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1
Lenţoiu, Ionuţ, Theodor Borangiu, and Silviu Răileanu. "EDGE ARCHITECTURE FOR ROBOT DATA COLLECTING IN A DIGITAL TWIN." Annals of the Academy of Romanian Scientists Series on Science and Technology of Information 16, no. 1-2 (2023): 21–35. http://dx.doi.org/10.56082/annalsarsciinfo.2023.1-2.21.
Анотація:
The paper describes a software system for data collecting in robot digital twins (DT); this system accesses information and data from the robot, the process automated by the robot and the devices connected to the robot (conveyor belt, ASRS, smart meter) via an edge processing structure that includes the robot controller and IoT gateways. The software system includes a data acquisition agent directly connected to the edge processing hard-ware, a database where the collected information is stored and a user interface with multiple data display options. The designed DT software collects robot data in two modes: continu-ously from the robot controller and the IoT gateways using specific software tools available from the robot manufacturer, and discretely from program instructions by messages. Experiments with the DT data collecting system are given for ABB IRC5 robot controllers.
2
Rabah, Mellah, and Redouane Toumi. "Commande neuro-floue du robot PUMA560 muni de moteurs à courant continu dans les deux espaces tâche et articulaire." Journal Européen des Systèmes Automatisés 39, no. 5-6 (June 30, 2005): 739–65. http://dx.doi.org/10.3166/jesa.39.739-765.
3
Triebel, Rudolph, Rohan Paul, Daniela Rus, and Paul Newman. "Parsing Outdoor Scenes from Streamed 3D Laser Data Using Online Clustering and Incremental Belief Updates." Proceedings of the AAAI Conference on Artificial Intelligence 26, no. 1 (September 20, 2021): 2088–95. http://dx.doi.org/10.1609/aaai.v26i1.8378.
Анотація:
In this paper, we address the problem of continually parsing a stream of 3D point cloud data acquired from a laser sensor mounted on a road vehicle. We leverage an online star clustering algorithm coupled with an incremental belief update in an evolving undirected graphical model. The fusion of these techniques allows the robot to parse streamed data and to continually improve its understanding of the world. The core competency produced is an ability to infer object classes from similarities based on appearance and shape features, and to concurrently combine that with a spatial smoothing algorithm incorporating geometric consistency. This formulation of feature-space star clustering modulating the potentials of a spatial graphical model is entirely novel. In our method, the two sources of information: feature similarity and geometrical consistency are fed continu- ally into the system, improving the belief over the class distributions as new data arrives. The algorithm obviates the need for hand-labeled training data and makes no apriori assumptions on the number or characteristics of object categories. Rather, they are learnt incrementally over time from streamed input data. In experiments per- formed on real 3D laser data from an outdoor scene, we show that our approach is capable of obtaining an ever- improving unsupervised scene categorization.
4
Umetani, Tomohiro, Satoshi Aoki, Kazuhiro Akiyama, Ryo Mashimo, Tatsuya Kitamura, and Akiyo Nadamoto. "Scalable Component-Based Manzai Robots as Automated Funny Content Generators." Journal of Robotics and Mechatronics 28, no. 6 (December 20, 2016): 862–69. http://dx.doi.org/10.20965/jrm.2016.p0862.
Анотація:
[abstFig src='/00280006/10.jpg' width='300' text='Tabletop component-based Manzai robots' ] This manuscript describes a scalable tabletop Manzai robot system that has been developed using distributed software components. Manzai is a style of traditional Japanese stand-up comedy that is typically performed by two comedians – a stooge and a straight man. Manzai script refers to the dialogues exchanged between the two comedians. Manzai robots automatically generate their Manzai scripts from web news articles based on keywords provided by audiences and search results on the Internet. Then, the robots perform according to these Manzai scripts. This study focuses on the flexibility and scalability of a robot system based on distributed Robot Technology (RT) components. The results of the implementation experiments demonstrate the flexibility of the Manzai performing robots and the scalability of the functions of the robot system.
5
Hong, Min Jung, and Hee Jung Kim. "A Study on Anthropomorphism of Hotel Robot Service and the User’s Continuous Use Intention Applying Technology Acceptance Model(TAM)." Taegu Science University Defense Security Institute 8, no. 2 (April 30, 2024): 89–103. http://dx.doi.org/10.37181/jscs.2024.8.2.089.
Анотація:
This study focuses on the introduction of anthropomorphized robot services that exhibit human-like characteristics in Human-Robot Interaction (HRI). Furthermore, considering that studies on customer behavior following the adoption of new technologies mainly utilize the Technology Acceptance Model (TAM), this research verifies the influence relationship on future intention to continue usage based on TAM. Through empirical analysis using SPSS 27.0 and AMOS 27.0 programs to conduct path analysis via structural equation modeling, the following results were obtained: First, anthropomorphism of hotel service robots showed significant influence on perceived usefulness and perceived ease of use of technology acceptance. Second, based on technology acceptance, hotel customers commonly verified significant influence on intention to continue usage. Third, it was confirmed that there is a partial mediation effect on intention to continue usage depending on technology acceptance and anthropomorphism of hotel service robots. Through the results, it was confirmed that there is a need to enhance the level of similarity between humans and robots, which is an anthropomorphic element of robots, in order to increase customers' HRI experience level in service environments. Accordingly, directions and strategies for continuous adoption and utilization of robot services were suggested.
6
Bloss, Richard. "Robotic applications continue to expand at the latest IMTS show." Industrial Robot: An International Journal 38, no. 3 (May 3, 2011): 224–28. http://dx.doi.org/10.1108/01439911111122707.
Анотація:
PurposeThe purpose of this paper is to review the International Manufacturing Technology Show in Chicago with emphasis on new innovative robot applications on display.Design/methodology/approachIn‐depth interviews with exhibitors of robots as well as system integrators who apply robots to specific categories of applications.FindingsRobots are becoming smarter with more integrated capabilities such as vision and autonomous part picking from random bin locations. They are becoming more economical, faster and more application specific. Robot system integrators are creating more efficient solutions for customers to consider.Originality/valueThe paper suggests that users who investigated robot solutions in the past and found they did not meet applications requirements may want to revisit robotics and see what is new. Robot makers are making them faster, smarter and more adaptable than ever before. Today's robotic solutions can better address application needs in a more cost‐effective manner than ever before.
7
Okuda, Mariko, Yasutake Takahashi, and Satoki Tsuichihara. "Human Response to Humanoid Robot That Responds to Social Touch." Applied Sciences 12, no. 18 (September 14, 2022): 9193. http://dx.doi.org/10.3390/app12189193.
Анотація:
Communication robots have been introduced in nursing care, education, and the hospitality sector. In the future, robots will be increasingly integrated into human society, with more opportunities to interact closely with humans. Therefore, investigating the symbiosis between humans and robots is critical. Touch, including actions, such as shaking hands, holding hands, and touching shoulders are common in most societies. These actions are called the social touch and are common modes of communication. Social touch not only conveys emotions and intentions but also mental and physical effects. Touch considerably influences social relationships: for example, by creating positive impressions and enabling the fulfillment of requests. Since the development of communication robots and other robots capable of physical contact, touch communication between humans and robots has been extensively studied. Although studies have revealed that touching a robot positively influences the impression regarding the robot and induces a relaxed feeling, negative perceptions related to trust on the robot have been reported. Thus, touch interactions between humans and robots are yet to be fully understood. Studies have focused on the effects of touch, such as touching the robot or being touched by the robot. Although interactions with robots that respond to touch, such as hugging behavior, have been studied, few studies have examined the psychological effects of robot responses to other types of touch such as hitting, stroking, and grasping. In this study, a humanoid robot was used to investigate how the reactive behavior exhibited by the robot in response to touch by a participant affects the degree of favorability and intellectual impression toward the robot as well as the sense of accomplishment regarding communication. Participants exhibited high favorability, feeling of relief, and willingness to continue the interaction with robots that exhibited appropriate reactions to the touch of participants. Participants exhibited a positive impression when they decided the touch gesture of the robot rather than when instructed on how to touch it. The results of this study can provide guidelines for improving the design and utilization of robots, such as therapeutic robots, that work alongside humans.
