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A Cognitive Robot Control Architecture for Autonomous Execution of Surgical Tasks

Nicola Preda, Federica Ferraguti, Giacomo De Rossi, Cristian Secchi, Riccardo Muradore, Paolo Fiorini, Marcello Bonfè
2016 Journal of Medical Robotics Research  
The research on medical robotics is starting to address the autonomous execution of surgical tasks, without effective intervention of humans apart from supervision and task configuration.  ...  Full implementation of the proposed architecture has been tested on an experimental setup including a novel robot specifically designed for surgical applications, but adaptable to different selected tasks  ...  University Hospital (Norway), Robotics and Research Laboratory at the Yeditepe University (Turkey), Rehabilitation Engineering Lab at ETH Zurich (Switzerland).  ... 
doi:10.1142/s2424905x16500082 fatcat:dowbpmhnizdfjk3gxas6piubsu

Cognitive control for robot task execution

P. Ratanaswasd, S. Gordon, W. Dodd
ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005.  
This paper discusses an application of cognitive control for robot task execution.  ...  Using cognitive control, the robot should be able to learn how to execute task using past experience and emotion.  ...  Kazuhiko Kawamura, David Noelle, and Mitch Wilkes for inspiration and knowledge.  ... 
doi:10.1109/roman.2005.1513818 dblp:conf/ro-man/RatanaswasdGD05 fatcat:iiyxrl5gi5cs5dgweo7xrbnhoq

Systems of natural-language-facilitated human-robot cooperation: A review [article]

Rui Liu, Xiaoli Zhang
2017 arXiv   pre-print
Regarding to a robot s cognition level during the cooperation, the NLC implementations then were categorized into four types NL-based control, NL-based robot training, NL-based task execution, NL-based  ...  Natural-language-facilitated human-robot cooperation (NLC), in which natural language (NL) is used to share knowledge between a human and a robot for conducting intuitive human-robot cooperation (HRC),  ...  Systematic overview of NLC research With cross-disciplinary technique supports, NLC has been developed from low-cognition-level symbol matching control, such as using "yes/no" for controlling robotic execution  ... 
arXiv:1701.08269v2 fatcat:54fstpat7rh5pbbrwbxsgwuzv4

Robotic Body-Mind Integration: Next Grand Challenge in Robotics [chapter]

K. Kawamura, S. M., P. Ratanaswas
2006 Industrial Robotics: Theory, Modelling and Control  
It is responsible for ISAC's cognitive activities ranging from sensor signal monitoring to cognitive or executive control (see Section 6.1 for detail discussions on cognitive control) and self reflection  ...  LTM Cognitive Control and Central Executive Agent Cognitive Control Cognitive control in humans is a part of executive functions (such as planning and abstract thinking) within the frontal lobes in  ...  Robotic Body-Mind Integration: Next Grand Challenge in Robotics, Industrial Robotics: Theory, Modelling and Control, Sam Cubero (Ed.), ISBN: 3-86611-285-8, InTech, Available from:  ... 
doi:10.5772/5036 fatcat:qqxowabhmnghtp7gucyturrhea

From Intelligent Control to Cognitive Control

Kazahiko Kawamura, Stephen Gordon
2006 2006 World Automation Congress  
Features of cognitive control addressed include short-term memory for environmental learning, long-term memory for behavior learning and task execution using working memory and TD learning.  ...  Such control is called cognitive control. In this paper we will discuss the application of cognitive control to a humanoid robot.  ...  This work is supported in part under NSF grant EIA0325641, "ITR: A Biologically Inspired Adaptive Working Memory System for Efficient Robot Control and Learning".  ... 
doi:10.1109/wac.2006.376003 fatcat:v62rky33mreldcztu2yemdarzi

Architecture Design Of The Robots Operability Assessment Simulation Testbed

Sang Yeong Choi, Woo Sung Park
2016 Zenodo  
This paper presents the architecture design of the robot operability assessment simulation testbed (called "ROAST") for the resolution of robot operability problems occurred during interactions between  ...  The ROAST architecture is expected to provide the foundation framework for the easy construction of a simulation testbed to order to assess the robot operability during the robotic system design.  ...  ACKNOWLEDGMENT This work was supported by a research program (The Specialized Research Center for Future Ground System Analysis) funded by the Agency of Defense Development of Korea and we appreciate it  ... 
doi:10.5281/zenodo.1126127 fatcat:vbqmuy4vbfckflfhwb2w4m7mcm

Expanding task functionality in established humanoid robots

Victor Ng-Thow-Hing, Evan Drumwright, Kris Hauser, Qingquan Wu, Joel Wormer
2007 2007 7th IEEE-RAS International Conference on Humanoid Robots  
Our architecture supports different control paradigms and information models that can be tailored for specific tasks.  ...  For the planning and generation of motion on the robot, the Task Matrix embodies a task abstraction model that maps a high level task description into its primitive motions realizable on the robot.  ...  Right: This information is passed on to the robot for task execution.  ... 
doi:10.1109/ichr.2007.4813860 dblp:conf/humanoids/Ng-Thow-HingDHWW07 fatcat:hx3tsut2vfebfeiud3dnrdgs4i

CRAM — A Cognitive Robot Abstract Machine for everyday manipulation in human environments

