共查询到20条相似文献,搜索用时 31 毫秒
1.
(school of Mechanical Electronic Engineering Nanchang University Nanchang China) Ye Jianxiong Zhang Hua Tan Manhua Wei Hui 《微计算机信息》2006,(2)
introductionR ecent years have witnessed the m icrom ation andintellectualized trend in the study of precise m echanism ,evidenced by the wide exploitation of m ini -robot.Sm all in size, larger in working dom ain, sophisticated indynam ically driving,precise in locating, the m ini-robot,boasts m uch to dealw ith operations in relation with m i-ni-object. M ini-robot goes into 2 m ain categories: spa-tialparallel m echanism (SPM ) and plane parallel m echa-nism (PPM ).Spatialparallel m echan… 相似文献
2.
Jacobian-based performance indices such as the manipulability ellipsoid, the condition number and the minimum singular value, have been very helpful tools both for mechanical manipulator design and for determining suitable manipulator postures to execute a given task. For a manipulator having complex degrees of freedom (translations and rotations), Jacobian matrix becomes non-homogeneous, i.e. it contains elements with different physical units; therefore, the evaluation of its determinant, eigenvalues or singular values needs the combination of quantities of different nature, which is physically inconsistent and moreover it corresponds to a noncommensurable system. In this paper, a new performance index of robot manipulators is proposed. It is fully homogeneous and it constitutes a physically consistent system whether the manipulator contains joints of different natures, or the task space combines both translation and rotation motion. The development is concerned with the study of power within the mechanism. Given that the power has the same physical units in translation and rotation, it can be used as a homogeneous or natural performance index of manipulators by examining the behaviour of its basic components namely, force and speed, at different kinematics configurations. Furthermore, the new concept of vectorial power is introduced, followed by to the quadrivector of apparent power, and leading to the final homogeneous performance index of the power manipulability (PM). This new approach matches perfectly with mechanisms having joints of different natures, as well as with a task space combining both translation and rotation. 相似文献
3.
《Robotics》1987,3(2):143-155
The wabot-2 is an anthropomorphic robot playing keyboard instruments, developed by the study group of Waseda University's Science and Engineering Department.The wabot-2 is equipped with hands tapping softly on keys, with legs handling bass keys and expression pedal, with eyes reading a score, and with a mouth and ears to converse with humans. Based on wabot-2, wasubot has been developed by Sumitomo Electric Industries Ltd., whose artistic skill has been demonstrated in performing music at the Japanese Government Pavillion in Expo'85.The present paper summarizes the wabot-2's motion, visual and vocal subsystems as well as its supervisory system and singing voice-tracking subsystem. 相似文献
4.
Sylvain Calinon Danilo Bruno Milad S. Malekzadeh Thrishantha Nanayakkara Darwin G. Caldwell 《Computer methods and programs in biomedicine》2014
In minimally invasive surgery, tools go through narrow openings and manipulate soft organs to perform surgical tasks. There are limitations in current robot-assisted surgical systems due to the rigidity of robot tools. The aim of the STIFF-FLOP European project is to develop a soft robotic arm to perform surgical tasks. The flexibility of the robot allows the surgeon to move within organs to reach remote areas inside the body and perform challenging procedures in laparoscopy. This article addresses the problem of designing learning interfaces enabling the transfer of skills from human demonstration. Robot programming by demonstration encompasses a wide range of learning strategies, from simple mimicking of the demonstrator's actions to the higher level imitation of the underlying intent extracted from the demonstrations. By focusing on this last form, we study the problem of extracting an objective function explaining the demonstrations from an over-specified set of candidate reward functions, and using this information for self-refinement of the skill. In contrast to inverse reinforcement learning strategies that attempt to explain the observations with reward functions defined for the entire task (or a set of pre-defined reward profiles active for different parts of the task), the proposed approach is based on context-dependent reward-weighted learning, where the robot can learn the relevance of candidate objective functions with respect to the current phase of the task or encountered situation. The robot then exploits this information for skills refinement in the policy parameters space. The proposed approach is tested in simulation with a cutting task performed by the STIFF-FLOP flexible robot, using kinesthetic demonstrations from a Barrett WAM manipulator. 相似文献
5.