8
Menezes, Amor A., and Pierre T. Kabamba. "Realizing the promise of robotic self-x systems." Robotica 29, no. 1 (January 2011): i—ii. http://dx.doi.org/10.1017/s0263574710000834.
Анотація:
Consider a robot trying to accomplish a mission in an unfamiliar, hostile, and dynamic environment. As the robot encounters a seemingly insurmountable obstacle, it quickly reconfigures itself into two smaller robots, and with the aid of a nearby puddle of water, these two robots conduct self-detection procedures to confirm successful reconfiguration. One robot then calibrates itself using its reduced sensor suite and begins climbing over the obstacle, whilst the other robot folds itself into a compact structure and finds a crevice it can use to bypass the obstacle. But when the obstacle shifts, both robots send signals to a base to warn of impending mission failure. A copy of the original robot, located at the base, receives these warning signals and initiates a rapid self-replication process by assembling available resources. The resultant robotic offspring are then ready to continue the mission when called upon.
9
van Maris, Anouk, Nancy Zook, Sanja Dogramadzi, Matthew Studley, Alan Winfield, and Praminda Caleb-Solly. "A New Perspective on Robot Ethics through Investigating Human–Robot Interactions with Older Adults." Applied Sciences 11, no. 21 (October 29, 2021): 10136. http://dx.doi.org/10.3390/app112110136.
Анотація:
This work explored the use of human–robot interaction research to investigate robot ethics. A longitudinal human–robot interaction study was conducted with self-reported healthy older adults to determine whether expression of artificial emotions by a social robot could result in emotional deception and emotional attachment. The findings from this study have highlighted that currently there appears to be no adequate tools, or the means, to determine the ethical impact and concerns ensuing from long-term interactions between social robots and older adults. This raises the question whether we should continue the fundamental development of social robots if we cannot determine their potential negative impact and whether we should shift our focus to the development of human–robot interaction assessment tools that provide more objective measures of ethical impact.
10
Benton, Rachel A., Anne Collins McLaughlin, and Ericka M. Rovira. "Perception of Robot Power: Scale Development." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 66, no. 1 (September 2022): 295–99. http://dx.doi.org/10.1177/1071181322661244.
Анотація:
Robots are increasingly utilized to work with humans in collaborative tasks. While there is a growing body of research investigating individual measures that impact human-robot interaction (HRI), to our knowledge, no measure exists to quantify an individual's perception of robot power. How powerful one perceives robots could be a driving factor in an individual's attitudes toward robots and their trust in HRI. This study aims to develop and validate a scale to quantify peoples' general perception of the power of robots. Preliminary results from exploratory factor analyses with nearly 60% of planned participants revealed three potential factors: companion/task robots, social coworking robots, and domineering robots. Future work will examine whether and how the scale predicts behavior to continue to refine the scale and isolate its measurement.
11
Bloss, Richard. "Advanced swarm robots addressing innovative tasks such as assembly, search, rescue, mapping, communication, aerial and other original applications." Industrial Robot: An International Journal 41, no. 5 (August 12, 2014): 408–12. http://dx.doi.org/10.1108/ir-05-2014-0337.
Анотація:
Purpose – The purpose of this paper is to review some of the various worldwide projects to develop and apply innovative swarm-type robots to many challenging applications. Design/methodology/approach – An in-depth review of published information and interviews with researchers and developers of swarm robot technology were conducted. Findings – Swarm robots continue to be developed to match an ever-increasing number of interesting and innovative applications. Practical implications – Readers may be very surprised at the tasks that autonomous swarm robots can address and the developments that are underway to further extend the abilities of swarm robots. Originality/value – This paper is a review of a wide range of the latest swarm robot developments, innovations and applications.
12
Lienert, Thomas, and Johannes Fottner. "Failure-Handling Strategies for Mobile Robots in Automated Warehouses." Anwendungen und Konzepte der Wirtschaftsinformatik, no. 10 (December 19, 2019): 7. http://dx.doi.org/10.26034/lu.akwi.2019.3247.
Анотація:
Automated warehouses operated by a fleet of robots not only offer great flexibility, as fleet size can be adjusted easily to throughput requirements, they also provide higher redundancy compared to common solutions for automated storage and retrieval systems. In case a single robot fails, the remaining fleet of robots is able to continue working within the system, so that throughput is only slightly affected. However, adequate strategies are required for this scenario. In this contribution, we present four different approaches to cope with robot downtimes, which are based on the routing of the robots. These strategies are compared by performing a simulation study in which a robotic mobile fulfilment system is considered.
13
Zhang, Tianwei, and Yoshihiko Nakamura. "Humanoid Robot RGB-D SLAM in the Dynamic Human Environment." International Journal of Humanoid Robotics 17, no. 02 (February 12, 2020): 2050009. http://dx.doi.org/10.1142/s0219843620500097.
Анотація:
Unsteady locomotion and the dynamic environment are two problems that block humanoid robots to apply visual Simultaneous Localization and Mapping (SLAM) approaches. Humans are often considered as moving obstacles and targets in humanoid robots working space. Thus, in this paper, we propose a robust dense RGB-D SLAM approach for the humanoid robots working in the dynamic human environments. To deal with the dynamic human objects, a deep learning-based human detector is combined in the proposed method. After the removal of the dynamic object, we fast reconstruct the static environments through a dense RGB-D point clouds fusion framework. In addition to the humanoid robot falling problem, which usually results in visual sensing discontinuities, we propose a novel point clouds registration-based method to relocate the robot pose. Therefore, our robot can continue the self localization and mapping after the falling. Experimental results on both the public benchmarks and the real humanoid robot SLAM experiments indicated that the proposed approach outperformed state-of-the-art SLAM solutions in dynamic human environments.
14
Wu, Hongzhong, Tenghui Xing, Weiqing Li, Hongbiao Chen, Yutao Kang, and Jiayang Li. "Robotic Scheduling Strategies based on Machine Learning Algorithm." Journal of Physics: Conference Series 2562, no. 1 (August 1, 2023): 012025. http://dx.doi.org/10.1088/1742-6596/2562/1/012025.
Анотація:
Abstract Recently, robot scheduling has been widely concerned by numerous companies and researchers. They adopt an intelligent algorithm to design scheduling strategies for automated guided vehicle (AGV) and achieve required moving routes and certain aims. However, the existing robot scheduling strategies employ mathematical program models to arrange robots’ control and ignore machine issues that the robots may have. This will cause conflict and may lead the whole robot to a deadlock when the scale of conflict reaches a critical point. In this paper, we present a novel scheduling strategy for intelligent robots by training machine learning algorithms. Initially, we assume the robots contain a communication system, which can only receive signals from the central controller. Subsequently, we utilize the input parameters including robot conditions, working area, and working aims to train the machine learning algorithm. The work accomplishment ratio and conflict ratio are two essential indicators to measure our proposed method. Additionally, we also simulate the existing robot scheduling models to compare. From the extensive experimental results and comparison evaluations, we can conclude that our proposed method can achieve the robots scheduling tasks with reasonable costs. At last, we discuss the challenges of applying machine learning techniques to robotic scheduling and potential solutions and provide future directions in this field.
15
Roesler, Eileen, Sophia C. Steinhaeusser, Birgit Lugrin, and Linda Onnasch. "The Influence of Visible Cables and Story Content on Perceived Autonomy in Social Human–Robot Interaction." Robotics 12, no. 1 (December 23, 2022): 3. http://dx.doi.org/10.3390/robotics12010003.
