Frontiers in Robotics and AI最新文献

{"title":"L-AVATeD: The lidar and visual walking terrain dataset.","authors":"David Whipps, Patrick Ippersiel, Philippe C Dixon","doi":"10.3389/frobt.2024.1384575","DOIUrl":"10.3389/frobt.2024.1384575","url":null,"abstract":"","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1384575"},"PeriodicalIF":2.9,"publicationDate":"2024-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11653013/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142856117","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Editorial: Artificial intelligence and robotic applications for smart monitoring and assistance in healthcare services.","authors":"Ciro Mennella, Umberto Maniscalco, Giovanni Luca Masala, Massimo Esposito","doi":"10.3389/frobt.2024.1527773","DOIUrl":"https://doi.org/10.3389/frobt.2024.1527773","url":null,"abstract":"","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1527773"},"PeriodicalIF":2.9,"publicationDate":"2024-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11648311/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142839999","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Integrating collaborative robots in manufacturing, logistics, and agriculture: Expert perspectives on technical, safety, and human factors.","authors":"Luca Pietrantoni, Marco Favilla, Federico Fraboni, Elvis Mazzoni, Sofia Morandini, Martina Benvenuti, Marco De Angelis","doi":"10.3389/frobt.2024.1342130","DOIUrl":"10.3389/frobt.2024.1342130","url":null,"abstract":"<p><p>This study investigates the implementation of collaborative robots across three distinct industrial sectors: vehicle assembly, warehouse logistics, and agricultural operations. Through the SESTOSENSO project, an EU-funded initiative, we examined expert perspectives on human-robot collaboration using a mixed-methods approach. Data were collected from 31 technical experts across nine European countries through an online questionnaire combining qualitative assessments of specific use cases and quantitative measures of attitudes, trust, and safety perceptions. Expert opinions across the use cases emphasized three primary concerns: technical impacts of cobot adoption, social and ethical considerations, and safety issues in design and deployment. In vehicle assembly, experts stressed the importance of effective collaboration between cobots and exoskeletons to predict and prevent collisions. For logistics, they highlighted the need for adaptable systems capable of handling various object sizes while maintaining worker safety. In agricultural settings, experts emphasized the importance of developing inherently safe applications that can operate effectively on uneven terrain while reducing workers' physical strain. Results reveal sector-specific challenges and opportunities: vehicle assembly operations require sophisticated sensor systems for cobot-exoskeleton integration; warehouse logistics demand advanced control systems for large object handling; and agricultural applications need robust navigation systems for uneven terrain. Quantitative findings indicate generally positive attitudes toward cobots, particularly regarding societal benefits, moderate to high levels of trust in cobot capabilities and favorable safety perceptions. The study highlights three key implications: (1) the need for comprehensive safety protocols tailored to each sector's unique requirements, (2) the importance of user-friendly interfaces and intuitive programming methods for successful cobot integration, and (3) the necessity of addressing workforce transition and skill development concerns. These findings contribute to our understanding of human-robot collaboration in industrial settings and provide practical guidance for organizations implementing collaborative robotics while considering both technological advancement and human-centered design principles.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1342130"},"PeriodicalIF":2.9,"publicationDate":"2024-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11646840/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142840000","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Speaking out for speakers: a guide for and analysis of robot speaker design.","authors":"Nnamdi Nwagwu, Adeline Schneider, Tyler K Phelps, Brian J Zhang, Naomi T Fitter","doi":"10.3389/frobt.2024.1394700","DOIUrl":"10.3389/frobt.2024.1394700","url":null,"abstract":"<p><p>Despite sound being a promising modality of communication in robotics (possessing, for example, the ability to improve people's perceptions of robots and help localize robotic systems in space), its facilitator, speakers, are a seldom-explored topic of study in robotics literature. To address this gap, we conducted three explorations into physical speaker design that identified what current robot speakers lack and potential remedies, low-level design improvements, and <i>post hoc</i> hardware additions. Further, we detail and explore the application of speakers on three different robotic platforms (including one industrial robot used for construction), the last evaluation of which involved an empirical study <math><mrow><mo>(</mo> <mrow><mi>N</mi> <mo>=</mo> <mn>21</mn></mrow> <mo>)</mo></mrow> </math> that sought to better understand the implications associated with poor-quality speakers in a mock service robotics context. Our results suggest that greater internal cavity volume is a key strength in speaker design. We also observed greater effects of the presence (vs. absence) of a service robot voice compared to other factors. This work can inform the process of creating custom speakers for robots and augmenting current robotic systems with new speaker additions (whether commercial or custom, and across use contexts from construction to service). In particular, the work can help to guide roboticists who may be unfamiliar with nuanced audio engineering techniques and designers who seek to improve robotics platform standards with human interlocutors in mind.