大家一定很奇怪,我为什么要说“又”(again)呢?因为,在很久很久以前(大概是两年以前了吧),咱们“DF触觉”栏目就为大家带来过一篇名为《I robot》的文章。不过,当时介绍的,都是玩具类的机器人。而这一次,我们要给大家带来的,是几款真正能融入人类生活,真正能为人类提供帮助的机器人。 相似文献
6.
Remote teleoperation of robot manipulators is often necessary in unstructured, dynamic, and dangerous environments. However, the existing mechanical and other contacting interfaces require unnatural, or hinder natural, human motions. At present, the contacting interfaces used in teleoperation for multiple robot manipulators often require multiple operators. Previous vision-based approaches have only been used in the remote teleoperation for one robot manipulator as well as require the special quantity of illumination and visual angle that limit the field of application. This paper presents a noncontacting Kinect-based method that allows a human operator to communicate his motions to the dual robot manipulators by performing double hand–arm movements that would naturally carry out an object manipulation task. This paper also proposes an innovative algorithm of over damping to solve the problem of error extracting and dithering due to the noncontact measure. By making full use of the human hand–arm motion, the operator would feel immersive. This human–robot interface allows the flexible implementation of the object manipulation task done in collaboration by dual robots through the double hand–arm motion by one operator. 相似文献
7.
This paper describes a hands-off socially assistive therapist robot designed to monitor, assist, encourage, and socially interact
with post-stroke users engaged in rehabilitation exercises. We investigate the role of the robot’s personality in the hands-off
therapy process, focusing on the relationship between the level of extroversion–introversion of the robot and the user. We
also demonstrate a behavior adaptation system capable of adjusting its social interaction parameters (e.g., interaction distances/proxemics,
speed, and vocal content) toward customized post-stroke rehabilitation therapy based on the user’s personality traits and
task performance. Three validation experiment sets are described. The first maps the user’s extroversion–introversion personality
dimension to a spectrum of robot therapy styles that range from challenging to nurturing. The second and the third experiments
adjust the personality matching dynamically to adapt the robot’s therapy styles based on user personality and performance.
The reported results provide first evidence for user preference for personality matching in the assistive domain and demonstrate
how the socially assistive robot’s autonomous behavior adaptation to the user’s personality can result in improved human task
performance.
This work was supported by USC Women in Science and Engineering (WiSE) Program and the Okawa Foundation. 相似文献
8.
Eduardo Iáñez José María Azorín Andrés Úbeda José Manuel Ferrández Eduardo Fernández 《Robotics and Autonomous Systems》2010,58(12):1238-1245
This paper describes a Brain Computer Interface (BCI) based on electroencephalography (EEG) that allows control of a robot arm. This interface will enable people with severe disabilities to control a robot arm to assist them in a variety of tasks in their daily lives. The BCI system developed differentiates three cognitive processes, related to motor imagination, registering the brain rhythmic activity through 16 electrodes placed on the scalp. The features extraction algorithm is based on the Wavelet Transform (WT). A Linear Discriminant Analysis (LDA) based classifier has been developed in order to differentiate between the three mental tasks. The classifier combines through a score-based system four LDA-based models simultaneously. The experimental results with six volunteers performing several trajectories with a robot arm are shown in this paper. 相似文献
9.
This article explores a robotogenetic model of empathetic understanding of another mind as one of the capabilities required in human–robot social interactions. The term robotogenetic means that we implement a possible ontogeny (i.e., developmental process) of the social capability onto a robotic embodiment with a certain phylogenetic background (i.e., innate prerequisites). First, we look into infants development of social and communicative skills, especially of empathetic understanding of others. We then consider two fundamental abilities, namely eye-contact and joint attention, as the prerequisites for this cognitive development. Then in psychological experiments using robots that are capable of eye-contact and joint attention, we observe how people, especially infants and children, attribute mental states to the robots. Based on these investigations, we consider a possible mechanism of empathy which is based on the spatiotemporal coordination of attention and bodily movement between the self and another.This work was presented in part at the 8th International Symposium on Artificial Life and Robotics, Oita, Japan, January 24–26, 2003 相似文献
10.