Michael Beetz, Lorenz Mösenlechner, Moritz Tenorth
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper describes CRAM (Cognitive Robot Abstract Machine) as a software toolbox for the design, the implementation, and the deployment of cognition-enabled autonomous robots performing everyday manipulation  ...  This way CRAMprogrammed autonomous robots are much more flexible, reliable, and general than control programs that lack such cognitive capabilities.  ...  CRAM provides a language for programming cognition-enabled control systems.  ... 
doi:10.1109/iros.2010.5650146 dblp:conf/iros/BeetzMT10 fatcat:ev223u4xgnd5faajl34ttqryge

Robotic agents capable of natural and safe physical interaction with human co-workers

Michael Beetz, Georg Bartels, Alin Albu-Schaffer, Ferenc Balint-Benczedi, Rico Belder, Daniel Bebler, Sami Haddadin, Alexis Maldonado, Nico Mansfeld, Thiemo Wiedemeyer, Roman Weitschat, Jan-Hendrik Worch
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
In this paper, we propose to extend cognition-enabled robot control by introducing humans, physical interaction events, and safe movements as first class objects into the plan language.  ...  Safe robot control systems are a current research focus in control theory.  ...  Cognition-enabled Robot Control In our work, we follow the approach of cognition-enabled robot control [5] .  ... 
doi:10.1109/iros.2015.7354310 dblp:conf/iros/BeetzBABBBHMMWW15 fatcat:7cb5tsw3ofgm3lxrypmupjmwhq

Developing a Psychologically Inspired Cognitive Architecture for Robotic Control: The Symbolic and Subsymbolic Robotic Intelligence Control System (SS-RICS)

Troy Dale Kelley
2006 International Journal of Advanced Robotic Systems  
This paper describes the ongoing development of a robotic control architecture that was inspired by computational cognitive architectures from the discipline of cognitive psychology.  ...  The robotic control architecture combines symbolic and subsymbolic representations of knowledge into a unified control structure.  ...  to robotic cognition.  ... 
doi:10.5772/5736 fatcat:g6wdl55jjrhjzke5duu4julxhq

A Review of Methodologies for Natural-Language-Facilitated Human-Robot Cooperation [article]

Rui Liu, Xiaoli Zhang
2017 arXiv   pre-print
Natural-language-facilitated human-robot cooperation (NLC) refers to using natural language (NL) to facilitate interactive information sharing and task executions with a common goal constraint between  ...  In this review, a comprehensive summary about methodologies for NLC is presented.  ...  With supporting technique from both NLP and robot execution, NLC has been developed from low-cognition-level symbol matching control, such as using "yes/no" to control robotic arms, to high-cognition-level  ... 
arXiv:1701.08756v3 fatcat:gquzgq3w6bcf5ih4aubchyyulm

A software framework for the implementation of Dynamic Neural Field control architectures for human-robot interaction

Tiago Malheiro, Estela Bicho, Toni Machado, Luis Louro, Sergio Monteiro, Paulo Vicente, Wolfram Erlhagen
2017 2017 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)  
Useful and efficient human-robot interaction in joint tasks requires the design of a cognitive control architecture that endows robots with crucial cognitive and social capabilities such as intention recognition  ...  Herein, we present a software framework that eases the design and implementation of Dynamic Neural Field (DNF) cognitive architectures for human-robot joint tasks.  ...  The robot control architecture for human-robot interaction in joint tasks implements such a context-sensitive, i.e. flexible, mapping between action observation and action execution (see Fig. 1 ).  ... 
doi:10.1109/icarsc.2017.7964067 dblp:conf/icarsc/MalheiroBMLMVE17 fatcat:hth4jfethbhkdf5rklm6xbuciq


2008 International Journal of Humanoid Robotics  
We are interested in implementing such cognitive control functionalities for our humanoid robot ISAC.  ...  This paper outlines the features of multiagent-based cognitive architecture for a humanoid robot and the progress made toward the realization of cognitive control functionalities using attention, working  ...  This work is supported in part under NSF grant EIA0325641, "ITR: A Biologically Inspired Adaptive Working Memory System for Efficient Robot Control and Learning."  ... 
doi:10.1142/s0219843608001558 fatcat:5nqfldvm5zbehbxqtazgj5y5te

Autonomous task execution of a humanoid robot using a cognitive model

KangGeon Kim, Ji-Yong Lee, Dongkyu Choi, Jung-Min Park, Bum-Jae You
2010 2010 IEEE International Conference on Robotics and Biomimetics  
Some other studies are focused on applying these cognitive architectures to the autonomous task execution of humanoid robots.  ...  In this paper, we have shown that a real world robot, Mahru-Z can execute a task autonomously in the Blocks World domain, using a cognitive architecture, ICARUS.  ...  In this experiment, the robot was performing the tasks at its own place; however, a real humanoid robot is able to the move to the task place and the moving task will be added in further studies.  ... 
doi:10.1109/robio.2010.5723361 dblp:conf/robio/KimLCPY10 fatcat:hjh4zqi4xnb2boz4hmaect4f5y

Software and Hardware Architecture for Autonomous Robots using Distributed Embedded system

P. Niranjan, R. Ramani, S. Selvaraju, S. Valarmathy
2012 International Journal of Computer Applications  
Software architecture plays a vital role for the control system of hardware. It uses interdependent layered architecture for the control structure of the robot.  ...  The other layers are "module substratum", "central controller", "planner", "cognitive layer" and finally the "interpreter".  ...  It receives tasks from parental activities or central controller and executes them by calling appropriate tasks in the module or it sends request for execution in other modules.  ... 
doi:10.5120/8802-3027 fatcat:vd4yibddhnbg7mptf4qe47s57i
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