Pub Date : 2017-10-01DOI: 10.1109/IRIS.2017.8250127
Xinyi Zhang, S. Alves, G. Nejat, B. Benhabib
In this paper, we present a novel robot emotion model that can be used for social robots engaged in human-robot interactions (HRI). The proposed model effectively determines the robot's emotional state based on its own emotion history, the affect of the user whom the robot is interacting with, and the HRI task at hand. The model uniquely uses an nth order Markov Model (MM) to track the robot's emotion history during interactions. Simulated experiments were conducted using the robot emotion model to persuade different users to comply with various tasks. The results showed that the model is able to effectively determine a robot's emotion based on different input scenarios. Furthermore, the novel use of emotion history allows the robot emotion model to be trained faster.
{"title":"A robot emotion model with history","authors":"Xinyi Zhang, S. Alves, G. Nejat, B. Benhabib","doi":"10.1109/IRIS.2017.8250127","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250127","url":null,"abstract":"In this paper, we present a novel robot emotion model that can be used for social robots engaged in human-robot interactions (HRI). The proposed model effectively determines the robot's emotional state based on its own emotion history, the affect of the user whom the robot is interacting with, and the HRI task at hand. The model uniquely uses an nth order Markov Model (MM) to track the robot's emotion history during interactions. Simulated experiments were conducted using the robot emotion model to persuade different users to comply with various tasks. The results showed that the model is able to effectively determine a robot's emotion based on different input scenarios. Furthermore, the novel use of emotion history allows the robot emotion model to be trained faster.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134239488","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/IRIS.2017.8250089
Dan Zhang, Bin Wei
Learning control in robotic manipulators is mainly used to address the issue that the friction at joints of robotic mechanisms and other uncertainties may exist in the dynamic models, which are very complex and may even be impossible to model mathematically. Here, the authors reviewed and discussed the recent development of learning control in robotic manipulators and some issues in learning control for robotic manipulators are also illustrated.
{"title":"A brief review and discussion on learning control of robotic manipulators","authors":"Dan Zhang, Bin Wei","doi":"10.1109/IRIS.2017.8250089","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250089","url":null,"abstract":"Learning control in robotic manipulators is mainly used to address the issue that the friction at joints of robotic mechanisms and other uncertainties may exist in the dynamic models, which are very complex and may even be impossible to model mathematically. Here, the authors reviewed and discussed the recent development of learning control in robotic manipulators and some issues in learning control for robotic manipulators are also illustrated.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121675352","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/IRIS.2017.8250148
K. Daines, E. Lemaire, Andrew J J Smith, Andrew G. Herbert-Copley
Lower extremity powered exoskeletons are assistive devices that aim to improve rehabilitation for people with lower limb paralysis and provide upright mobility in the community. Sit-to-stand and stand-to-sit movements are important since a controlled and safe transition to standing is needed to begin exoskeleton use and sitting is needed to conclude and doff the exoskeleton. Ideally, sitting and standing methods minimize upper body contributions for balance and propulsion. This study analyzed crutch-assisted exoskeleton sit- to-stand and stand-to-sit to characterize crutch loads and motions. Five sit-to-stands and stand-to-sits were recorded for three spinal cord injured participants using a 10 camera Vicon motion analysis system, AMTI and Bertec force plates, and strain gauged forearm crutches that measured axial force. Joint kinematics, movement timing, and crutch kinetics were calculated. Participants employed different crutch techniques when sitting or standing. Crutch impulse was lower when the crutch angle from vertical was greater, at standing push-off or start of sitting. Quickly moving the centre of mass over the ankles during standing reduced crutch impulse by allowing the exoskeleton to lift the body with less upper limb force.
{"title":"Sit-to-stand and stand-to-sit crutch use for lower extremity powered exoskeletons","authors":"K. Daines, E. Lemaire, Andrew J J Smith, Andrew G. Herbert-Copley","doi":"10.1109/IRIS.2017.8250148","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250148","url":null,"abstract":"Lower extremity powered exoskeletons are assistive devices that aim to improve rehabilitation for people with lower limb paralysis and provide upright mobility in the community. Sit-to-stand and stand-to-sit movements are important since a controlled and safe transition to standing is needed to begin exoskeleton use and sitting is needed to conclude and doff the exoskeleton. Ideally, sitting and standing methods minimize upper body contributions for balance and propulsion. This study analyzed crutch-assisted exoskeleton sit- to-stand and stand-to-sit to characterize crutch loads and motions. Five sit-to-stands and stand-to-sits were recorded for three spinal cord injured participants using a 10 camera Vicon motion analysis system, AMTI and Bertec force plates, and strain gauged forearm crutches that measured axial force. Joint kinematics, movement timing, and crutch kinetics were calculated. Participants employed different crutch techniques when sitting or standing. Crutch impulse was lower when the crutch angle from vertical was greater, at standing push-off or start of sitting. Quickly moving the centre of mass over the ankles during standing reduced crutch impulse by allowing the exoskeleton to lift the body with less upper limb force.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"14 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114008899","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-17DOI: 10.1109/IRIS.2017.8250142
H. Chaoui, S. Yadav
This paper suggests an adaptive control scheme for quadrotors subjected to parametric uncertainties. The adaptive controller learns the quadrotor's inverse model using a Lyapunov adaptation law. For that, a robustness feedback loop is used to stabilize the quadrotor at start-up. Hence, precise motion control is obtained in the presence of parameter variations. Unlike other controllers, the stability and convergence of the proposed controller is analyzed by Lyapunov stability theory. The adaptive controller's ability to cope with parameter variations is illustrated in various operating conditions.
{"title":"Adaptive motion control of quadrotors under parametric uncertainties with guaranteed stability","authors":"H. Chaoui, S. Yadav","doi":"10.1109/IRIS.2017.8250142","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250142","url":null,"abstract":"This paper suggests an adaptive control scheme for quadrotors subjected to parametric uncertainties. The adaptive controller learns the quadrotor's inverse model using a Lyapunov adaptation law. For that, a robustness feedback loop is used to stabilize the quadrotor at start-up. Hence, precise motion control is obtained in the presence of parameter variations. Unlike other controllers, the stability and convergence of the proposed controller is analyzed by Lyapunov stability theory. The adaptive controller's ability to cope with parameter variations is illustrated in various operating conditions.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129604924","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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