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Machine Learning-Based Cognitive Position and Force Controls for Power-Assisted Human–Robot Collaborative Manipulation

S. M. Mizanoor Rahman
2021 Machines  
We also included a human factor, such as weight perception (a cognitive cue), in the robotic system dynamics and derived several position and force control strategies/methods for the system based on the  ...  Hence, we present a 1-DoF (degree of freedom) testbed power assist robotic system for lifting different objects.  ...  The author acknowledges the support that he received from his past lab members and Ryojun Ikeura of Mie University, Japan.  ... 
doi:10.3390/machines9020028 fatcat:njkimcpirbdkra7p4n5rtxoknu

Cognition-based variable admittance control for active compliance in flexible manipulation of heavy objects with a power-assist robotic system

S M Mizanoor Rahman, Ryojun Ikeura
2018 Robotics and Biomimetics  
Dynamics for human-robot co-manipulation of objects is derived that considers human cognition (weight perception).  ...  In the first step, a 1-DOF power-assist robotic system (PARS) is developed for lifting lightweight objects.  ...  Acknowledgements The authors thank the technical staff and relevant undergraduate and graduate students of Mie University, Japan, who provided technical assistance to develop the system.  ... 
doi:10.1186/s40638-018-0090-x pmid:30524934 pmcid:PMC6244568 fatcat:p6kwyuvvdffzrot4247ugylp2i

Perception and Action as Two Sides of the Same Coin. A Review of the Importance of Action-Perception Links in Humans for Social Robot Design and Research

Agnieszka Wykowska, Anna Schubö
2011 International Journal of Social Robotics  
This paper focuses on the topic of human cognitive architecture in the context of links between action and perception.  ...  Examples of such systems are described and the application of those approaches to robotics is stressed.  ...  In these studies, participants were asked to lift or hold boxes of various weights. Simultaneously, they observed films of other people lifting or carrying similarly-looking boxes.  ... 
doi:10.1007/s12369-011-0127-6 fatcat:qaazost4ifandi6kkivicbe3sm

Following human guidance to cooperatively carry a large object

Jorg Stuckler, Sven Behnke
2011 2011 11th IEEE-RAS International Conference on Humanoid Robots  
Carrying a large object like a table is a task that cannot be solved by a single robot or a single human, but that requires two workers, for example one human and one robot.  ...  This real-time object pose estimate is suitable for approaching and grasping it, as well as for the detection of object lifting and lowering to the ground again.  ...  The robot can also judge when the table is lifted or put down by the human user through measuring its pitch rotation.  ... 
doi:10.1109/humanoids.2011.6100917 dblp:conf/humanoids/StucklerB11 fatcat:cptkjbdpk5ebnemsq6ztohvg7i

Mobiles Robots - Past Present and Future [chapter]

X.Q. Chen, Y.Q. Chen, J.G. Chase
2009 Mobile Robots - State of the Art in Land, Sea, Air, and Collaborative Missions  
Functional model of generalized robots A generalised robot or robotic system possesses a set of functional parts similar to human beings.  ...  According to Webster a robot is: "An automatic device that performs functions normally ascribed to humans or a machine in the form of a human."  ...  John Fleming for express ordering of newest reference books, and Christophe Tricaud and Mervin Chandrapal for their assistance in preparing this chapter.  ... 
doi:10.5772/6986 fatcat:gqj2zljhbbgrrh7zz5tmat2frm

To Afford or Not to Afford: A New Formalization of Affordances Toward Affordance-Based Robot Control

Erol Şahin, Maya Çakmak, Mehmet R. Doğar, Emre Uğur, Göktürk Üçoluk
2007 Adaptive Behavior  
Although introduced in psychology, the concept influenced studies in other fields ranging from human-computer interaction to autonomous robotics.  ...  We point out that there are three, not one, perspectives from which to view affordances and that much of the confusion regarding discussions on the concept has arisen from this.  ...  Last but not least, we would like to thank Tony Chemero and our anonymous reviewer, for providing constructive comments that led to the clarification of the stance of our formalism against the Gibsonian  ... 
doi:10.1177/1059712307084689 fatcat:leiynup6rvgcpgsksbo6ytcvfy

Robo-Erectus: a low-cost autonomous humanoid soccer robot

Changjiu Zhou, Pik Kong Yue
2004 Advanced Robotics  
Note that humans do not just learn a task by trial and error, rather they observe how other people perform a similar task and then repeat them by perceptions.  ...  By using the proposed FRL approach, we demonstrate that RE is able to start walking from an initial gait generated from perception-based information on human walking, and learn to fine-tune its walking  ... 
doi:10.1163/1568553041719492 fatcat:wsuw5podnfeyneamlandy5rwqe

Guest Editorial Behavior Understanding and Developmental Robotics

Albert Ali Salah, Pierre-Yves Oudeyer, Cetin Mericli, Javier Ruiz-del-Solar
2014 IEEE Transactions on Autonomous Mental Development  
The scientific, technological, and application challenges that arise from the mutual interaction of developmental robotics and computational human behavior understanding give rise to two different perspectives  ...  human behavior, and especially to allow a deeper analysis of the semantics and structure of human behavior.  ...  Alessandra Sciutti, Laura Patanè, Francesco Nori, and Giulio Sandini, in their paper entitled "Understanding Object Weight from Human and Humanoid Lifting Actions," make a humanoid robot produce an informative  ... 
doi:10.1109/tamd.2014.2328731 fatcat:2hbfhaxug5dapb3hva7bf2t7iy

