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Rapid synchronization and accurate phase-locking of rhythmic motor primitives

D. Pongas, A. Billard, S. Schaal
2005 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  
As an example application, we demonstrate how an anthropomorphic robot can use imitation learning to acquire a complex drumming pattern and keep it synchronized with an external rhythm generator that changes  ...  A particular feature of rhythmic movement in biology is the rapid synchronization and phase locking with other periodic events in the environment, for instance music or visual stimuli as in ball juggling  ...  This research was supported in part by National Science Foundation grants ECS-0325383, IIS-0312802, IIS-0082995, ECS-0326095, ANI-0224419, a NASA grant AC98-516, an AFOSR grant on Intelligent Control,  ... 
doi:10.1109/iros.2005.1545257 dblp:conf/iros/PongasBS05 fatcat:7cafr2geebdizpqppeukvcjiae

Advances in robot control: from everyday physics to human-like movements. Sadao Kawamura, Mikhail Svinin (eds), Springer, Berlin, Heidelberg, 2006. No. of pages: 341. ISBN-10 3-540-37346-2, ISBN-13 978-3-540-37346-9

Milos Manic, Sergiu-Dan Stan, Radu Balan
2009 International Journal of Robust and Nonlinear Control  
Kuramoto oscillators, the output synchronization of Lagrangian systems, and the multi-robot coordination problem.  ...  Here, synchronization is taken as a model of computations at different scales in the brain and presents its applications to robotics and to system neuroscience.  ... 
doi:10.1002/rnc.1408 fatcat:mhikc22jzfcwnnkfmrivgepm5u

Generalization of human grasping for multi-fingered robot hands

Heni Ben Amor, Oliver Kroemer, Ulrich Hillenbrand, Gerhard Neumann, Jan Peters
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Multi-fingered robot grasping is a challenging problem that is difficult to tackle using hand-coded programs.  ...  In this paper we present an imitation learning approach for learning and generalizing grasping skills based on human demonstrations.  ...  These two components are synchronized during the grasping movement [7] .  ... 
doi:10.1109/iros.2012.6386072 dblp:conf/iros/AmorKHNP12 fatcat:fx4fewtjejgwbf2tso5k2lqrsa

The Cyborg Philharmonic: Synchronizing interactive musical performances between humans and machines

Sutirtha Chakraborty, Sourav Dutta, Joseph Timoney
2021 Humanities and Social Sciences Communications  
configuration for the seamless generation of melody in tandem, towards the vision of human–robot symphonic orchestra.  ...  This manuscript explores how real-time collaborations between humans and machines might be achieved by the integration of technological and mathematical models from Synchronization and Learning, with precise  ...  The Cyborg Philharmonic architecture In this section, we describe the components and the working of the proposed system to enable a synchronized human-robot collaborative musical performance.  ... 
doi:10.1057/s41599-021-00751-8 fatcat:edinfkmjkvfejh7pqihv6ytxge

Building a model of network interaction between the components of a multiagent system of mobile robots

Vitalii Diduk, Valerii Hrytsenko, Andrii Yeromenko
2020 Eastern-European Journal of Enterprise Technologies  
In such systems, it is also optimal to use machine learning algorithms.  ...  on the CPU processors of robots and servers; 4) virtually simulate an experiment; 5) investigate the implementation of machine learning algorithms Keywords: multi-agent systems, mobile robots, machine  ...  In [3] , attention is paid to the development of synchronous operator control systems for a single robot, as well as synchronous multi-operator multi-robot systems.  ... 
doi:10.15587/1729-4061.2020.213989 fatcat:tzvlquqxtbbptjalfcqiou6bji

SPRITE: Stewart Platform Robot for Interactive Tabletop Engagement [article]

Elaine Schaertl Short, Dale Short, Yifeng Fu, Maja Matarić
2020 arXiv   pre-print
This robot is designed for use in socially assistive robotics, a field focusing on non-contact social interaction to help people achieve goals relating to health, wellness, and education.  ...  We describe a series of design goals for a tabletop, socially assistive robot, including expressive movement, affective communication, a friendly, nonthreatening, and customizable appearance, and a safe  ...  ACKNOWLEDGMENT The authors thank Clarity Schaertl Short for her assistance with robot design and assembly, and Rhianna Lee, Kara Douville, and Shayna Goldberger for their help with robot behavior programming  ... 
arXiv:2011.05786v1 fatcat:z37axdqanfhpxm2oime6kzhepq

Integrating an Autonomous Robot on a Dance and New Technologies Festival [chapter]

Paula Abad, Miguel Franco, Rosa Castillón, Iñigo Alonso, Ana Cambra, Jorge Sierra, Luis Riazuelo, Luis Montano, Ana C. Murillo
2017 Advances in Intelligent Systems and Computing  
Another contribution described in this work is the system architecture proposed and built to make the robot behaviours match the artists requirements: precise, synchronized and robust robot movements.  ...  Finally, we discuss the main issues and lessons learned for this kind of robotics and arts applications and summarize the results obtained, including the successful final live performance results.  ...  The authors would like to thank the support from the CESAR laboratories and its team, all the colleagues from the Robotics lab, as well as the work from all the people at Trayectos and Tarde o Temprano  ... 
doi:10.1007/978-3-319-70833-1_7 fatcat:igusxnontbcb5dfy5bjgdpjoda

Team Description of the GMD RoboCup-Team [chapter]