Анотація:
From teaching technical skills to telling bedtime stories, social robots support various edutainment tasks that require smooth communication. Previous studies often emphasized the importance of the autonomy of social robots for those tasks. However, the cabling of robots with power sources and/ or host computers is often required due to technical restrictions. However, it is currently unclear if the cabling of robots makes a difference in perceived autonomy. Therefore, this study examined the influence of visible cables in different tasks on the perception of a social robot. In an online survey, participants evaluated videos of a social robot that was either equipped with a cable or not and told either a story with technical educational content or socially entertaining content. No significant differences were revealed between the cabled and the non-cabled robot, neither for the perceived autonomy nor for the associated concepts of the Godspeed questionnaire series. In addition, the story content did not influence perceived autonomy. However, the robot that told the technical content was perceived as significantly more intelligent and tended to be perceived as more likable than the robot that told the social content. Moreover, the interaction effect of cabling and story content for perceived safety just failed to reach the conventional level of significance. In the social content condition, the non-cabled robot tended to be perceived as less safe than the cabled robot. This was not true for the technical content condition. In conclusion, the results showed the importance of considering story content. Due to methodological limitations of the current study, namely, the lack of gestures accompanying the storytelling and the video-based approach, the missing effect of cabling in regard to perceived autonomy should be investigated in the future via real-life interaction studies.
16
Amiri-M, Amir-A., M. R. Gharib, M. Moavenian, and K. Torabiz. "Modelling and control of a SCARA robot using quantitative feedback theory." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 223, no. 7 (August 3, 2009): 919–28. http://dx.doi.org/10.1243/09596518jsce733.
Анотація:
In this paper, a practical method to design a robust controller for a SCARA robot using quantitative feedback theory (QFT) is proposed. The models used to describe robots contain uncertainties that are the result of insufficient knowledge on the dynamics of the robot, external disturbances, pay load changes, and friction, etc. Thus, the application of robust control methods to create the precise control of robots is of considerable interest. This paper considers a robot arm manipulator, a system whose models contain non-linear coupled transfer functions. In the first step of applying the QFT technique the non-linear plant is converted into a family of linear uncertain plants. This is achieved using a fixed-point theorem and then suitable disturbance rejection bounds are found. A robust controller is designed for the tracking problem. Non-linear simulations on the tracking problem for a three-dimension elliptical path are performed and the results highlight the success of the designed controllers and pre-filters. The presented results indicate that applying the proposed technique successfully overcomes the obstacles to robust control of non-linear SCARA robots.
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Jouili, Afrah, Boumedyen Boussaid, Ahmed Zouinkhi, and M. N. Abdelkrim. "Fault Detection of Multi-Wheeled Robot Consensus Based on EKF." Actuators 13, no. 7 (July 1, 2024): 253. http://dx.doi.org/10.3390/act13070253.
Анотація:
Synchronizing a network of robots in consensus is an important task for cooperative work. Detecting faults in a network of robots in consensus is a much more important task. In considering a formation of Wheeled Mobile Robots (WMRs) in a master–slave architecture modeled by graph theory, the main objective of this study was to detect and isolate a fault that appears on a robot of this formation in order to remove it from the formation and continue the execution of the assigned task. In this context, we exploit the extended Kalman filter (EKF) to estimate the state of each robot, generate a residual, and deduce whether a fault exists. The implementation of this technique was proven using a Matlab simulator.
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Jung, Uijin, Jinseo Lee, Ji-Young Choi, Hyun Yim, and Myoung-Jin Lee. "Future Service Robot Scenarios in South Korea." Sustainability 15, no. 22 (November 7, 2023): 15679. http://dx.doi.org/10.3390/su152215679.
Анотація:
Advances in digital technology, periodic threats from infectious diseases, and shrinking working-age populations have increased the demand for autonomous systems. South Korea is now in crisis because its society is aging and has limited resources. The implementation of service robots is one of the possible alternative plans that has been receiving attention both for sustainable economic growth and as a solution to social problems. However, many things should be considered for service robots to be widely used in society. The aim of this study was to identify key factors that will affect the future of service robots and discuss corresponding policy measures. Four scenarios were developed using general morphology analysis (GMA). The scenarios were defined according to six key factors: technological development, infrastructure development, commercial acceptance, social acceptance, policy and regulatory environments, and technological competition. In scenario A, policy measures need to ensure that South Korea will continue as a global service robot leader. In scenario B, it is necessary to narrow the gap between South Korea and competitors in terms of service robot technology development and adoption. In scenario C-1, policies should encourage the adoption of service robot technologies both domestically and abroad. In scenario C-2, it is necessary to develop service robot technologies and promote the service robot industry.
19
Su, Kuo Lan, Jr Hung Guo, Cheng Yun Chung, and Cheng Yun Chung. "Fire Detection System Based-On Mobile Robots." Applied Mechanics and Materials 418 (September 2013): 25–28. http://dx.doi.org/10.4028/www.scientific.net/amm.418.25.
Анотація:
The paper develops a fire detection system using mobile robots, and calculates the risk values of the escaping paths using Bayesian estimated method. Mobile robots contain two types moving in the platform. One is fire detection robot (FDR) to search fire sources. The other represents the people walking in the platform autonomously. The controller of the mobile robot detects fire source using flame sensor, and receives the motion command from the supervised compute via wireless RF interface. The mobile robot transmits ID code, position and orientation information, positions of fire sources to the supervised computer via wireless RF interface, too. We program the motion path of fire detection robots to search fire sources, and uses Gauss distribution function to describe the risk values of each fire source. The supervised computer uses Bayesian estimated algorithm to calculate the relation risk value of each cross point for multiple fire sources. In the fire condition, each FDR calculates shortest displacement from the people. The assigned FDR carries the people leaving the dangerous area. Then the user interface programs the escaping paths using A* searching algorithm for mobile robots. The mobile robot guides the people (mobile robot) leaving the fire area according the programmed safety escaping path.
20
Fu, Yu, Tien-Ruey Hsiang, and Sheng-Luen Chung. "Multi-waypoint visual homing in piecewise linear trajectory." Robotica 31, no. 3 (August 16, 2012): 479–91. http://dx.doi.org/10.1017/s0263574712000434.
Анотація:
SUMMARYThis paper proposes an image sequence-based navigation method under the teaching-replay framework for robots in piecewise linear routes. Waypoints used by the robot contain either the positions with large heading changes or selected midway positions between junctions. The robot applies local visual homing to move between consecutive waypoints. The arrival at a waypoint is determined by minimizing the average vertical displacements of feature correspondences. The performance of the proposed approach is supported by extensive experiments in hallway and office environments. While the homing speed of robots using other approaches is constrained by the speed in the teaching phase, our robot is not bounded by such limit and can travel much faster without compromising the homing accuracy.
21
Bogue, Robert. "Europe leads the way in assistive robots for the elderly." Industrial Robot: An International Journal 44, no. 3 (May 15, 2017): 253–58. http://dx.doi.org/10.1108/ir-02-2017-0041.
Анотація:
Purpose This paper aims to provide details of European research projects and product developments involving robots that can assist the ageing population. Design/methodology/approach Following an introduction, the role of assistive robots and research into the nature of the human–robot interaction are considered. The paper then discusses a selection of European research projects and a number of companies producing or developing assistive robots. Finally, brief conclusions are drawn. Findings In recognition of the fact that the growing, ageing population has needs that place an unsustainable burden on carers and healthcare providers, Europe is investing heavily in assistive robots. Many European Union-funded, collaborative projects have been conducted and several continue today which build on the extensive body of earlier research. Significant progress is being made, and assistive robot research has moved on from purely technological developments to field trials involving real people in realistic environments. Several products exist or are at an advanced stage of development and have often benefited or arisen from these projects. Europe is in a very strong position to capitalise on this emerging market opportunity. Originality/value This provides a detailed insight into European assistive robot development activities.
