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1.
This paper concentrates on a biped robot’s turning behavior that consists of straight and curved walking and the transition
between these two patterns. We investigate how a robot achieves adaptive walking during such turning by focusing on rhythm
control and propose a locomotion control system that generates robot motions by rhythmic signals from internal oscillators
and modulates signal generation based on touch sensor signals. First, we verify that the robot attains limit cycles of straight
and curved walking by numerical simulations and hardware experiments. Second, we examine the transition between these walking
patterns based on the basin of attraction of the limit cycles in numerical simulations. Finally, we verify whether the robot
actually accomplishes transition and turning by hardware experiments. This paper clarifies that the robot establishes such
turning motions by adequate modulation of walking rhythm and phase through interactions between the dynamics of its mechanical
system, oscillators, and environment.
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2.
Up to now, walking robots have been working outdoors under favorable conditions and using very large stability margins to
cope with natural environments and intrinsic robot dynamics that can cause instability in these machines when they use statically-stable
gaits. The result has been very slow robots prone to tumble down in the presence of perturbations. This paper proposes a novel
gait-adaptation method based on the maximization of the Normalized Dynamic Energy Stability Margin. This method enables walking-machine
gaits to adapt to internal (robot dynamics) and external (environmental) perturbations, including the slope of the terrain,
by finding the gait parameters that maximize robot stability. The adaptation method is inspired in the natural gait adaptation
carried out by humans and animals to balance external forces or the effect of sloping terrain. Experiments with the SILO4
quadruped robot are presented and show how robot stability is more robust when the proposed approach is used for different
external forces and sloping terrains. Using the proposed gait-adaptation approach the robot is able to withstand external
forces up to 58% the robot weight and 25-degree slopes.
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3.
In this paper an energy efficiency analysis of wave gaits is performed for a six-legged walking robot. A simulation model
of the robot is used to obtain the data demonstrating the energy consumption while walking in different modes and with varying
parameters. Based on the analysis of this data some strategies are derived in order to minimize the search effort for determining
the parameters of the gaits for an energy efficient walk. Then, similar data is obtained from an actual experimental setup,
in which the Robot-EA308 is used as the walking machine. The strategies are justified based on this realistic data. The analysis
concludes the following: a phase modified version of wave gaits is more efficient than the (conventional) wave gaits, using
the possible minimum protraction time results in more energy efficient gaits and higher velocity results in less energy consumption
per traveled distance. A stability analysis is performed for the phase modification of the wave gaits, and the stability loss
due to the modification is calculated. It is concluded that the loss in stability is insignificant.
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4.
New analysis and tools are presented that extend the hybrid zero dynamics (HZD) framework for the control of planar bipedal
walkers. Results include (i) analysis of walking on a slope, (ii) analysis of dynamic (decoupling matrix) singularities, and
(iii) an alternative method for choosing virtual constraints. A key application of the new tools is the design of controllers
that render a passive bipedal gait robust to disturbances without the use of full actuation—while still requiring zero control
effort at steady-state. The new tools can also be used to design controllers for gaits having an arbitrary steady-state torque
profile. Five examples are given that illustrate these and other results.
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5.
Japan has more robots than any other country with robots contributing to many areas of society, including manufacturing, healthcare,
and entertainment. However, few studies have examined Japanese attitudes toward robots, and none has used implicit measures.
This study compares attitudes among the faculty of a US and a Japanese university. Although the Japanese faculty reported
many more experiences with robots, implicit measures indicated both faculties had more pleasant associations with humans.
In addition, although the US faculty reported people were more threatening than robots, implicit measures indicated both faculties
associated weapons more strongly with robots than with humans. Despite the media’s hype about Japan’s robot ‘craze,’ response
similarities suggest factors other than attitude better explain robot adoption. These include differences in history and religion,
personal and human identity, economic structure, professional specialization, and government policy. Japanese robotics offers
a unique reference from which other nations may learn.
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6.
There are only a few ethical regulations that deal explicitly with robots, in contrast to a vast number of regulations, which
may be applied. We will focus on ethical issues with regard to “responsibility and autonomous robots”, “machines as a replacement
for humans”, and “tele-presence”. Furthermore we will examine examples from special fields of application (medicine and healthcare,
armed forces, and entertainment). We do not claim to present a complete list of ethical issue nor of regulations in the field
of robotics, but we will demonstrate that there are legal challenges with regard to these issues.
