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Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication最新文献

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A predictive wave-based approach for time delayed virtual environments haptics systems 延迟虚拟环境触觉系统的预测波方法
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045611
Hichem Arioui, A. Kheddar, S. Mammar
{"title":"A predictive wave-based approach for time delayed virtual environments haptics systems","authors":"Hichem Arioui, A. Kheddar, S. Mammar","doi":"10.1109/ROMAN.2002.1045611","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045611","url":null,"abstract":"This paper extends earlier results of wave based approach for stable force reflecting systems in the presence of the transmission delay (constant or variable). Theoretically, stability of the whole system is kept for any time delay, but degradation performance increases proportionally with a large delays. In this paper, we propose a new control scheme that is also based on wave variables, but minimizes the degradation performance due to large constant time delay, the time varying delay case is also discussed. The proposed method uses a modified Smith prediction is simple and easy to implement.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132270093","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: 36
Using gesture and speech control for commanding a robot assistant 使用手势和语音控制来指挥机器人助手
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045664
O. Rogalla, M. Ehrenmann, R. Zollner, R. Becher, R. Dillmann
{"title":"Using gesture and speech control for commanding a robot assistant","authors":"O. Rogalla, M. Ehrenmann, R. Zollner, R. Becher, R. Dillmann","doi":"10.1109/ROMAN.2002.1045664","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045664","url":null,"abstract":"Giving advice to a mobile robot assistant still requires classical user interfaces. A more intuitive way of commanding is achieved by verbal or gesture commands. In this article, we present new approaches and enhancements for established methods that are in use in our laboratory. Our aim is to interact with a robot using natural and direct communication techniques to facilitate robust performance of simple tasks. Within this paper, we describe the robot's vision and speech recognition system. Then, we display robot control for selecting the appropriate robot reaction for solving basic manipulation tasks.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133131992","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: 138
Converting natural language route instructions into robot executable procedures 将自然语言路线指令转换为机器人可执行程序
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045626
S. Lauria, G. Bugmann, T. Kyriacou, Johan Bos, Ewan Klein
{"title":"Converting natural language route instructions into robot executable procedures","authors":"S. Lauria, G. Bugmann, T. Kyriacou, Johan Bos, Ewan Klein","doi":"10.1109/ROMAN.2002.1045626","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045626","url":null,"abstract":"Humans explaining a task to a robot use chunks of actions that are often complex procedures for robots. An instructable robot needs to be able to map such chunks to existing pre-programmed primitives. We investigate an architecture used in spoken dialogue systems that is able to extract executable robot procedures from user instructions. A suitable representation of route instructions is introduced, then a Procedure Specification Language (PSL) is described that allows to extract from the semantic representation of the dialogue both the robot executable procedures and their parameters.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126704601","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
Control of robot in singular configurations for human-robot coordination 基于人机协调的奇异构型机器人控制
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045648
K. Nakai, K. Kosuge, Y. Hirata
{"title":"Control of robot in singular configurations for human-robot coordination","authors":"K. Nakai, K. Kosuge, Y. Hirata","doi":"10.1109/ROMAN.2002.1045648","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045648","url":null,"abstract":"In this paper, we propose a new control scheme of a robot in its singular configurations for human robot coordination referred to as the singular configuration control (SCC). In this paper, as an example, we derive the control algorithm for the manipulator \"PA-10\" produced by Mitsubishi Heavy Industries, Ltd. The scheme controls the manipulator in its singular configurations by appropriately selecting a solution of the inverse kinematics according to the manipulator's configuration so that the manipulator could move even in its singular configurations without stopping the motion. The proposed control algorithm is applied to a robot with dual manipulators referred to as MR Helper and the experimental results illustrate the validity of the singular configuration control.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126785360","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: 13
Optimal variable impedance control for a robot and its application to lifting an object with a human 机器人最优变阻抗控制及其在人抬物中的应用
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045671
R. Ikeura, T. Moriguchi, K. Mizutani
{"title":"Optimal variable impedance control for a robot and its application to lifting an object with a human","authors":"R. Ikeura, T. Moriguchi, K. Mizutani","doi":"10.1109/ROMAN.2002.1045671","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045671","url":null,"abstract":"This paper describes a control method of a robot cooperating with a human. A task in which a robot and a human move an object cooperatively is considered To develop the force controller of the robot, the characteristics of human arm are investigated. The arm is forced to move along a trajectory in the experiment and the exerted force and the displacement are analyzed. It is found that the force characteristics of the human arm is regarded as an optimal damper with minimizing a cost function. Then, the model is implemented to a robot and the cooperation of the robot and a human operator is examined. The effectiveness of the derived model is evaluated and the experimental results show that the human moves the object supported by the robot with a minimum jerk trajectory. Next, the proposed control method is applied to a task in which a human and a robot lift an object cooperatively. The results show the effectiveness of the proposed control method.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"325 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122738753","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: 100
