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Learning soft task priorities for control of redundant robots

Valerio Modugno, Gerard Neumann, Elmar Rueckert, Giuseppe Oriolo, Jan Peters, Serena Ivaldi
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
One of the key problems in planning and control of redundant robots is the fast generation of controls when multiple tasks and constraints need to be satisfied.  ...  We show the effectiveness of the proposed method on a simulated 7 DOF Kuka LWR and both a simulated and a real Kinova Jaco arm.  ...  INTRODUCTION Exploiting the redundancy in robotic systems to simultaneously fulfil a set of tasks is a classical problem for complex manipulators and humanoid robots [1] , [2] .  ... 
doi:10.1109/icra.2016.7487137 dblp:conf/icra/ModugnoNRO0I16 fatcat:vjfipq6hizdvvl4umdusc4gz3e

Learning visual object detection and localisation using icVision

Jürgen Leitner, Simon Harding, Pramod Chandrashekhariah, Mikhail Frank, Alexander Förster, Jochen Triesch, Jürgen Schmidhuber
2013 Biologically Inspired Cognitive Architectures  
We present a framework combining computer vision and machine learning for the learning of object recognition in humanoid robots.  ...  A biologically inspired, bottom-up architecture is introduced to facilitate visual perception and cognitve robotics research. A number of experiments with this icVision framework are described.  ...  As the cameras are mounted in the head of the robot the method for localisation must be able to cope with motion to work even while the robot is controlling its gaze and upper body for reaching.  ... 
doi:10.1016/j.bica.2013.05.009 fatcat:tfyx6y6azzfylfvu7tabbdponu

Optimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstacles

Kai Henning Koch, Katja Mombaur, Olivier Stasse, Philippe Soueres
2014 2014 IEEE-RAS International Conference on Humanoid Robots  
This paper proposes a new generic strategy to investigate the dynamic limits of the humanoid robot HRP-2 based on whole body optimal control optimization.  ...  This study is further supported by real experiments on the HRP-2 14 robotic platform and we could successfully extend the present maximum of a dynamically overstepped obstacle to 20cm (height) x 11cm (  ...  ACKNOWLEDGMENT Financial support of HGS MathComp and the KOROIBOT Project for this work is gratefully acknowledged.  ... 
doi:10.1109/humanoids.2014.7041444 dblp:conf/humanoids/KochMSS14 fatcat:wuftbfwqfzdifivn4pep7phunq

Progress and prospects of the human–robot collaboration

Arash Ajoudani, Andrea Maria Zanchettin, Serena Ivaldi, Alin Albu-Schäffer, Kazuhiro Kosuge, Oussama Khatib
2017 Autonomous Robots  
Recent technological advances in hardware design of the robotic platforms enabled the implementation of various control modalities for improved interactions with humans and unstructured environments.  ...  In fact, the main purpose of this paper is to review the state-of-theart on intermediate human-robot interfaces (bi-directional), robot control modalities, system stability, benchmarking and relevant use  ...  Acknowledgements The authors would like to thank and remember Fabrizio Flacco for his spirit, contributions, and enthusiasm for writing this review paper.  ... 
doi:10.1007/s10514-017-9677-2 fatcat:tavilvbxq5ei5j6a4pvzchnhlq

From Robot Arm to Intentional Agent: the Articulated Head [chapter]

Christian Kroos, Damith C., Stelarc
2011 Robot Arms  
the remaining joints and the inherent redundancy of the six degrees of freedom robot arm to achieve the target configuration of the head (the monitor).  ...  the robot and members of the public over the time course of a full year.  ... 
doi:10.5772/16383 fatcat:nbjak72rejbljf2xthtcjznbom

Table of contents

2019 2019 International Conference on Robotics and Automation (ICRA)  
High-bandwidth 3D Multi-Trap Actuation Technique for 6-DoF Real-Time Control of Optical Robots Gerena, Edison; Regnier, Stephane; HALIYO, Dogan Sinan IEEE Robotics and Automation Letters Year: 2019, Volume  ...  of Contact Forces for Balancing Control of Multi-legged Humanoids Parigi Polverini, Matteo; Mingo Hoffman, Enrico; Laurenzi, Arturo; Tsagarakis, Nikos IEEE Robotics and Automation Letters Year: 2019,  ...  Chance-Constrained Collision Avoidance for MAVs in Dynamic Environments  ... 
doi:10.1109/icra.2019.8793964 fatcat:d6kv5odwjffollt7rbay2ev4vy

Organizing and Steering Committees

2005 Sixth IEEE International Workshop on Policies for Distributed Systems and Networks (POLICY'05)  
Finally, a word of appreciation for the hard work of the secretariat and volunteers.  ...  We would also like to deeply thank the invited speaker, Jean Paul Laumond, LAAS-CNRS France, for their excellent contribution in the field of humanoid robots.  ...  We thank EPFL for funding the development of the epuck robot through its Funding Program for Teaching and Learning.  ... 
doi:10.1109/policy.2005.20 dblp:conf/policy/X05a fatcat:kkll4rj33zeolpb6tkjnnk3xoa

All One Needs to Know about Metaverse: A Complete Survey on Technological Singularity, Virtual Ecosystem, and Research Agenda [article]

