Proceedings of the 2005 IEEE International Conference on Robotics and Automation最新文献_第7页

A Real-Time Haptic/Graphic Demonstration of how Error Augmentation can Enhance Learning 实时触觉/图形演示错误增强功能如何促进学习

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570798

Y. Wei, J. Patton, P. Bajaj, R. Scheidt

{"title":"A Real-Time Haptic/Graphic Demonstration of how Error Augmentation can Enhance Learning","authors":"Y. Wei, J. Patton, P. Bajaj, R. Scheidt","doi":"10.1109/ROBOT.2005.1570798","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570798","url":null,"abstract":"We developed a real-time controller for a 2 degree-of-freedom robotic system using xPC Target. This system was used to investigate how different methods of performance error feedback can lead to faster and more complete motor learning in individuals asked to compensate for a novel visuo-motor transformation (a 30 degree rotation). Four groups of human subjects were asked to reach with their unseen arm to visual targets surrounding a central starting location. A cursor tracking hand motion was provided during each reach. For one group of subjects, deviations from the “ideal” compensatory hand movement (i.e. trajectory errors) were amplified with a gain of 2 whereas another group was provided visual feedback with a gain of 3.1. Yet another group was provided cursor feedback wherein the cursor was rotated by an additional (constant) offset angle. We compared the rates at which the hand paths converged to the steady-state trajectories. Our results demonstrate that error-augmentation can improve the rate and extent of motor learning of visuomotor rotations in healthy subjects. Furthermore, our results suggest that both error amplification and offset-augmentation may facilitate neuro-rehabilitation strategies that restore function in brain injuries such as stroke.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131412403","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: 55

Analysis and Removal of Artifacts in 3-D LADAR Data 三维雷达数据中的伪影分析与去除

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570440

J. Tuley, N. Vandapel, M. Hebert

引用次数: 75

Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain 动态域RRTs:控制采样域的有效探索

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570709

A. Yershova, L. Jaillet, T. Siméon, S. LaValle

引用次数: 303

3D Motion Planning for Image-Based Visual Servoing Tasks 基于图像的视觉伺服任务的三维运动规划

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570435

B. Allotta, D. Fioravanti

引用次数: 37

The Role of Motion Information in Learning Human-Robot Joint Attention 运动信息在学习人-机器人关节注意中的作用

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570418

Y. Nagai

{"title":"The Role of Motion Information in Learning Human-Robot Joint Attention","authors":"Y. Nagai","doi":"10.1109/ROBOT.2005.1570418","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570418","url":null,"abstract":"To realize natural human-robot interactions and investigate the developmental mechanism of human communication, an effective approach is to construct models by which a robot imitates cognitive functions of humans. Focusing on the knowledge that humans utilize motion information of others’ action, this paper presents a learning model that enables a robot to acquire the ability to establish joint attention with a human by utilizing both static and motion information. As the motion information, the robot uses the optical flow detected when observing a human who is shifting his/her gaze from looking at the robot to looking at another object. As the static information, it extracts the edge image of the human face when he/she is gazing at the object. The static and motion information have complementary characteristics. The former gives the exact direction of gaze, even though it is difficult to interpret. On the other hand, the latter provides a rough but easily understandable relationship between the direction of gaze shift and motor output to follow the gaze. The learning model utilizing both static and motion information acquired from observing a human’s gaze shift enables the robot to efficiently acquire joint attention ability and to naturally interact with the human. Experimental results show that the motion information accelerates the learning of joint attention while the static information improves the task performance. The results are discussed in terms of analogy with cognitive development in human infants.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"878 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124163340","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: 28

Deployment Strategy for Mobile Robots with Energy and Timing Constraints 具有能量和时间约束的移动机器人部署策略

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570540

Yongguo Mei, Yung-Hsiang Lu, Y.C. Hu, C.S.G. Lee

引用次数: 46

Vision-based Control for Car Platooning using Homography Decomposition 基于单应性分解的汽车队列视觉控制

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570433

Selim Benhimane, E. Malis, P. Rives, J. Azinheira

引用次数: 92

Multi-aided Inertial Navigation for Ground Vehicles in Outdoor Uneven Environments 非均匀环境下地面车辆多辅助惯性导航

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570846

Bingbing Liu, M. Adams, J. Guzman

引用次数: 49

Dynamics Model of Paramecium Galvanotaxis for Microrobotic Application 微型机器人应用草履虫顺流动力学模型

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570286

N. Ogawa, H. Oku, K. Hashimoto, M. Ishikawa

引用次数: 16

A Hierarchical Multiple-Target Tracking Algorithm for Sensor Networks 传感器网络的分层多目标跟踪算法

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570439

Songhwai Oh, L. Schenato, S. Sastry

引用次数: 100