Improving the expressiveness of mobile robots 提高移动机器人的表现力
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045643
L. Mayor, B. Jensen, A. Lorotte, R. Siegwart
{"title":"Improving the expressiveness of mobile robots","authors":"L. Mayor, B. Jensen, A. Lorotte, R. Siegwart","doi":"10.1109/ROMAN.2002.1045643","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045643","url":null,"abstract":"RoboX is a tour guide robot, designed to interact with visitors at Expo02, the Swiss National Exhibition. During five months, ten RoboXs will be in contact with about 4500 visitors per day. These peoples are not trained to autonomous robots and will be guided by the robots throughout an exhibition about robotics. The work exposed here was dedicated to make RoboX lifelike and credible in implementing an expression generator This generator uses the robot capacities in order to best express its internal state which is influenced by its sensor entries and the scenario of the guided tour To validate our approach, a short experiment was set UP in order to present results that include appreciations of people not used to robots.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133926705","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: 17
The design of an instrumented surgical tool for the intestinal inspection 一种用于肠道检查的器械手术工具的设计
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045663
G. Thomann, T. Redarce, M. Bétemps, O. Blasi
{"title":"The design of an instrumented surgical tool for the intestinal inspection","authors":"G. Thomann, T. Redarce, M. Bétemps, O. Blasi","doi":"10.1109/ROMAN.2002.1045663","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045663","url":null,"abstract":"In the last few years, we have observed a fast development of modern science and technology. In the field of medical engineering, the same evolution is observed, and the Minimally Invasive Surgery (MIS) has became one of the most important research area. Medical endoscope is one typical medical instrument that complies with the requirement of MIS. This paper deals with the design of a new type of micro-robot for intestinal inspection. Because of the injuries caused by the colonoscope during the operation, and the long time spent at the hospital by the patient, we focus on a new type of intelligent colonoscope. The main purpose of this medical tool is to be in accordance with MS by minimizing the contact between the colonoscope and the interior boundary of the colon, and to make the progression of the colonoscope easier for the surgeon. Our current prototype, which is twice the size of the final tool, is electro-pneumatically driven. It is constituted by three metal bellows disposed 120 apart, and its position in the intestine is driven by three sensors positioned on the superior plate. Some experimental results are presented.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134140111","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
RG mapping: learning compact and structured 2D line maps of indoor environments RG制图:学习室内环境紧凑、结构化的二维线形图
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045636
D. Schroter, M. Beetz, Jens-Steffen Gutmann
{"title":"RG mapping: learning compact and structured 2D line maps of indoor environments","authors":"D. Schroter, M. Beetz, Jens-Steffen Gutmann","doi":"10.1109/ROMAN.2002.1045636","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045636","url":null,"abstract":"In this paper we present region and gateway (RG) mapping, a novel approach to laser-based 2D line mapping of indoor environments. RG mapping is capable of acquiring very compact, structured, and semantically annotated maps. We present and empirically analyze the method based on map acquisition experiments with autonomous mobile robots. The experiments show that RG mapping drastically compresses the data contained in line scan maps without substantial loss of accuracy.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133170166","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: 22
Gravity compensation algorithms for parallel haptic interface 平行触觉界面的重力补偿算法
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045612
D. Checcacci, E. Sotgiu, A. Frisoli, C. Avizzano, M. Bergamasco
{"title":"Gravity compensation algorithms for parallel haptic interface","authors":"D. Checcacci, E. Sotgiu, A. Frisoli, C. Avizzano, M. Bergamasco","doi":"10.1109/ROMAN.2002.1045612","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045612","url":null,"abstract":"This paper presents an experimental comparison of different algorithms for the gravity compensation of parallel mechanisms, with special reference to a 5DOF haptic interface that has been realized at PERCRO. Two methods for the static balancing of this mechanism have been investigated: a classical method, based on Lagrange's approach and an algorithm that adopts the screw theory. This last method allows solving the problem in a more intuitive way. Some experimental results are reported in order to confirm this approach.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125882614","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: 17
Robot motion control for assistance tasks 辅助任务机器人运动控制
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045675
T. Wosch, W. Neubauer, G. Wichert, Z. Kemény
{"title":"Robot motion control for assistance tasks","authors":"T. Wosch, W. Neubauer, G. Wichert, Z. Kemény","doi":"10.1109/ROMAN.2002.1045675","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045675","url":null,"abstract":"Service robots serve and assist human beings sharing a common environment. Therefore, fast responding and robust planners generating collision-free motions are required to guarantee a safe and convenient man-machine interaction. In most cases the working environment is partially known or perceived by a sensor system. To reduce planning time, this work presents a motion planner interacting with reactive plan execution systems. By dividing the work space into subspaces appropriate motion plans are determined. Based on an environment model, collisions are avoided by interacting with an obstacle avoidance system. Tactile sensors are used to detect collisions of the robot arm, e.g. due to an incomplete knowledge of the environment or enforced by a human touching the robot. Experimental results of our 8 degree of freedom manipulator arm mounted on a mobile platform are presented. In these experiments the robot acts as a barkeeper.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"135 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131445612","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: 12
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