A. Siegberg, A. Bredenfeld, H. Guenther, H. U. Kobialka, B. Klaassen, U. Licht, K. L. Paap, P. G. Ploeger, H. Streich, J. Vollmer, J. Wilberg, R. Worst (+1 others)
1999 Lecture Notes in Computer Science  
They have low level sensors (odometry, distance sensors etc.) and a NewtonLab vision system. The software is organized in a layered structure using a uniform design pattern on each layer.  ...  The article describes the structure of the GMD robots developed for the RoboCup '98. The hardware of these robots consists of an aluminum chassis with differential drives.  ...  Researchers from different fields can use the robot platform to tackle problems like real-time sensor fusion, reactive behavior, strategy acquisition, learning, real-time planning, multi-agent systems,  ... 
doi:10.1007/3-540-48422-1_48 fatcat:zbns4ygmnbbo7obivsodnbvjh4

Design and Implementation of a Network Based Multi-Axis Motion Control System for Laboratory Studies

Yılmaz GÜVEN, Selçuk ATİŞ
2020 Balkan Journal of Electrical and Computer Engineering  
It has been observed from the results of this survey that learnercentered approach with the experimental set contribute in learning process positively.  ...  This experimental set has been evaluated by 107 students in related courses which are electrical machines and servo systems.  ...  INTRODUCTION In the field of industrial automation, multi-axis motion control systems (MAMCS) which have two or more synchronized axis are being used in robotics, CNC, printing machines and industrial  ... 
doi:10.17694/bajece.738830 fatcat:csdkhafvhvdlzc6rj4qs6d6baa

Conceptual Framework for Knowledge-Based Decision Migration in Multi-Component Robots

Laxmisha Rai, Jiman Hong
2013 International Journal of Advanced Robotic Systems  
This eventually results in intelligent migration of the decisions and robot survival, irrespective of a particular physical component failure.  ...  Moreover, a robot does not need an exclusive control system for each component. The implementation is a two-step process.  ...  multi-component robots.  ... 
doi:10.5772/56103 fatcat:qqyu5nxbs5dzvlkvlqjoof742y

Phase-Synchronized Learning of Periodic Compliant Movement Primitives (P-CMPs)

Tadej Petrič
2020 Frontiers in Neurorobotics  
The proposed framework was evaluated on two robot systems, i.e., Kuka LWR-4 and Franka Emika Panda.  ...  Inspired by adaptive control strategies, this paper presents a novel method for learning and synthesizing Periodic Compliant Movement Primitives (P-CMPs).  ...  PERIODIC COMPLIANT MOVEMENT PRIMITIVES The inspiration for the P-CMPs multi-layered framework has been taken from the two-layered imitation system reported in Gams et al. (2009) and Petrič et al. (2011  ... 
doi:10.3389/fnbot.2020.599889 pmid:33281594 pmcid:PMC7688913 fatcat:tvbcf3n7c5eojeyeln5cpgiudi

Learning to Synchronously Imitate Gestures Using Entrainment Effect [chapter]

Eva Ansermin, Ghiles Mostafaoui, Nils Beaussé, Philippe Gaussier
2016 Lecture Notes in Computer Science  
Hence, we present in this paper a neural model for gesture learning by imitation using entrainment effect applied to a NAO robot interacting with a human partner.  ...  In the light of its importance in interaction and wishing to define new HRI, we suggest to model this entrainment to highlight its efficiency for gesture learning during imitative games and for reducing  ...  by studying the multi-modal coordination dynamics between the senses (sound and touch) and human movements.  ... 
doi:10.1007/978-3-319-43488-9_20 fatcat:bgv7zxwqkndt5cv7vxnagizdxa

Breaking It Down Is Better: Haptic Decomposition of Complex Movements Aids in Robot-Assisted Motor Learning

J. Klein, S. J. Spencer, D. J. Reinkensmeyer
2012 IEEE transactions on neural systems and rehabilitation engineering  
Here, we hypothesized that breaking down a complex movement, similar to a tennis backhand, into simpler parts and then using haptic feedback from a robotic exoskeleton would help the motor system learn  ...  Training with haptic guidance has been proposed as a technique for learning complex movements in rehabilitation and sports, but it is unclear how to best deliver guidance-based training.  ...  The findings and conclusions in the report are those of the authors and do necessarily represent the views of NICHD, NIBIB, or NCRR. Biographies  ... 
doi:10.1109/tnsre.2012.2195202 pmid:22531825 pmcid:PMC4015469 fatcat:s4e66c4mnffmlh3anpnewoftze

ARTIFICIAL INTELLIGENCE BASED ONLINE RTOS SYSTEM ANALYSIS FOR SIX AXIS INDUSTRIAL MANIPULATION

Aradhana Verma .
2016 International Journal of Research in Engineering and Technology  
It is the integration from the six axis industrial articulated robot through the system optimization and root based computation in controlling Industrial Manipulators and suggesting the heuristic best  ...  Centralized Communication Control unit mounted on a multilayer VLSI chip to control all the operations in the integration of the hardware (remove components), AI and RTOS based root programmed and performing  ...  It is the integration of the millions of components on the single chip which can be of single layered or multi layered.  ... 
doi:10.15623/ijret.2016.0518010 fatcat:5bckmqoi6jccdoo4janmhunfmq

Towards Meaningful Robot Gesture [chapter]

Maha Salem, Stefan Kopp, Ipke Wachsmuth, Frank Joublin
2009 Cognitive Systems Monographs  
Humanoid robot companions that are intended to engage in natural and fluent human-robot interaction are supposed to combine speech with non-verbal modalities for comprehensible and believable behavior.  ...  As an underlying action generation architecture, we explain how ACE draws upon a tight, bi-directional coupling of ASIMO's perceptuo-motor system with multi-modal scheduling via both efferent control signals  ...  Acknowledgements The research project "Conceptual Motorics" is based at the Research Institute for Cognition and Robotics, Bielefeld University, Germany.  ... 
doi:10.1007/978-3-642-10403-9_18 fatcat:khyaahs26jewhmxkmpprljzn5u
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