: 41
Image-based adaptive visual servoing of 2D robots under Jacobian and dynamic friction uncertainties: theory and experiments 基于图像的二维机器人雅可比和动态摩擦不确定性自适应视觉伺服:理论与实验
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554292
L. García-Valdovinos, E. Dean-León, Vicente Parra‐Vega, J. D. Fierro-Rojas, A. Espinosa-Romero
{"title":"Image-based adaptive visual servoing of 2D robots under Jacobian and dynamic friction uncertainties: theory and experiments","authors":"L. García-Valdovinos, E. Dean-León, Vicente Parra‐Vega, J. D. Fierro-Rojas, A. Espinosa-Romero","doi":"10.1109/CIRA.2005.1554292","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554292","url":null,"abstract":"A globally convergent visual feedback control scheme is proposed for dynamical planar robot arms subject to uncertain camera, robot, analytical Jacobian and dynamic friction parameters. When complex friction arises, visual servoing suffers to drive the robot to the desired trajectories, in particular in slow motion and velocity reversals, which are typical motion regime in visual servoing due to the vision system properties. Moreover, dynamic friction is usually neglected in motion control and it is not the exception in visual servoing literature. In order to prove the theory described in this paper, the real-time OS, Linux-RTAI, is used to obtain experimental results of this controller on a direct-drive robot manipulator. Results suggest its excellent performance.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125225681","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: 2
An approach for generating high velocity and high acceleration trajectories of industrial robots 一种工业机器人高速高加速度轨迹生成方法
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554277
Yanjie Liu, Lining Sun, Zhenwei An
{"title":"An approach for generating high velocity and high acceleration trajectories of industrial robots","authors":"Yanjie Liu, Lining Sun, Zhenwei An","doi":"10.1109/CIRA.2005.1554277","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554277","url":null,"abstract":"For fast-motion industrial robots, the limits of the velocity and the acceleration vary over the whole work-space. To make industrial robots move with fully high velocity and high acceleration along the specified trajectory in the entire workspace, a trajectory generation technique for fast-motion industrial robots is presented in this paper. The maximum possible values of the velocity and the acceleration along the specified trajectory are firstly investigated, in consideration of the speed and torque limits of the actuators. Then, based on these maximum velocity and maximum acceleration, the proposed technique generates various motion profiles by using coefficients which are determined by the acceleration and deceleration characteristics. Finally, the experiment is conducted to confirm the proposed technique by commanding a two-degree-of-freedom (2-DOF) direct-drive planar parallel robot to move along the trajectories with the unsymmetrical smooth motion profile generated by the proposed technique.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128386838","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: 3
Kinematic and dynamic adaptive control of a nonholonomic mobile robot using a RNN 基于RNN的非完整移动机器人运动学与动态自适应控制
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554250
Mohamed Oubbati, M. Schanz, P. Levi
{"title":"Kinematic and dynamic adaptive control of a nonholonomic mobile robot using a RNN","authors":"Mohamed Oubbati, M. Schanz, P. Levi","doi":"10.1109/CIRA.2005.1554250","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554250","url":null,"abstract":"In this paper, an adaptive neurocontrol system with two levels is proposed for the motion control of a nonholonomic mobile robot. In the first level, a recurrent network improves the robustness of a kinematic controller and generates linear and angular velocities, necessary to track a reference trajectory. In the second level, another network converts the desired velocities, provided by the first level, into a torque control. The advantage of the control approach is that, no knowledge about the dynamic model is required, and no synaptic weight changing is needed in presence of robot's parameters variation. This capability is acquired through prior 'meta-learning'. Simulation results are demonstrated to validate the robustness of the proposed approach.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116956675","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: 27
A study of a single robot interacting with groups of children in a rotation game scenario 在旋转游戏场景中，单个机器人与儿童群体互动的研究
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554251
I. T. Boekhorst, M. Walters, K. Koay, K. Dautenhahn, Chrystopher L. Nehaniv
{"title":"A study of a single robot interacting with groups of children in a rotation game scenario","authors":"I. T. Boekhorst, M. Walters, K. Koay, K. Dautenhahn, Chrystopher L. Nehaniv","doi":"10.1109/CIRA.2005.1554251","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554251","url":null,"abstract":"We tested the hypothesis that children are more attentive to a robot if the robot appears to be interested in the children. In addition, we investigated if and how the quality and quantity of a child's attentive behaviour varies with the distance to the robot, reflecting the notion of \"social spaces\". Hereto, 16 groups of up to 10 children each were engaged in a play scenario in which they had to move closer to a robot over 6 successive rounds. The robot was endowed with a \"camera eye\" and an arm and hand. The camera could either be nonmoving (\"static\") or actively \"searching\" (\"active searching\"), giving the impression it was trying to select a child to focus on. Likewise, the arm and hand could either be fixed in a permanent pointing position (\"permanent pointing\") or actively rise to point selectively at a particular child when it stopped facing it (\"selective pointing\"). The results showed that: 1) the mean frequency of overall attentive behaviour by the children (including attention towards other children) was significantly higher when the robot was not selectively pointing at the children and independent of the state of the camera; 2) \"looking at\" was the most frequently scored attentive activity for the children and was mainly targeted to the robot, but not correlated with any of their other attentive activities; 3) there was an interaction effect between the state of the camera and of the pointer: looking at the robot by the children occurred significantly more often when the camera and the arm were consistent in signaling apparent interest (i.e. camera \"active searching\" and hand \"selectively pointing\" or camera \"static\" and hand \"permanently pointing\"); and 4) there was no demonstrable effect of distance to the robot on the overall attentive behaviour of the children.