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1394700"},"PeriodicalIF":2.9,"publicationDate":"2024-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11638048/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142830508","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Collider-based movement detection and control of wearable soft robots for visually augmenting dance performance.","authors":"Patrick Twomey, Vaibhavsingh Varma, Leslie L Bush, Mitja Trkov","doi":"10.3389/frobt.2024.1450177","DOIUrl":"10.3389/frobt.2024.1450177","url":null,"abstract":"<p><p>The fusion of wearable soft robotic actuators and motion-tracking sensors can enhance dance performance, amplifying its visual language and communicative potential. However, the intricate and unpredictable nature of improvisational dance poses unique challenges for existing motion-tracking methods, underscoring the need for more adaptable solutions. Conventional methods such as optical tracking face limitations due to limb occlusion. The use of inertial measurement units (IMUs) can alleviate some of these challenges; however, their movement detection algorithms are complex and often based on fixed thresholds. Additionally, machine learning algorithms are unsuitable for detecting the arbitrary motion of improvisational dancers due to the non-repetitive and unique nature of their movements, resulting in limited available training data. To address these challenges, we introduce a collider-based movement detection algorithm. Colliders are modeled as virtual mass-spring-damper systems with its response related to dynamics of limb segments. Individual colliders are defined in planes corresponding to the limbs' degrees of freedom. The system responses of these colliders relate to limb dynamics and can be used to quantify dynamic movements such as jab as demonstrated herein. One key advantage of collider dynamics is their ability to capture complex limb movements in their relative frame, as opposed to the global frame, thus avoiding drift issues common with IMUs. Additionally, we propose a simplified movement detection scheme based on individual dynamic system response variable, as opposed to fixed thresholds that consider multiple variables simultaneously (i.e., displacement, velocity, and acceleration). Our approach combines the collider-based algorithm with a hashing method to design a robust and high-speed detection algorithm for improvised dance motions. Experimental results demonstrate that our algorithm effectively detects improvisational dance movements, allowing control of wearable, origami-based soft actuators that can change size and lighting based on detected movements. This innovative method allows dancers to trigger events on stage, creating a unique organic aesthetics that seamlessly integrates technology with spontaneous movements. Our research highlights how this approach not only enriches dance performances by blending tradition and innovation but also enhances the expressive capabilities of dance, demonstrating the potential for technology to elevate and augment this art form.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1450177"},"PeriodicalIF":2.9,"publicationDate":"2024-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11638533/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142830542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Simulating the psychological and neural effects of affective touch with soft robotics: an experimental study.","authors":"Caroline Y Zheng, Ker-Jiun Wang, Maitreyee Wairagkar, Mariana von Mohr, Erik Lintunen, Aikaterini Fotopoulou","doi":"10.3389/frobt.2024.1419262","DOIUrl":"10.3389/frobt.2024.1419262","url":null,"abstract":"<p><p>Human affective touch is known to be beneficial for social-emotional interactions and has a therapeutic effect. For touch initiated by robotic entities, richer affective affordance is a critical enabler to unlock its potential in social-emotional interactions and especially in care and therapeutic applications. Simulating the attributes of particular types of human affective touch to inform robotic touch design can be a beneficial step. Inspired by the scientific finding on CT-optimal affective touch - a gentle skin stroking at velocities of 1-10 cm/s evidenced to be pleasant and calming, we developed a proof-of-concept haptic rendering system - S-CAT, using pneumatic silicone soft robotic material to simulate the attributes (velocity, temperature and applied normal force) of CT-optimal affective touch. To investigate whether the affective touch performed by the S-CAT system elicits psychological effects comparable to CT-optimal, manual affective touch, we conducted an experimental study comparing the effects of CT-optimal versus non-CT-optimal stimulation velocities in each of three types of stimulation modes (S-CAT device, skin-to-skin manual stroking, hairbrush manual stroking), and across them. Our measures included subjective ratings of touch pleasantness and intensity, neurophysiological responses (EEG), and qualitative comments. Our results showed that velocity modulated subjective and neurophysiological responses in each and across these three stimulation modes, and that CT-optimal stimulations from S-CAT system and manual method received similar ratings and verbal comments on pleasantness, suggesting that the S-CAT touch can have comparable effects to manual stroking. We discuss the design insights learned and the design space that this study opens up to support well-being and healthcare.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1419262"},"PeriodicalIF":2.9,"publicationDate":"2024-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11638054/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142830507","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Modeling interpersonal perception in dyadic interactions: towards robot-assisted social mediation in the real world.","authors":"Hifza Javed, Weinan Wang, Affan Bin Usman, Nawid Jamali","doi":"10.3389/frobt.2024.1410957","DOIUrl":"10.3389/frobt.2024.1410957","url":null,"abstract":"<p><p>Social mediator robots have shown potential in facilitating human interactions by improving communication, fostering relationships, providing support, and promoting inclusivity. However, for these robots to effectively shape human interactions, they must understand the intricacies of interpersonal dynamics. This necessitates models of human understanding that capture interpersonal states and the relational affect arising from interactions. Traditional affect recognition methods, primarily