22
Han, Zhao, Daniel Giger, Jordan Allspaw, Michael S. Lee, Henny Admoni, and Holly A. Yanco. "Building the Foundation of Robot Explanation Generation Using Behavior Trees." ACM Transactions on Human-Robot Interaction 10, no. 3 (July 2021): 1–31. http://dx.doi.org/10.1145/3457185.
Анотація:
As autonomous robots continue to be deployed near people, robots need to be able to explain their actions. In this article, we focus on organizing and representing complex tasks in a way that makes them readily explainable. Many actions consist of sub-actions, each of which may have several sub-actions of their own, and the robot must be able to represent these complex actions before it can explain them. To generate explanations for robot behavior, we propose using Behavior Trees (BTs), which are a powerful and rich tool for robot task specification and execution. However, for BTs to be used for robot explanations, their free-form, static structure must be adapted. In this work, we add structure to previously free-form BTs by framing them as a set of semantic sets {goal, subgoals, steps, actions} and subsequently build explanation generation algorithms that answer questions seeking causal information about robot behavior. We make BTs less static with an algorithm that inserts a subgoal that satisfies all dependencies. We evaluate our BTs for robot explanation generation in two domains: a kitting task to assemble a gearbox, and a taxi simulation. Code for the behavior trees (in XML) and all the algorithms is available at github.com/uml-robotics/robot-explanation-BTs.
23
Vagaš, Marek. "Optimization Trajectory in Handling with the Same Object." Applied Mechanics and Materials 613 (August 2014): 230–35. http://dx.doi.org/10.4028/www.scientific.net/amm.613.230.
Анотація:
In this paper, there is presented an industrial robot trajectory optimization method for series of point-to-point type movements. Also contain an optimization strategy that has been built using through proposed automated optimizing system for handling. The optimized trajectories must lead to avoid exciting mechanical resonance modes of the industrial robot structure. This can be achieved by applying of robot interpolation. The testing results show that the trajectory optimization through this method is feasible for industrial robots.
24
E.C., Aneke, and Chukwuagu M.I. "IMPROVED INTELLIGENT BASE TECHNIQUE FOR PATH AND SOLUTION IN ROBOTIC USING PREWILL EDGE DETECTION PARADIGM." Engineering and Technology Journal 07, no. 11 (2022): 1690–718. http://dx.doi.org/10.47191/etj/v7i11.07.
Анотація:
The major contribution in this research paper is concerned with the development of a humanoid robot using edge detection technique which selects features of the principal parts of the object and eliminates parts that are not necessary. The developed prototype of the motorized robot shows that robots in real life exhibit some level of intelligence. In the design process, the model of a humanoid robot was developed first using the simulink library tools in Matlab/Simulink environment. This research paper has improved autonomous path finding robots by incorporating very powerful and well-structured program/codes that gives the robot the ability to predict and make smart decision lending to efficient execution of desired assignment (picking of dirt in the surrounding).Result shows that the developed robot has simplified the way No robot interacts with object thereby saving cost and energy. A motorized autonomous path finding robot was designed and constructed to demonstrate the working principle of robot. The motorized robot and the humanoid robot have the capability to detect obstacle along its part at 30cm away from the obstacle. When the robot is switched on, it initializes after which forward movement until it gets 30cm closer to an obstacle it then stops, reverse backwards and then change direction. When it moves 30cm close to another obstacle, it stops reverse backwards, then turns left or right to another direction, and will continue to behave that way until the power button is switched off.
25
Zhou, Zhenxiang. "A Study on the Impact of Industrial Robot Development on the Economy A Case Study of China." Advances in Economics, Management and Political Sciences 58, no. 1 (November 20, 2023): 121–28. http://dx.doi.org/10.54254/2754-1169/58/20230870.
Анотація:
The impact of industrial robot development on the economy has long been a subject of keen interest. This research aims to explore the role of industrial robots in the Chinese economy and the factors influencing their impact. This is achieved through an analysis of the scale of the industrial robot market, its applications, the localization process, and its effects on employment and production efficiency. In the course of this study, we review the rapid growth of the Chinese manufacturing sector and the increasing adoption of industrial robots. With technological advancements, industrial robots have achieved significant milestones in fields such as automobile manufacturing and electronics production. Subsequently, this paper delves into the repercussions of industrial robots on the Chinese economy. Data indicates that the widespread use of industrial robots has significantly enhanced production efficiency, lowered production costs, and improved product quality. Furthermore, the paper scrutinizes the progress of domestication in the industrial robot sector, highlighting China's positive strides in enhancing its capacity for independent research and development, as well as manufacturing. Consequently, the rapid development of industrial robots has exerted a multifaceted impact on the Chinese economy, fostering both production efficiency and industrial upgrading, while also giving rise to a series of employment and societal issues. In the future, China should continue to intensify its efforts in technological innovation and talent development to better address the challenges and opportunities arising from the development of industrial robots, thereby promoting sustained and healthy economic growth.
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Feingold-Polak, Ronit, Avital Elishay, Yonat Shahar, Maayan Stein, Yael Edan, and Shelly Levy-Tzedek. "Differences between young and old users when interacting with a humanoid robot: a qualitative usability study." Paladyn, Journal of Behavioral Robotics 9, no. 1 (July 1, 2018): 183–92. http://dx.doi.org/10.1515/pjbr-2018-0013.
Анотація:
Abstract With the aging of the population worldwide, humanoid robots are being used with an older population, e.g., stroke patients and people with dementia. There is a growing body of knowledge on how people interact with robots, but limited information on the difference between young and old adults in their preferences when interacting with humanoid robots and what factors influence these preferences.We developed a gamified robotic platform of a cognitive-motor task.We conducted two experiments with the following aims: to test how age, location of touch interaction (touching the robot’s tablet or hand), and embodied presence of a humanoid robot affect the motivation of different age-group users to continue performing a cognitive-motor task. A total of 60 participants (30 old adults and 30 young adults) took part in two experiments with the humanoid Pepper robot (Softbank robotics). Both old and young adults reported they enjoyed the interaction with the robot as they found it engaging and fun, and preferred the embodied robot over the non-embodied computer screen. This study highlights that in order for the experience of the user to be positive a personalization of the interaction according to the age, the needs of the user, the characteristics, and the pace of the task is needed.
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Wang, Chun Chieh, and Shao Fan Lien. "Visually-Guided Based Automatic Navigation for Disaster Detection Robots." Applied Mechanics and Materials 764-765 (May 2015): 724–29. http://dx.doi.org/10.4028/www.scientific.net/amm.764-765.724.
Анотація:
The image-guided system is the important issue for the automatic navigation. In this paper, a novel visually-guided disaster detection Robot (DD robot) is designed to carry out the automatic navigation function. Moreover, the DD robot is meticulously designed to detect gases or suspicious persons in the surrounding environment of the plant. Besides, we have successfully made our robots equipped with the devices by ourselves. These devices contain the disaster-detected sensors, the navigation module and the image module. In addition, we designed three operation modes: Automatic navigation mode (AN), Manual Remote Control mode (MRC) and the Visually-Guided mode (VG). Furthermore, the human-machine interface offers the users the view of information and also the details of the functions of the DD robot. The experimental results validate the practicality of the proposed visually-guided based automatic navigation system applied to disaster detection robots.
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Costa, Luís Feliphe S., Tiago P. Nascimento, Rosiery da S. Maia, and Luiz Marcos G. Gonçalves. "N-learning: An Approach for Learning and Teaching Skills in Multirobot Teams." Robotica 38, no. 1 (April 16, 2019): 48–68. http://dx.doi.org/10.1017/s0263574719000468.