《Robotics and Autonomous Systems》2014,62(3):392-399
Communication between socially assistive robots and humans might be facilitated by intuitively understandable mechanisms. To investigate the effects of some key nonverbal gestures on a human’s own engagement and robot engagement experienced by humans, participants read a series of instructions to a robot that responded with nods, blinks, changes in gaze direction, or a combination of these. Unbeknown to the participants, the robot had no form of speech processing or gesture recognition, but simply measured speech volume levels, responding with gestures whenever a lull in sound was detected. As measured by visual analogue scales, engagement of participants was not differentially affected by the different responses of the robot. However, their perception of the robot’s engagement in the task, its likability and its understanding of the instructions depended on the gesture presented, with nodding being the most effective response. Participants who self-reported greater robotics knowledge reported higher overall engagement and greater success at developing a relationship with the robot. However, self-reported robotics knowledge did not differentially affect the impact of robot gestures. This suggests that greater familiarity with robotics may help to maximise positive experiences for humans involved in human–robot interactions without affecting the impact of the type of signal sent by the robot. 相似文献
11.
《Robotics and Autonomous Systems》2014,62(3):330-339
We present a system that is able to autonomously build a 3D model of a robot’s hand, along with a kinematic model of the robot’s arm, beginning with very little information. The system starts by using exploratory motions to locate and centre the robot’s hand in the middle of its field of view, and then progressively builds the 3D and kinematic models. The system is flexible, and easy to integrate with different robots, because the model building process does not require any fiducial markers to be attached to the robot’s hand. To validate the models built by the system we perform a number of experiments. The results of the experiments demonstrate that the hand model built by the system can be tracked with a precision in the order of 1 mm, and that the kinematic model is accurate enough to reliably position the hand of the robot in camera space. 相似文献
12.
This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named "AMOEBA-I" has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis, where reconfiguration route, reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfiguration route. Numerical analysis and experimental simulation results prove the validity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots' configuration control and reconfiguration planning. 相似文献
13.
We present a novel method for a robot to interactively learn, while executing, a joint human–robot task. We consider collaborative tasks realized by a team of a human operator and a robot helper that adapts to the human’s task execution preferences. Different human operators can have different abilities, experiences, and personal preferences so that a particular allocation of activities in the team is preferred over another. Our main goal is to have the robot learn the task and the preferences of the user to provide a more efficient and acceptable joint task execution. We cast concurrent multi-agent collaboration as a semi-Markov decision process and show how to model the team behavior and learn the expected robot behavior. We further propose an interactive learning framework and we evaluate it both in simulation and on a real robotic setup to show the system can effectively learn and adapt to human expectations. 相似文献
14.
15.
《Advanced Robotics》2013,27(2):191-204
This paper proposes a quadruped walking robot that has high performance as a working machine. This robot is needed for various tasks controlled by tele-operation, especially for humanitarian mine detection and removal. Since there are numerous personnel landmines that are still in place from many wars, it is desirable to provide a safe and inexpensive tool that civilians can use to remove those mines. The authors have been working on the concept of the humanitarian demining robot systems for 4 years and have performed basic experiments with the first prototype VK-I using the modified quadruped walking robot, TITAN-VIII. After those experiments, it was possible to refine some concepts and now the new robot has a tool (end-effector) changing system on its back, so that by utilizing the legs as manipulation arms and connecting various tools to the foot, it can perform mine detection and removal tasks. Toaccomplish these tasks, we developed various end-effectors that can be attached to the working leg. In this paper we will discuss the mechanical design of the new walking robot called TITAN-IX to be applied to the new system VK-II. 相似文献
16.
《International journal of human-computer studies》2014,72(12):783-795
This paper investigates how social distance can serve as a lens through which we can understand human–robot relationships and develop guidelines for robot design. In two studies, we examine the effects of distance based on physical proximity (proxemic distance), organizational status (power distance), and task structure (task distance) on people׳s experiences with and perceptions of a humanlike robot. In Study 1, participants (n=32) played a card-matching game with a humanlike robot. We manipulated the power distance (supervisor vs. subordinate) and proxemic distance (close vs. distant) between participants and the robot. Participants who interacted with the supervisor robot reported a more positive user experience when the robot was close than when the robot was distant, while interactions with the subordinate robot resulted in a more positive experience when the robot was distant than when the robot was close. In Study 2, participants (n=32) played the game in two different task distances (cooperation vs. competition) and proxemic distances (close vs. distant). Participants who cooperated with the robot reported a more positive experience when the robot was distant than when it was close. In contrast, competing with the robot resulted in a more positive experience when it was close than when the robot was distant. The findings from the two studies highlight the importance of consistency between the status and proxemic behaviors of the robot and of task interdependency in fostering cooperation between the robot and its users. This work also demonstrates how social distance may guide efforts toward a better understanding of human–robot interaction and the development of effective design guidelines. 相似文献
17.