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121735526","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: 24
Studies about the atomic capabilities concept for linear control systems in physical multi-agent environments 物理多智能体环境下线性控制系统的原子能力概念研究
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554363
M. ChristianG.Quintero, J. L. D. L. R. Esteva, J. Vehí
{"title":"Studies about the atomic capabilities concept for linear control systems in physical multi-agent environments","authors":"M. ChristianG.Quintero, J. L. D. L. R. Esteva, J. Vehí","doi":"10.1109/CIRA.2005.1554363","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554363","url":null,"abstract":"This paper shows the impact of the atomic capabilities concept to include control-oriented knowledge of linear control systems in the decisions making structure of physical agents. These agents operate in a real environment managing physical objects (e.g. their physical bodies) in coordinated tasks. This approach is presented using an introspective reasoning approach and control theory based on the specific tasks of passing a ball and executing the offside manoeuvre between physical agents in the robotic soccer testbed. Experimental results and conclusions are presented, emphasising the advantages of our approach that improve the multi-agent performance in cooperative systems.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117298583","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: 5
An adaptive neural controller and direct adaptive controllers for robot manipulators in the joint space 针对关节空间的机器人机械臂，提出了一种自适应神经控制器和直接自适应控制器
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554275
N. Martins, M. Alencar
{"title":"An adaptive neural controller and direct adaptive controllers for robot manipulators in the joint space","authors":"N. Martins, M. Alencar","doi":"10.1109/CIRA.2005.1554275","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554275","url":null,"abstract":"Direct adaptive control techniques for robot manipulators in joint space coordinates are provided. Comparison between a proposed adaptive neural controller and direct adaptive control techniques (computed-torque and passivity-based controllers) are simulated for the same trajectory, considering the presence of the friction torques. Performances are evaluated according to behavior of errors of position and velocity tracking, absolute position error, absolute velocity error, control torques, and to trajectory tracking accuracy.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130102782","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: 0
Development of service robot for fetching objects in home environment 家庭环境中取物服务机器人的研制
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554318
Tapio Taipalus, K. Kosuge
{"title":"Development of service robot for fetching objects in home environment","authors":"Tapio Taipalus, K. Kosuge","doi":"10.1109/CIRA.2005.1554318","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554318","url":null,"abstract":"Regarding to global problem of ageing, mobile manipulator type of home service robot MARY (mobile assistant robot for you) has been developed in the Department of Bioengineering and Robotics, Tohoku University. The usual problems that elderly people encounter in their lives in home environment are studied. Decreased mobility is found to be among the first reasons for moving to care institutions from home. One reason for moving around at home is need to carry objects. Considering this, fetching of objects from table-tops or shelves in home environment is one of the key functionalities for a mobile manipulator type of home robot. In this work functionality of the MARY robot is enhanced. The fetching task is implemented using multimodal user interface (Ul) with touch and voice inputs designed for elderly people. Intelligent adaptive manipulation strategy simplifies the usage of the system, based on image processing of images from on-board cameras. System functionality is evaluated with tests of the subsystems.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121245183","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: 46
Mapping the surface of an unevenly moving steel billet 绘制移动不均匀的钢坯的表面
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554328
Sami Terho, Janne Paanajärvi, Alessandro Visala
{"title":"Mapping the surface of an unevenly moving steel billet","authors":"Sami Terho, Janne Paanajärvi, Alessandro Visala","doi":"10.1109/CIRA.2005.1554328","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554328","url":null,"abstract":"This paper presents a system for measuring three dimensional surface map of steel billets. The proposed system is used for quality control of the surfaces of the billets. The system is based on camera and a laser stripe generator. The billet is moved in front of the inspection system with an external moving mechanism. Triangulation is used for measuring the surface map. The three-dimensional movements of the billet are measured by combining optical flow and information from the laser stripes.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125786240","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: 2
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