Анотація:
SummaryWe propose the N-learning practical approach for teaching and learning behaviors in a multirobot system, which is performed through mandatory behavior acquisition based on interactions between the robots at execution time. The proposed methodology can be used to self-program the robots of a team by programming only a single robot with a set of codes that contain behaviors to be transferred and used by other robots as necessary. These codes are implemented in a modular fashion. An advantage of our approach is that when a team of robots is required to perform a specific mission, the set of behaviors required to accomplish that mission can be implemented only once in a single robot or in a distributed fashion. Then, these distributed behaviors are transferred to each of the other robots in the team according to their demand, without the need to reprogram them by hand since the robots in the team can share them autonomously. As an application example, a human critic can teach (or program) only one or a few robots, and these robots are thus able to exchange knowledge with the other team members since they have been preinstalled to run the N-learning system basics. Simulated and real robot experiments are performed to demonstrate the feasibility and validation of our approach.
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Alexander Obaigbena, Oluwaseun Augustine Lottu, Ejike David Ugwuanyi, Boma Sonimitiem Jacks, Enoch Oluwademilade Sodiya, Obinna Donald Daraojimba, and Oluwaseun Augustine Lottu. "AI and human-robot interaction: A review of recent advances and challenges." GSC Advanced Research and Reviews 18, no. 2 (February 28, 2024): 321–30. http://dx.doi.org/10.30574/gscarr.2024.18.2.0070.
Анотація:
The integration of artificial intelligence (AI) into human-robot interaction (HRI) has witnessed significant advancements in recent years, revolutionizing the way humans and robots collaborate and coexist. This review provides a comprehensive overview of the latest breakthroughs in AI-driven HRI and identifies the challenges that lie ahead. Recent years have seen a surge in AI-driven capabilities that enhance human-robot interaction. Machine learning algorithms enable robots to adapt to user preferences and behaviors, creating personalized and intuitive interactions. Natural language processing (NLP) facilitates seamless communication between humans and robots, enabling voice commands and context-aware responses. Computer vision advancements empower robots with enhanced perception, enabling them to recognize and interpret human gestures, emotions, and facial expressions. Reinforcement learning has played a pivotal role in enabling robots to learn from human feedback and optimize their actions in real-time. Socially assistive robots leverage AI to provide emotional support and companionship, particularly in healthcare and elderly care settings. Despite these advancements, challenges persist in the field of AI-driven HRI. Ethical considerations, including privacy concerns and the responsible use of AI in influencing human behavior, demand careful attention. Ensuring the safety and security of AI-driven robotic systems remains paramount, requiring robust measures against malicious attacks and unintended consequences. Human-robot trust remains a critical challenge, necessitating transparent AI algorithms and effective communication strategies. Interdisciplinary collaboration between AI researchers, roboticists, psychologists, and ethicists is essential to address the complex socio-technical aspects of HRI. The fusion of AI and human-robot interaction holds immense potential to redefine various facets of our daily lives. This review highlights recent strides in AI-driven HRI, emphasizing the need for interdisciplinary efforts to address challenges and ensure the responsible development and deployment of AI-powered robotic systems. As researchers continue to innovate, the dynamic landscape of AI and human-robot interaction promises a future where seamless collaboration and coexistence between humans and robots become an integral part of our societal fabric.
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Jiang, Li, Juan Zhao, Feng Wang, Yujian Zhou, Wangyang Ge, and Jinhua She. "Rehabilitation Evaluation System for Lower-Limb Rehabilitation Robot." Journal of Advanced Computational Intelligence and Intelligent Informatics 27, no. 4 (July 20, 2023): 691–99. http://dx.doi.org/10.20965/jaciii.2023.p0691.
Анотація:
Rehabilitation evaluation is an important part of rehabilitation training. It is closely related to the robot-assisted training effect. Different rehabilitation robots need different methods to evaluate patients. Rehabilitation training is a long process, and the patient’s performance scores will continue to change. A lower-limb rehabilitation robot needs a dynamic performance score to evaluate rehabilitation’s effects. This study used an analytic hierarchy process and fuzzy comprehensive evaluation methods to establish a rehabilitation evaluation system for lower-limb rehabilitation robots. A multi-scale personalized rehabilitation plan is conceived, based on the evaluation system and the combination of objective factors. This method dynamically adjusts the plan according to the rehabilitation situation of patients, which is beneficial to the improvement of the efficiency and initiative of training.
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Li, Yunquan, Yujia Li, Tao Ren, Jiutian Xia, Hao Liu, Changchun Wu, Senyuan Lin, and Yonghua Chen. "An Untethered Soft Robotic Dog Standing and Fast Trotting with Jointless and Resilient Soft Legs." Biomimetics 8, no. 8 (December 8, 2023): 596. http://dx.doi.org/10.3390/biomimetics8080596.
Анотація:
Soft robots are compliant, impact resistant, and relatively safe in comparison to hard robots. However, the development of untethered soft robots is still a major challenge because soft legs cannot effectively support the power and control systems. Most untethered soft robots apply a crawling or walking gait, which limits their locomotion speed and mobility. This paper presents an untethered soft robot that can move with a bioinspired dynamic trotting gait. The robot is driven by inflatable soft legs designed on the basis of the pre-charged pneumatic (PCP) actuation principle. Experimental results demonstrate that the developed robot can trot stably with the fastest speed of 23 cm/s (0.97 body length per second) and can trot over different terrains (slope, step, rough terrain, and natural terrains). The robotic dog can hold up to a 5.5 kg load in the static state and can carry up to 1.5 kg in the trotting state. Without any rigid components inside the legs, the developed robotic dog exhibits resistance to large impacts, i.e., after withstanding a 73 kg adult (46 times its body mass), the robotic dog can stand up and continue its trotting gait. This innovative robotic system has great potential in equipment inspection, field exploration, and disaster rescue.
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Wang, Huayi, Ningfeng Luo, Tong Zhou, and Shuai Yang. "Physical Robots in Education: A Systematic Review Based on the Technological Pedagogical Content Knowledge Framework." Sustainability 16, no. 12 (June 11, 2024): 4987. http://dx.doi.org/10.3390/su16124987.
Анотація:
Driven by the wave of artificial intelligence, the educational practice and application of robots have become increasingly common. Despite extensive coverage in the literature on various aspects of educational robots, there are still unexplored avenues, particularly regarding robotic support, robotic personality, and challenges in their applications. This study presented a systematic review of high-quality empirical research on the use of physical robots in educational settings. A total of 92 relevant papers from the Web of Science database were analyzed. Employing the technological pedagogical content knowledge (TPCK) framework, we investigated research questions across seven components, including the learning domain, teaching strategy, robot types, learning results, problems with using robots, robotic support, and robotic personality. The findings revealed that robots are most prevalently employed in language learning applications. When opting for teaching strategies, educators tend to favor those that incorporate physical interaction. Concurrently, humanoid robots emerge as the preferred choice among many. These robots, in human–robot interaction scenarios, often exhibit an agreeable personality. In terms of evaluating learning results, cognitive aspects like thinking, creativity, self-regulation, and inquiry ability are especially emphasized. Such results are frequently influenced by the informational and emotional support provided by robots. Nonetheless, challenges encountered by teachers, learners, and robots in this process are not to be overlooked. The findings of this study contributed to future applications of robotics in education.
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Doi, Takahiro, Motohiro Okumura, Tomoki Harada, and Yuto Mitsuma. "Mechanism and Control of Connecting Robot Moving in Narrow and Irregular Terrain." Journal of Robotics and Mechatronics 30, no. 5 (October 20, 2018): 791–800. http://dx.doi.org/10.20965/jrm.2018.p0791.