Lik-Hang Lee, Tristan Braud, Pengyuan Zhou, Lin Wang, Dianlei Xu, Zijun Lin, Abhishek Kumar, Carlos Bermejo, Pan Hui
2021 arXiv   pre-print
Finally, we propose a concrete research agenda for the development of the metaverse.  ...  In terms of applications, the metaverse ecosystem allows human users to live and play within a self-sustaining, persistent, and shared realm.  ...  Eye-tracking enables gaze prediction, and intent inference can enable intuitive and immersive user experiences, which can be adaptive to the user requirement for real-time interaction in XR environments  ... 
arXiv:2110.05352v3 fatcat:pv4fxf5lfbc7vk3ogsyidwfloy

A Survey on Human-aware Robot Navigation [article]

Ronja Möller, Antonino Furnari, Sebastiano Battiato, Aki Härmä, Giovanni Maria Farinella
2021 arXiv   pre-print
This paper is concerned with the navigation aspect of a socially-compliant robot and provides a survey of existing solutions for the relevant areas of research as well as an outlook on possible future  ...  Physical manifestations of those systems on the other hand, in the form of embodied agents or robots, have so far been used only for specific applications and are often limited to functional roles (e.g  ...  is trained in a simulated version of a real room and has to navigate to an object in the real room at test time.  ... 
arXiv:2106.11650v1 fatcat:rhutta3sqrhk3po4hmi77h33qy

Service Robots in the Healthcare Sector

Jane Holland, Liz Kingston, Conor McCarthy, Eddie Armstrong, Peter O'Dwyer, Fionn Merz, Mark McConnell
2021 Robotics  
real-world applications and use cases.  ...  Furthermore, the COVID-19 pandemic has acted as a catalyst for the development of service robots in the healthcare sector in an attempt to overcome the difficulties and hardships caused by this virus.  ...  in real-time.  ... 
doi:10.3390/robotics10010047 fatcat:mgkfi3ghgbebxc4j5almkbgzni

Building Expression into Virtual Characters [article]

V. Vinayagamoorthy, M. Gillies, A. Steed, E. Tanguy, X. Pan, C. Loscos, M. Slater
2006 Eurographics State of the Art Reports  
In entertainment or training applications, virtual characters might be one of the main mechanisms for creating and developing content and scenarios.  ...  We cover models of individual characters' emotion and personality, models of interpersonal behaviour and methods for generating expression.  ...  lifelike gaze behaviour and tracked head movements, and video tunnel.  ... 
doi:10.2312/egst.20061052 fatcat:hps7ewshhrdi3jbi5ros57lf2q

Report from the NSF Future Directions Workshop, Toward User-Oriented Agents: Research Directions and Challenges [article]

Maxine Eskenazi, Tiancheng Zhao
2020 arXiv   pre-print
This USER Workshop was convened with the goal of defining future research directions for the burgeoning intelligent agent research community and to communicate them to the National Science Foundation.  ...  It took place in Pittsburgh Pennsylvania on October 24 and 25, 2019 and was sponsored by National Science Foundation Grant Number IIS-1934222.  ...  It is equipped for both real-time capture and generation of audio, video, and motion data.  ... 
arXiv:2006.06026v1 fatcat:h2hbe4cr6vajvca4oqkfrmf5oa

Sharing and Trading in a Human-Robot System [chapter]

Kai Wei, Gerald Seet, Siang Kok
2005 Cutting Edge Robotics  
A well-defined communication channel is required to address the different modes of interactions between the human and the robot.  ...  Ten-level formulation of robot autonomy (adapted from Sheridan 1987) Human-Robot Communication To ensure that the robot responds to the correct control mode when varying its own degree of autonomy, issues  ...  control via buttons Providing heading for the robot by camera panning (discrete) Autonomous Detection Navigation from A to B via global path planning Train to track and follow Shared control  ... 
doi:10.5772/4665 fatcat:7d4hfvskdjhd3iqnvvdpsmnaiy

Teleoperation of a humanoid robot using oculus rift and leap motion

Matthias Hirschmanner, Markus Vincze, Michael Zillich
The robot¿s head pose and therefore the camera direction is controlled intuitively by the user turning his head.  ...  The system is able to imitate human motions with high precision and low latency. It was implemented for the humanoid robots Romeo and Pepper manufactured by SoftBank Robotics.  ...  Zuher and Romero [34] use the Kinect to recognise human motion and control a Nao robot in real-time (Figure 2 .6).  ... 
doi:10.34726/hss.2017.28027 fatcat:bwzf27d7xjdwrmritekelx3jua

Experience-driven optimal motion synthesis in complex and shared environments [article]

Wolfgang Xaver Merkt, University Of Edinburgh, University Of Edinburgh, Sethu Vijayakumar, Michael Mistry
This renders finding optimal solutions in complex and changing environments an open and challenging problem in robotics. Global optimisation methods can take a prohibitively long time to converge.  ...  Optimal loco-manipulation planning and control for high-dimensional systems based on general, non-linear optimisation allows for the specification of versatile motion subject to complex constraints.  ...  proximity distance gradient for real-time collision avoidance on a full-size humanoid robot.  ... 
doi:10.7488/era/358 fatcat:j7xbw3o3sffd5cb54gvjvbh5q4
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