focus on individual affect, and may fall short in capturing interpersonal dynamics crucial for social mediation. To address this gap, we propose a multimodal, multi-perspective model of relational affect, utilizing a conversational dataset collected in uncontrolled settings. Our model extracts features from audiovisual data to capture affective behaviors indicative of relational affect. By considering the interpersonal perspectives of both interactants, our model predicts relational affect, enabling real-time understanding of evolving interpersonal dynamics. We discuss our model's utility for social mediation applications and compare it with existing approaches, highlighting its advantages for real-world applicability. Despite the complexity of human interactions and subjective nature of affect ratings, our model demonstrates early capabilities to enable proactive intervention in negative interactions, enhancing neutral exchanges, and respecting positive dialogues. We discuss implications for real-world deployment and highlight the limitations of current work. Our work represents a step towards developing computational models of relational affect tailored for real-world social mediation, offering insights into effective mediation strategies for social mediator robots.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1410957"},"PeriodicalIF":2.9,"publicationDate":"2024-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11634758/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142819689","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Editorial: Autonomous (re)production, learning and bio-inspired robotics workshop.","authors":"Andy M Tyrrell, Emma Hart, Alan Winfield, A E Eiben, Jon Timmis","doi":"10.3389/frobt.2024.1513495","DOIUrl":"https://doi.org/10.3389/frobt.2024.1513495","url":null,"abstract":"","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1513495"},"PeriodicalIF":2.9,"publicationDate":"2024-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11634747/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142819688","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Synthetic consciousness architecture.","authors":"Konstantyn Spasokukotskiy","doi":"10.3389/frobt.2024.1437496","DOIUrl":"10.3389/frobt.2024.1437496","url":null,"abstract":"<p><p>This paper presents a theoretical inquiry into the domain of secure artificial superintelligence (ASI). The paper introduces an architectural pattern tailored to fulfill friendly alignment criteria. Friendly alignment refers to a failsafe artificial intelligence alignment that lacks supervision while still having a benign effect on humans. The proposed solution is based on a biomimetic approach to emulate the functional aspects of biological consciousness. It establishes \"morality\" that secures alignment in large systems. The emulated function set is drawn from a cross section of evolutionary and psychiatric frameworks. Furthermore, the paper assesses the architectural potential, practical utility, and limitations of this approach. Notably, the architectural pattern supports straightforward implementation by activating existing foundation models. The models can be underpinned by simple algorithms. Simplicity does not hinder the production of high derivatives, which contribute to alignment strength. The architectural pattern enables the adjustment of alignment strength, enhancing the adaptability and usability of the solution in practical applications.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1437496"},"PeriodicalIF":2.9,"publicationDate":"2024-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11634756/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142819722","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Motion-generation system for violin-playing robot using reinforcement learning differences in bowing parameters due to changes in learning conditions and sound pressure values.","authors":"Kenzo Horigome, Koji Shibuya","doi":"10.3389/frobt.2024.1439629","DOIUrl":"https://doi.org/10.3389/frobt.2024.1439629","url":null,"abstract":"<p><p>Recently, research on human-robot communication attracts many researchers. We believe that music is one of the important channel between human and robot, because it can convey emotional information. In this research, we focus on the violin performance by a robot. Building a system capable of determining performance from a musical score will leads to better understanding communication through music. In this study, we aim to develop a system that can automatically determine bowing parameters, such as bow speed and bowing direction, from musical scores for a violin-playing robot to produce expressive sounds using reinforcement learning. We adopted Q-learning and ε-greedy methods. In addition, we utilized a neural network to approximate the value function. Our system uses a musical score that incorporates the sound pressure value of each note to determine the bowing speed and direction. This study introduces the design of this system. It also presents simulation results on the differences in bowing parameters caused by changes in learning conditions and sound-pressure values. Regarding learning conditions, the learning rate, discount rate, search rate, and the number of units in the hidden layer in the neural network were changed in the simulation. We used the last two bars of the score and the entire four bars in the first phrase of \"Go Tell Aunt Rhody.\" We determined the number of units in each layer and conducted simulations. Additionally, we conducted an analysis by adjusting the target sound pressure for each note in the score. As a result, negative rewards decreased and positive rewards increased. Consequently, even with changes in target sound pressure in both the last two bars and the entire four bars, the violin-playing robot can automatically play from the score by improving reinforcement learning. It has become clear that achieving an expressive performance using this method is possible.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1439629"},"PeriodicalIF":2.9,"publicationDate":"2024-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11634750/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142819703","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}