Punyo-1: Soft tactile-sensing upper-body robot for large object manipulation and physical human interaction [article]

Aimee Goncalves, Naveen Kuppuswamy, Andrew Beaulieu, Avinash Uttamchandani, Katherine M. Tsui, Alex Alspach
2022 arXiv   pre-print
The manipulation of large objects and safe operation in the vicinity of humans are key capabilities of a general purpose domestic robotic assistant.  ...  We leverage the mechanical intelligence and tactile sensing of these modules to develop and demonstrate motion primitives for whole-body grasping.  ...  or legged, without distracting development focus from the core manipulation goals being explored, and (2) the human element prevents a reliance on ground truth knowledge of the manipuland's state, forcing  ... 
arXiv:2111.09354v3 fatcat:a6fiabaz4rbrvegdpz2d7kzn7u

A Framework for Sensorimotor Cross-Perception and Cross-Behavior Knowledge Transfer for Object Categorization

Gyan Tatiya, Ramtin Hosseini, Michael C. Hughes, Jivko Sinapov
2020 Frontiers in Robotics and AI  
From an early age, humans learn to develop an intuition for the physical nature of the objects around them by using exploratory behaviors.  ...  The main hypothesis behind our approach is that if two or more robots share multi-sensory object observations of a shared set of objects, then those observations can be used to establish mappings between  ...  For example, to detect whether a container is full or empty, a human may lift it; to perceive whether a ball is soft or hard, a human may squeeze it (Gibson, 1988) .  ... 
doi:10.3389/frobt.2020.522141 pmid:33501303 pmcid:PMC7805839 fatcat:demfwf75rfh5fa2emj6krw5m6i

Goal emulation and planning in perceptual space using learned affordances

Emre Ugur, Erhan Oztop, Erol Sahin
2011 Robotics and Autonomous Systems  
or discovered during learning.  ...  We argue that the learning system proposed shares crucial elements with the development of infants of 7-10 months age, who explore the environment and learn the dynamics of the objects through goal-free  ...  This research was supported in part by Global COE Program ''Center of Human-Friendly Robotics Based on Cognitive Neuroscience'' of the Ministry of Education, Culture, Sports, Science and Technology, Japan  ... 
doi:10.1016/j.robot.2011.04.005 fatcat:vacupldxgbdwhe3phfx5tqbhyq

Ten robotics technologies of the year

Guang-Zhong Yang, Robert J. Full, Neil Jacobstein, Peer Fischer, James Bellingham, Howie Choset, Henrik Christensen, Paolo Dario, Bradley J. Nelson, Russell Taylor
2019 Science Robotics  
We identify 10 exciting robotics developments and technologies, ranging from original research that may change the future of robotics to commercial products that enable basic science and drive industrial  ...  Understanding the perception, interaction, and expectations of the people around the robot and developing robot behavior and personality that are context aware (not dependent on pre-scripted programs and  ...  In this Editorial, we identify 10 exciting robotics developments and technologies, ranging from original research that may change the future of robotics to commercial products that enable basic science  ... 
doi:10.1126/scirobotics.aaw1826 pmid:33137759 fatcat:znx55nfrjrgrrlh2aeqi6enoqi

Dynamaid, an Anthropomorphic Robot for Research on Domestic Service Applications

Jörg Stückler, Sven Behnke
2011 Automatika  
We developed software for the tests of the RoboCup@Home competitions, which serve as benchmarks for domestic service robots.  ...  Most robot platforms, however, support only one or two of the above skills. In this paper we present Dynamaid, a robot platform for research on domestic service applications.  ...  At Waseda University in Japan, the robot Twendy-One [15] is being developed. Twendy-One is 147cm high and has a weight of 111kg.  ... 
doi:10.1080/00051144.2011.11828422 fatcat:pilmjzo525eftaofualf6zsdui

Integrating indoor mobility, object manipulation, and intuitive interaction for domestic service tasks

Jorg Stuckler, Sven Behnke
2009 2009 9th IEEE-RAS International Conference on Humanoid Robots  
We developed software for the tests of the RoboCup@Home competitions, which serve as benchmarks for domestic service robots.  ...  Most robot platforms, however, support only one or two of the above skills. In this paper we present Dynamaid, a new robot platform for research on domestic service applications.  ...  ACKNOWLEDGMENT This work has been supported partially by grant BE 2556/2-2 of German Research Foundation (DFG).  ... 
doi:10.1109/ichr.2009.5379529 dblp:conf/humanoids/StucklerB09 fatcat:d4b44ke5b5a3rmfvg24irq2duy

Achieving "synergy" in cognitive behavior of humanoids via deep learning of dynamic visuo-motor-attentional coordination

Jungsik Hwang, Minju Jung, Naveen Madapana, Jinhyung Kim, Minkyu Choi, Jun Tani
2015 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)  
of robots by introducing a novel model, the Visuo-Motor Deep Dynamic Neural Network (VMDNN).  ...  The proposed model is built on coupling of a dynamic vision network, a motor generation network, and a higher level network allocated on top of these two.  ...  In this task, the robot observes human partner's gesture that indicates one of two objects located in front of the robot. Then, the robot attempts to grasp the object indicated.  ... 
doi:10.1109/humanoids.2015.7363448 dblp:conf/humanoids/HwangJMKCT15 fatcat:qpucpie5vjc5vk3vllk7p5nfda
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