Анотація:
Japan is located in a seismic zone and is hence affected by earthquakes, which necessitates frequent disaster rescue activities. It is difficult for humans to access the site of an earthquake with collapsed buildings for carrying out rescue operations. The use of various mobile robots to undertake such rescue activities in place of humans has been proposed and studied to cope with such situations. Disaster sites covered with debris contain narrow spaces and irregular terrains, where robots that can change its size and rigidity should be able to move more effectively. In this study, we propose a robot system, separated into multiple robot units and variable in size and rigidity by connecting and separating them, so that it can adapt itself to a diversity of environments. To realize the proposed robot system in both mechanical and control aspects, we prototyped a group of robot units that can move as well as get connected and separated. We evaluated its thrust and ability to traverse irregular terrains as well as the automatic connection of robot units using cameras and markers.
34
Tao, Liu. "Application Market of Industrial Robot in China." Applied Science and Innovative Research 7, no. 1 (February 27, 2023): p77. http://dx.doi.org/10.22158/asir.v7n1p77.
Анотація:
Robotics is a programmable mechanical system with a certain autonomy that can exercise in its environment and complete some prescribed tasks. Although industrial robots are robots, they mainly provide duplicate, large quantities, and standard services. Therefore, they also have a certain standardized requirements for the materials and semi -finished products. In addition, because industrial robots are not intelligent enough, the processing of fuzzy range can only be operated according to procedures. For example, when the screen has a small bump, the robot may judge that it cannot be operated, but if it is artificially determined, it can continue to be processed and sold. Even if the development of machine vision can solve these problems to a certain extent, non -standardized operations will reduce efficiency accordingly. Industrial robots can not only achieve simple processes such as handling, but also technically some complex processes can be achieved. However, for the consideration of cost and benefits, most industrial robot manufacturers will not choose to produce such products. Because such demand is not large enough, and the profit margin is not considerable enough.
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Li, Shou Tao, Li Na Li, and Gordon Lee. "A Robotic Swarm Searching Method for Unknown Environments Based on Foraging Behaviors." Applied Mechanics and Materials 461 (November 2013): 853–60. http://dx.doi.org/10.4028/www.scientific.net/amm.461.853.
Анотація:
This paper proposes a novel method for a swarm of robots searching in an unknown environment. The approach focuses on the process of feeding and individual coordination characteristics that are inspired by the foraging behavior in nature. First, the searching area is divided into several sub-regions using a target utility function, from which each robot can identify an area that should be initially searched. Then, a predatory strategy is used for searching in the sub-regions; this hybrid approach integrates a random search technique with a dynamic particle swarm optimization (DPSO) search algorithm. If a robot cannot find any target information in the sub-region, it uses a global random search algorithm; if the robot finds any target information in the sub-region, the DPSO search algorithm is used for a local search. The particle swarm optimization search algorithm is dynamic as all the parameters in the algorithm are refreshed synchronously through a communication mechanism as the searching progresses until the robots find the target position. Then, the robots fall back to a random searching mode and continue to search for other places that were not searched previously. In this searching strategy, the robots alternate between two searching algorithms until the whole sub-area is covered. During the searching process, the robots use a local communication mechanism to share map information and the DPSO parameters to reduce the communication burden and overcome hardware limitations.
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Chand, Aneesh N., and Shin’ichi Yuta. "Autonomous Pedestrian Push Button Activation by Outdoor Mobile Robot in Outdoor Environments." Journal of Robotics and Mechatronics 25, no. 3 (June 20, 2013): 484–96. http://dx.doi.org/10.20965/jrm.2013.p0484.
Анотація:
The authors have developed an outdoor mobile robot that has the ability to cross roads at an intersection or pedestrian crossing fully autonomously while traveling along sidewalks in an urban environment. This gives the robot the capability to travel longer and complex routes as the robot is able to cross a road and continue with its path. The developed robot has the unique ability to autonomously approach and activate the pedestrian push button with a mechanical finger. We first briefly describe the overall operation of such a road crossing robot. The rest of this paper then discusses in detail how the robot can meticulously navigate to and activate the pedestrian push button with the on-board finger. The contribution of this work is that although there are robots existing that perform precision docking or button activation, this robot is one of the few that can perform such an action in a real world outdoor environment that is completely unmodified. We prove this by deploying the robot in a real world road-crossing and it was successfully able to engage the pedestrian push button.
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Chen, Junjie, Shuai Li, Donghai Liu, and Xueping Li. "AiRobSim: Simulating a Multisensor Aerial Robot for Urban Search and Rescue Operation and Training." Sensors 20, no. 18 (September 13, 2020): 5223. http://dx.doi.org/10.3390/s20185223.
Анотація:
Unmanned aerial vehicles (UAVs), equipped with a variety of sensors, are being used to provide actionable information to augment first responders’ situational awareness in disaster areas for urban search and rescue (SaR) operations. However, existing aerial robots are unable to sense the occluded spaces in collapsed structures, and voids buried in disaster rubble that may contain victims. In this study, we developed a framework, AiRobSim, to simulate an aerial robot to acquire both aboveground and underground information for post-disaster SaR. The integration of UAV, ground-penetrating radar (GPR), and other sensors, such as global navigation satellite system (GNSS), inertial measurement unit (IMU), and cameras, enables the aerial robot to provide a holistic view of the complex urban disaster areas. The robot-collected data can help locate critical spaces under the rubble to save trapped victims. The simulation framework can serve as a virtual training platform for novice users to control and operate the robot before actual deployment. Data streams provided by the platform, which include maneuver commands, robot states and environmental information, have potential to facilitate the understanding of the decision-making process in urban SaR and the training of future intelligent SaR robots.
38
Borgo, Stefano, and Enrico Blanzieri. "Trait-Based Module for Culturally-Competent Robots." International Journal of Humanoid Robotics 16, no. 06 (December 2019): 1950028. http://dx.doi.org/10.1142/s0219843619500282.
Анотація:
Robots might not act according to human expectations if they cannot anticipate how people make sense of a situation and what behavior they consider appropriate in some given circumstances. In many cases, understanding, expectations and behavior are constrained, if not driven, by culture, and a robot that knows about human culture could improve the quality level of human–robot interaction. Can we share human culture with a robot? Can we provide robots with formal representations of different cultures? In this paper, we discuss the (elusive) notion of culture and propose an approach based on the notion of trait which, we argue, permits us to build formal modules suitable to represent culture (broadly understood) in a robot architecture. We distinguish the types of traits that such modules should contain, namely behavior, knowledge, rule and interpretation traits, and how they could be organized. We identify the interpretation process that maps situations to specific knowledge traits, called scenarios, as a key component of the trait-based culture module. Finally, we describe how culture modules can be integrated in an existing architecture, and discuss three use cases to exemplify the advantages of having a culture module in the robot architecture highlighting surprising potentialities.
39
Wonsick, Murphy, and Taskin Padir. "A Systematic Review of Virtual Reality Interfaces for Controlling and Interacting with Robots." Applied Sciences 10, no. 24 (December 18, 2020): 9051. http://dx.doi.org/10.3390/app10249051.
Анотація:
There is a significant amount of synergy between virtual reality (VR) and the field of robotics. However, it has only been in approximately the past five years that commercial immersive VR devices have been available to developers. This new availability has led to a rapid increase in research using VR devices in the field of robotics, especially in the development of VR interfaces for operating robots. In this paper, we present a systematic review on VR interfaces for robot operation that utilize commercially available immersive VR devices. A total of 41 papers published between 2016–2020 were collected for review following the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines. Papers are discussed and categorized into five categories: (1) Visualization, which focuses on displaying data or information to operators; (2) Robot Control and Planning, which focuses on connecting human input or movement to robot movement; (3) Interaction, which focuses on the development of new interaction techniques and/or identifying best interaction practices; (4) Usability, which focuses on user experiences of VR interfaces; and (5) Infrastructure, which focuses on system architectures or software to support connecting VR and robots for interface development. Additionally, we provide future directions to continue development in VR interfaces for operating robots.