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7.
In the near future, our life will normally be surrounded with fairly complicated artifacts, enabled by the autonomous robot
and brain–machine interface technologies. In this paper, we argue that what we call the responsibility flaw problem and the
inappropriate use problem need to be overcome in order for us to benefit from complicated artifacts. In order to solve these
problems, we propose an approach to endowing artifacts with an ability of socially communicating with other agents based on
the artifact-as-a-half-mirror metaphor. The idea is to have future artifacts behave according to the hybrid intention composed
of the owner’s intention and the social rules. We outline the approach and discuss its feasibility together with preliminary
work.
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8.
A number of mobile applications have emerged that allow users to locate one another. However, people have expressed concerns
about the privacy implications associated with this class of software, suggesting that broad adoption may only happen to the
extent that these concerns are adequately addressed. In this article, we report on our work on P eopleF inder, an application that enables cell phone and laptop users to selectively share their locations with others (e.g. friends,
family, and colleagues). The objective of our work has been to better understand people’s attitudes and behaviors towards
privacy as they interact with such an application, and to explore technologies that empower users to more effectively and
efficiently specify their privacy preferences (or “policies”). These technologies include user interfaces for specifying rules
and auditing disclosures, as well as machine learning techniques to refine user policies based on their feedback. We present
evaluations of these technologies in the context of one laboratory study and three field studies.
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9.
We have built a mobile robotic platform that features an Active Robotic Head (ARH) with two high-resolution cameras that can
be switched during robot operation between two configurations that produce respectively panoramic and stereoscopic images.
Image disparity is used for improving the quality of the texture. The robot head switches dynamically, based on robot operation
between the stereoscopic configuration and the panoramic configuration.
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10.
This paper presents results from three years of studying human-robot interaction in the context of the AAAI Robot Rescue Competition.
We discuss our study methodology, the competitors’ systems and performance, and suggest ways to improve human-robot interaction
in urban search and rescue (USAR) as well as other remote robot operations.
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11.
At the 1992 AAAI robot contest one of the top finishers was Scarecrow—a robot that had no computer in the traditional sense,
was built out of less than $200 of parts, and was explained and operated by a five year old. The designers sought to demonstrate
the capabilities and competence that can be accomplished by using a strictly reactive architecture for well defined tasks
such as that contest. This paper reexamines the Scarecrow robot and puts it into historical context. With fifteen years of
perspective, we can also see what Scarecrow has to say about the perception of intelligence.
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12.
This paper describes the simulated car racing competition that was arranged as part of the 2007 IEEE Congress on Evolutionary
Computation. Both the game that was used as the domain for the competition, the controllers submitted as entries to the competition
and its results are presented. With this paper, we hope to provide some insight into the efficacy of various computational
intelligence methods on a well-defined game task, as well as an example of one way of running a competition. In the process,
we provide a set of reference results for those who wish to use the simplerace game to benchmark their own algorithms. The paper is co-authored by the organizers and participants of the competition.
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13.
We present a study of using camera-phones and visual-tags to access mobile services. Firstly, a user-experience study is described in which participants were both observed learning to interact with a prototype mobile service and interviewed
about their experiences. Secondly, a pointing-device task is presented in which quantitative data was gathered regarding the speed and accuracy with which participants aimed and clicked
on visual-tags using camera-phones. We found that participants’ attitudes to visual-tag-based applications were broadly positive,
although they had several important reservations about camera-phone technology more generally. Data from our pointing-device
task demonstrated that novice users were able to aim and click on visual-tags quickly (well under 3 s per pointing-device
trial on average) and accurately (almost all meeting our defined speed/accuracy tradeoff of 6% error-rate). Based on our findings,
design lessons for camera-phone and visual-tag applications are presented.
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14.
Listening to music on personal, digital devices whilst mobile is an enjoyable, everyday activity. We explore a scheme for
exploiting this practice to immerse listeners in navigation cues. Our prototype, ONTRACK, continuously adapts audio, modifying
the spatial balance and volume to lead listeners to their target destination. First we report on an initial lab-based evaluation
that demonstrated the approach’s efficacy: users were able to complete tasks within a reasonable time and their subjective
feedback was positive. Encouraged by these results we constructed a handheld prototype. Here, we discuss this implementation
and the results of field-trials. These indicate that even with a low-fidelity realisation of the concept, users can quite
effectively navigate complicated routes.