The reconfigurable modular robot has an enormous amount of configurations to adapt to various environments and tasks. It greatly
increases the complexity of configuration research in that the possible configuration number of the reconfigurable modular
robot grows exponentially with the increase of module number. Being the initial configuration or the basic configuration of
the reconfigurable robot, the center-configuration plays a crucial role in system’s actual applications. In this paper, a
novel center-configuration selection technique has been proposed for reconfigurable modular robots. Based on the similarities
between configurations’ transformation and graph theory, configuration network has been applied in the modeling and analyzing
of these configurations. Configuration adjacency matrix, reconfirmation cost matrix, and center-configuration coefficient
have been defined for the configuration network correspondingly. Being similar to the center-location problem, the center
configuration has been selected according to the largest center-configuration coefficient. As an example of the reconfigurable
robotic system, AMOEBA-I, a three-module reconfigurable robot with nine configurations which was developed in Shenyang Institute
of Automation (SIA), Chinese Academy of Sciences (CAS), has been introduced briefly. According to the numerical simulation
result, the center-configuration coefficients for these nine configurations have been calculated and compared to validate
this technique. Lastly, a center-configuration selection example is provided with consideration of the adjacent configurations.
The center-configuration selection technique proposed in this paper is also available to other reconfigurable modular robots.
Supported in part by the National High-Technology 863 Program (Grant No. 2001AA422360), the Chinese Academy of Sciences Advanced
Manufacturing Technology R&D Base Fund (Grant Nos. A050104 and F050108), and the GUCAS-BHP Billiton Scholarship 相似文献
18.
This paper presents a remote manipulation method for mobile manipulator through operator’s gesture. In particular, a track mobile robot is equipped with a 4-DOF robot arm to grasp objects. Operator uses one hand to control both the motion of mobile robot and the posture of robot arm via scheme of gesture polysemy method which is put forward in this paper. A sensor called leap motion (LM), which can obtain the position and posture data of hand, is employed in this system. Two filters were employed to estimate the position and posture of human hand so as to reduce the inherent noise of the sensor. Kalman filter was used to estimate the position, and particle filter was used to estimate the orientation. The advantage of the proposed method is that it is feasible to control a mobile manipulator through just one hand using a LM sensor. The effectiveness of the proposed human–robot interface was verified in laboratory with a series of experiments. And the results indicate that the proposed human–robot interface is able to track the movements of operator’s hand with high accuracy. It is found that the system can be employed by a non-professional operator for robot teleoperation. 相似文献
19.
A. G. Buddhika P. Jayasekara Keigo Watanabe Kazuo Kiguchi Kiyotaka Izumi 《Artificial Life and Robotics》2010,15(1):5-9
This article proposes a method for adapting a robot’s perception of fuzzy linguistic information by evaluating vocal cues.
The robot’s perception of fuzzy linguistic information such as “very little” depends on the environmental arrangements and
the user’s expectations. Therefore, the robot’s perception of the corresponding environment is modified by acquiring the user’s
perception through vocal cues. Fuzzy linguistic information related to primitive movements is evaluated by a behavior evaluation
network (BEN). A vocal cue evaluation system (VCES) is used to evaluate the vocal cues for modifying the BEN. The user’s satisfactory
level for the robot’s movements and the user’s willingness to change the robot’s perception are identified based on a series
of vocal cues to improve the adaptation process. A situation of cooperative rearrangement of the user’s working space is used
to illustrate the proposed system by a PA-10 robot manipulator. 相似文献
20.
Any way you look at it, the robot has an exciting future. Soon, we can expect the robot to move out of the factory and enter the domestic and business worlds. The domestic robot will appear in the home as an electronic pet and soon will develop the ability to perform useful tasks there. The sensory ability of all robots will greatly improve. In the long run, robots will acquire the capabilities they have been described as having in the movies and science fiction books. Self-reproducing factories may be placed on the moon or on other planets to help meet our growing needs for energy and goods. Inspirational changes are on the way as robots become the helpers that humans have always dreamed of 相似文献