40
Galin, R. R., V. V. Serebrennyj, G. K. Tevyashov, and A. A. Shiroky. "Human-robot Interaction in Collaborative Robotic Systems." Proceedings of the Southwest State University 24, no. 4 (February 4, 2021): 180–99. http://dx.doi.org/10.21869/2223-1560-2020-24-4-180-199.
Анотація:
Purpose or research is to find solvable tasks for increasing the effectiveness of collaborative interaction between people and robots in ergatic robotic systems, or, in other words, in collaborative robotic systems. Methods. A comprehensive analysis of works published in highly rated peer-reviewed open-access scientific publications was carried out to achieve this goal. Main terms and concepts of collaborative robotics are described in § 1 and their current understanding in the research community is also described. The structure of workspaces in interaction zone of a person and robot is described. The criteria for assigning robot to the class of collaborative ones are also described. The criteria for safe interaction of a person and robot in a single workspace is described in § 2. Various grounds for classifying human-robot interactions in collaborative RTAs are described in § 3. Results. A significant part of published works about collaborative robotics is devoted to the organization of safe man and robot interaction. Less attention is paid to the effectiveness improvement of such interaction. An up-to-date task in the problem of efficiency improvement of collaborative robotic systems is the identification of tasks that have already been solved in other areas - in particular, in the field of organizational systems management. The possibility of using the term "team" for collaborative robots in a collaborative PTC is stated in § 4. A formal problem setting of optimal distribution in teamwork of collaborative robots, similar to the problem of heterogeneous team formation in the theory of organizational systems management is proposed in § 5. Conclusions. Proposed task setting of optimal distribution of works in collaborative robots’ team shows possibility of using results obtained in group of mathematical models of commands formation and functioning for control of collaborative robotic systems in order to increase efficiency of people and robots interaction. It is prospectively to continue the search for adapting models and governance mechanisms to the theory of organizational system management and integrated activities methodology.
41
López-Lozada, Elizabeth, Elsa Rubio-Espino, J. Humberto Sossa-Azuela, and Victor H. Ponce-Ponce. "Reactive navigation under a fuzzy rules-based scheme and reinforcement learning for mobile robots." PeerJ Computer Science 7 (June 4, 2021): e556. http://dx.doi.org/10.7717/peerj-cs.556.
Анотація:
Robot navigation allows mobile robots to navigate among obstacles without hitting them and reaching the specified goal point. In addition to preventing collisions, it is also essential for mobile robots to sense and maintain an appropriate battery power level at all times to avoid failures and non-fulfillment with their scheduled tasks. Therefore, selecting the proper time to recharge the batteries is crucial to address the navigation algorithm design for the robot’s prolonged autonomous operation. In this paper, a machine learning algorithm is used to ensure the extended robot autonomy based on a reinforcement learning method combined with a fuzzy inference system. The proposal enables a mobile robot to learn whether to continue through its path toward the destination or modify its course on the fly, if necessary, to proceed toward the battery charging station, based on its current state. The proposal performs a flexible behavior to choose an action that allows a robot to move from a starting to a destination point, guaranteeing battery charge availability. This paper shows the obtained results using an approach with thirty-six states and its reduction with twenty states. The conducted simulations show that the robot requires fewer training epochs to achieve ten consecutive successes in the fifteen proposed scenarios than traditional reinforcement learning methods exhibit. Moreover, in four scenarios, the robot ends up with a battery level above 80%, that value is higher than the obtained results with two deterministic methods.
42
Chen, Guangrong, and Liang Hong. "Research on Environment Perception System of Quadruped Robots Based on LiDAR and Vision." Drones 7, no. 5 (May 20, 2023): 329. http://dx.doi.org/10.3390/drones7050329.
Анотація:
Due to the high stability and adaptability, quadruped robots are currently highly discussed in the robotics field. To overcome the complicated environment indoor or outdoor, the quadruped robots should be configured with an environment perception system, which mostly contain LiDAR or a vision sensor, and SLAM (Simultaneous Localization and Mapping) is deployed. In this paper, the comparative experimental platforms, including a quadruped robot and a vehicle, with LiDAR and a vision sensor are established firstly. Secondly, a single sensor SLAM, including LiDAR SLAM and Visual SLAM, are investigated separately to highlight their advantages and disadvantages. Then, multi-sensor SLAM based on LiDAR and vision are addressed to improve the environmental perception performance. Thirdly, the improved YOLOv5 (You Only Look Once) by adding ASFF (adaptive spatial feature fusion) is employed to do the image processing of gesture recognition and achieve the human–machine interaction. Finally, the challenge of environment perception system for mobile robot based on comparison between wheeled and legged robots is discussed. This research provides an insight for the environment perception of legged robots.
43
Romeh, Ali El, and Seyedali Mirjalili. "Multi-Robot Exploration of Unknown Space Using Combined Meta-Heuristic Salp Swarm Algorithm and Deterministic Coordinated Multi-Robot Exploration." Sensors 23, no. 4 (February 14, 2023): 2156. http://dx.doi.org/10.3390/s23042156.
Анотація:
Multi-robot exploration means constructing a finite map using a group of robots in an obstacle chaotic space. Uncertainties are reduced by distributing search tasks to robots and computing the best action in real time. Many previous methods are based on deterministic or meta-heuristic algorithms, but limited work has combined both techniques to consolidate both classes’ benefits and alleviate their drawbacks. This paper proposes a new hybrid method based on deterministic coordinated multi-robot exploration (CME) and the meta-heuristic salp swarm algorithm (SSA) to perform the search of a space. The precedence of adjacent cells around a robot is determined by deterministic CME using cost and utility. Then, the optimization process of the search space, improving the overall solution, is achieved utilizing the SSA. Three performance measures are considered to evaluate the performance of the proposed method: run time, percentage of the explored area, and the number of times when a method failed to continue a complete run. Experimental results compared four different methods, CME-GWO, CME-GWOSSA, CME-SCA, and CME, over seven maps with extra complexity varying from simple to complex. The results demonstrate how the proposed CME-SSA can outperform the four other methods. Moreover, the simulation results demonstrate that the proposed CME-SSA effectively distributes the robots over the search space to run successfully and obtain the highest exploration rate in less time.
44
He, Zhou, Ruijie Zhang, Ning Ran, and Chan Gu. "Path Planning of Multi-Type Robot Systems with Time Windows Based on Timed Colored Petri Nets." Applied Sciences 12, no. 14 (July 7, 2022): 6878. http://dx.doi.org/10.3390/app12146878.
Анотація:
Mobile robots are extensively used to complete repetitive operations in industrial areas such as intelligent transportation, logistics, and manufacturing systems. This paper addresses the path planning problem of multi-type robot systems with time windows based on timed colored Petri nets. The tasks to be completed are divided into three different types: common, exclusive and collaborative. An analytical approach to plan a group of different types of mobile robots is developed to ensure that some specific robots will visit task regions within given time windows. First, a multi-type robot system and its environment are modeled by a timed colored Petri net. Then, some methods are developed to convert the task requirements that contain logic constraints and time windows into linear constraints. Based on integer linear programming techniques, a planning approach is proposed to minimize the total cost (i.e., total travel distance) of the system. Finally, simulation studies are investigated to show the effectiveness of the developed approach.
45
Hijikata, Masaaki, Renato Miyagusuku, and Koichi Ozaki. "Omni Wheel Arrangement Evaluation Method Using Velocity Moments." Applied Sciences 13, no. 3 (January 26, 2023): 1584. http://dx.doi.org/10.3390/app13031584.