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15.
The complexity of group dynamics occurring in small group interactions often hinders the performance of teams. The availability
of rich multimodal information about what is going on during the meeting makes it possible to explore the possibility of providing
support to dysfunctional teams from facilitation to training sessions addressing both the individuals and the group as a whole.
A necessary step in this direction is that of capturing and understanding group dynamics. In this paper, we discuss a particular
scenario, in which meeting participants receive multimedia feedback on their relational behaviour, as a first step towards
increasing self-awareness. We describe the background and the motivation for a coding scheme for annotating meeting recordings
partially inspired by the Bales’ Interaction Process Analysis. This coding scheme was aimed at identifying suitable observable
behavioural sequences. The study is complemented with an experimental investigation on the acceptability of such a service.
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16.
We provide the complete record of methodology that let us evolve BrilliAnt, the winner of the Ant Wars contest. Ant Wars contestants are virtual ants collecting food on a grid board in the presence
of a competing ant. BrilliAnt has been evolved through a competitive one-population coevolution using genetic programming
and fitnessless selection. In this paper, we detail the evolutionary setup that lead to BrilliAnt’s emergence, assess its
direct and indirect human-competitiveness, and describe the behavioral patterns observed in its strategy.
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17.
Walking-robot technology has already achieved an important stage of development, as demonstrated in a few real applications.
However, walking robots still need further improvement if they are to compete with traditional vehicles. A potential improvement
could be made through optimization at design time. A better distribution of the legs around a robot’s body can help decrease
actuator size in the design procedure and reduce power consumption during walking as well, which is of vital importance in
autonomous robots. This paper, thus, presents a method focused on the distribution of legs around the body to decrease maximum
foot forces against the ground, which play heavily in determining robot shape and actuator size. Some experiments have been
performed with the SILO6 walking robot to validate the theoretical results.
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18.
To get the maximum benefit from ambient intelligence (AmI), we need to anticipate and react to possible drawbacks and threats
emerging from the new technologies in order to devise appropriate safeguards. The SWAMI project took a precautionary approach
in its exploration of the privacy risks in AmI and sought ways to reduce them. It constructed four “dark scenarios” showing
possible negative implications of AmI, notably for privacy protection. Legal analysis of the depicted futures showed the shortcomings
of the current legal framework in being able to provide adequate privacy protection in the AmI environment. In this paper,
the authors, building upon their involvement in SWAMI research as well as the further advancement of EU privacy analysis,
identify various outstanding issues regarding the legal framework that still need to be resolved in order to deal with AmI
in an equitable and efficacious way. This article points out some of the lacunae in the legal framework and postulates several
privacy-specific safeguards aimed at overcoming them.
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19.
In this paper, we present an Inverse Multi-Objective Robust Evolutionary (IMORE) design methodology that handles the presence
of uncertainty without making assumptions about the uncertainty structure. We model the clustering of uncertain events in
families of nested sets using a multi-level optimization search. To reduce the high computational costs of the proposed methodology
we proposed schemes for (1) adapting the step-size in estimating the uncertainty, and (2) trimming down the number of calls
to the objective function in the nested search. Both offline and online adaptation strategies are considered in conjunction
with the IMORE design algorithm. Design of Experiments (DOE) approaches further reduce the number of objective function calls
in the online adaptive IMORE algorithm. Empirical studies conducted on a series of test functions having diverse complexities
show that the proposed algorithms converge to a set of Pareto-optimal design solutions with non-dominated nominal and robustness
performances efficiently.
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20.
We present an enhancement towards adaptive video training for PhoneGuide, a digital museum guidance system for ordinary camera-equipped
mobile phones. It enables museum visitors to identify exhibits by capturing photos of them. In this article, a combined solution
of object recognition and pervasive tracking is extended to a client–server-system for improving data acquisition and for
supporting scale-invariant object recognition. A static as well as a dynamic training technique are presented that preprocess
the collected object data differently and apply two types of neural networks (NN) for classification. Furthermore, the system
enables a temporal adaptation for ensuring a continuous data acquisition to improve the recognition rate over time. A formal
field experiment reveals current recognition rates and indicates the practicability of both methods under realistic conditions
in a museum.
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