Анотація:
Wheeled omnidirectional mobile robots have been developed for industrial and service applications. Conventional research on Omni wheel robots has mainly been directed toward point-symmetric wheel arrangements. However, more flexible asymmetric arrangements may be beneficial to prevent tipping over or to make the robot more compact. Asymmetry can also be the result of a motor/wheel failure in a robot with a redundant configuration; in this case, it may be possible to continue operations, but with an asymmetrical arrangement. For controlling such asymmetric arrangements, it is necessary to consider the moment of propulsive force generated by the wheels. Since it is difficult to measure the propulsive force accurately, in this work we model propulsive forces as being proportional to the ground speed of the wheels. Under this assumption, we estimated the robot’s behavior in an asymmetric wheel configuration by considering the balance of the velocity moment, which is the moment of the wheel’s ground speed. By verifying the robot’s behavior with various wheel configurations, we confirmed experimentally that the sum of the velocity moments affects the straightness of the robot and allows us to improve the design of asymmetric wheel arrangements and control during wheel failures.
46
Velentzas, George, Theodore Tsitsimis, Iñaki Rañó, Costas Tzafestas, and Mehdi Khamassi. "Adaptive reinforcement learning with active state-specific exploration for engagement maximization during simulated child-robot interaction." Paladyn, Journal of Behavioral Robotics 9, no. 1 (August 1, 2018): 235–53. http://dx.doi.org/10.1515/pjbr-2018-0016.
Анотація:
Abstract Using assistive robots for educational applications requires robots to be able to adapt their behavior specifically for each child with whom they interact.Among relevant signals, non-verbal cues such as the child’s gaze can provide the robot with important information about the child’s current engagement in the task, and whether the robot should continue its current behavior or not. Here we propose a reinforcement learning algorithm extended with active state-specific exploration and show its applicability to child engagement maximization as well as more classical tasks such as maze navigation. We first demonstrate its adaptive nature on a continuous maze problem as an enhancement of the classic grid world. There, parameterized actions enable the agent to learn single moves until the end of a corridor, similarly to “options” but without explicit hierarchical representations.We then apply the algorithm to a series of simulated scenarios, such as an extended Tower of Hanoi where the robot should find the appropriate speed of movement for the interacting child, and to a pointing task where the robot should find the child-specific appropriate level of expressivity of action. We show that the algorithm enables to cope with both global and local non-stationarities in the state space while preserving a stable behavior in other stationary portions of the state space. Altogether, these results suggest a promising way to enable robot learning based on non-verbal cues and the high degree of non-stationarities that can occur during interaction with children.
47
Maulana, Rizal, Wijaya Kurniawan, and Hafizhuddin Zul Fahmi. "Noise Reduction on the Tilt Sensor for the Humanoid Robot Balancing System Using Complementary Filter." MATEC Web of Conferences 220 (2018): 06002. http://dx.doi.org/10.1051/matecconf/201822006002.
Анотація:
The aim of the research is to present the design of a system which is capable for noise reduction on the reading of the tilt sensor data used in a balancing system on humanoid robots. Humanoid robot is a robot that has body construction like a human. Humanoid robots can make a movement by walking with both legs. In order to walk properly, humanoid robot needs to have a proper balancing system. The humanoid robot balancing system consists of tilt sensors, either an accelerometer or a gyroscope sensor, main processing unit and actuator in the form of servo motors on each robot’s joint. The tilt sensor is used to detect tilt angle of the robot body. When sensor gives information about the robot is in a position of tilt angle that will cause the robot to fall, the main processor will send commands to the actuators to do the balancing action so the robot will go to a balancing position. Unfortunately, the tilt angle reading value obtained from tilt sensor, still contain noise. That noise makes the reading of the tilt angle of the robot body to be inaccurate. Therefore, a filtering method is required to reduce the noise. In this research, complementary filter is used to overcome this problem. From the test result, the complementary filter is able to reduce noise on the tilt sensor data value reading. The optimum filtering result was obtained with the use of filter coefficient of 0.96 and sampling time of 50ms, where the average tilt angle error value is 0.775° on the x-axis and 0.691° on the y-axis. In another test, the robot is able to perform a balancing action based on the output of the complementary filter. So the robot was always able to maintain its position on balanced condition.
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Hardianto, Muh Syukri, Ganda Isnuardana, M. Ibnu Fajar Al-Afghani, and Oscar Haris. "Desain Dan Analisa Mekatronika Robot Fire Fighting." Jurnal Permadi: Perancangan, Manufaktur, Material dan Energi 3, no. 3 (September 22, 2021): 163–81. http://dx.doi.org/10.52005/permadi.v3i3.58.
Анотація:
This research was made as a refinement of various research on fire fighting robots, which in this research emphasizes the value of improvement from electronic and mechanical designs, this robot is not controlled by anything either by remote control or by joystick, this robot moves itself from the truck. fire extinguisher to extinguish the fire based on the sensitivity of the existing sensor in detecting the presence of a fire point, as well as the navigation system that the robot has in the form of a proximity sensor, this sensor keeps the robot able to move without obstacles in the form of walls or other objects that block the robot's pace. . In this research analysis and calculations will be carried out about the design of the equipment that will be needed. The data used are data sourced from primary or secondary data from available data from several manufacturers of the equipment needed. Based on the data analysis carried out, it can be concluded that the robot equipment from time to time will continue to experience changes and / or improvements.
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Cao, Tianyang, Haoyuan Cai, Dongming Fang, Hui Huang, and Chang Liu. "Keyframes Global Map Establishing Method for Robot Localization through Content-Based Image Matching." Journal of Robotics 2017 (2017): 1–16. http://dx.doi.org/10.1155/2017/1646095.
Анотація:
Self-localization and mapping are important for indoor mobile robot. We report a robust algorithm for map building and subsequent localization especially suited for indoor floor-cleaning robots. Common methods, for example, SLAM, can easily be kidnapped by colliding or disturbed by similar objects. Therefore, keyframes global map establishing method for robot localization in multiple rooms and corridors is needed. Content-based image matching is the core of this method. It is designed for the situation, by establishing keyframes containing both floor and distorted wall images. Image distortion, caused by robot view angle and movement, is analyzed and deduced. And an image matching solution is presented, consisting of extraction of overlap regions of keyframes extraction and overlap region rebuild through subblocks matching. For improving accuracy, ceiling points detecting and mismatching subblocks checking methods are incorporated. This matching method can process environment video effectively. In experiments, less than 5% frames are extracted as keyframes to build global map, which have large space distance and overlap each other. Through this method, robot can localize itself by matching its real-time vision frames with our keyframes map. Even with many similar objects/background in the environment or kidnapping robot, robot localization is achieved with position RMSE <0.5 m.
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CASTELLANO, GINEVRA, IOLANDA LEITE, ANDRÉ PEREIRA, CARLOS MARTINHO, ANA PAIVA, and PETER W. MCOWAN. "MULTIMODAL AFFECT MODELING AND RECOGNITION FOR EMPATHIC ROBOT COMPANIONS." International Journal of Humanoid Robotics 10, no. 01 (March 2013): 1350010. http://dx.doi.org/10.1142/s0219843613500102.
Анотація:
Affect recognition for socially perceptive robots relies on representative data. While many of the existing affective corpora and databases contain posed and decontextualized affective expressions, affect resources for designing an affect recognition system in naturalistic human–robot interaction (HRI) must include context-rich expressions that emerge in the same scenario of the final application. In this paper, we propose a context-based approach to the collection and modeling of representative data for building an affect-sensitive robotic game companion. To illustrate our approach we present the key features of the Inter-ACT (INTEracting with Robots–Affect Context Task) corpus, an affective and contextually rich multimodal video corpus containing affective expressions of children playing chess with an iCat robot. We show how this corpus can be successfully used to train a context-sensitive affect recognition system (a valence detector) for a robotic game companion. Finally, we demonstrate how the integration of the affect recognition system in a modular platform for adaptive HRI makes the interaction with the robot more engaging.