Pub Date : 2012-12-14DOI: 10.1109/ROBIO.2012.6490945
Qian Zhao, H. Sumioka, Xiaoxiang Yu, K. Nakajima, Zhimin Wang, R. Pfeifer
In quadruped animals, spinal movements contribute to locomotion in terms of controlling body posture, providing the foundation to generate leg movement, and integrating limb and trunk actions. Inspired by this biological findings, we develop two quadruped models featuring different numbers of spinal joints to demonstrate the spine-driven locomotion behaviors. To gain a deep understanding of how the locomotion is achieved by axial driven propulsion and how the spinal morphology affects locomotion, we exclusively employ actuated spinal joint(s) to the model with a minimalistic control strategy. We choose three individuals from these two models and analyze their behaviors in terms of gait properties, i.e., angle of attack, ground clearance, and movement of the center of mass. The results show that employing the spinal morphology with two joints can greatly enhance the stability and speed of locomotion. Among several advantageous properties of the two spinal joint model we identify the following. First, it allows the robot to adjust the movement of the center of mass to stabilize itself. Second, by providing more freedom to bend the spine, the robot can pull the rear legs forward, thus increasing the stride length. Finally, locomotion with this model exhibits two flight phases and greater flight proportion during each stride, similar to what it is observed from running cheetahs, which make significant difference in the speed and the gait.
{"title":"The function of the spine and its morphological effect in quadruped robot locomotion","authors":"Qian Zhao, H. Sumioka, Xiaoxiang Yu, K. Nakajima, Zhimin Wang, R. Pfeifer","doi":"10.1109/ROBIO.2012.6490945","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6490945","url":null,"abstract":"In quadruped animals, spinal movements contribute to locomotion in terms of controlling body posture, providing the foundation to generate leg movement, and integrating limb and trunk actions. Inspired by this biological findings, we develop two quadruped models featuring different numbers of spinal joints to demonstrate the spine-driven locomotion behaviors. To gain a deep understanding of how the locomotion is achieved by axial driven propulsion and how the spinal morphology affects locomotion, we exclusively employ actuated spinal joint(s) to the model with a minimalistic control strategy. We choose three individuals from these two models and analyze their behaviors in terms of gait properties, i.e., angle of attack, ground clearance, and movement of the center of mass. The results show that employing the spinal morphology with two joints can greatly enhance the stability and speed of locomotion. Among several advantageous properties of the two spinal joint model we identify the following. First, it allows the robot to adjust the movement of the center of mass to stabilize itself. Second, by providing more freedom to bend the spine, the robot can pull the rear legs forward, thus increasing the stride length. Finally, locomotion with this model exhibits two flight phases and greater flight proportion during each stride, similar to what it is observed from running cheetahs, which make significant difference in the speed and the gait.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115248876","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 : 2012-12-11DOI: 10.1109/ROBIO.2012.6490955
Marcus Augustine, F. Ortmeier, Elmar Mair, Darius Burschka, A. Stelzer, M. Suppa
Metric maps provide a reliable basis for mobile robot navigation. However, such maps are in general quite resource expensive and do not scale very well. Aiming for a highly scalable map, we adopt theories of insect navigation to develop an algorithm which builds a topological map for global navigation. Similar to insect conduct, positions in space are memorized as snapshots, which are unique configurations of landmarks. Unlike conventional snapshot approaches, we do not simply store the landmarks as a set, but we build a landmark tree which enables us to easily free memory in case of a continuously growing map while still preserving the dominant information. The resulting navigation is not sensor specific and solely relies on the directions of arbitrary landmarks. The generated map enables a mobile robot to navigate between defined locations and let it retrace a previously pursued path. Finally, we verify the reliability of the Landmark-Tree Map (LT-Map) concept and its robustness on memory limitations.
{"title":"Landmark-Tree map: A biologically inspired topological map for long-distance robot navigation","authors":"Marcus Augustine, F. Ortmeier, Elmar Mair, Darius Burschka, A. Stelzer, M. Suppa","doi":"10.1109/ROBIO.2012.6490955","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6490955","url":null,"abstract":"Metric maps provide a reliable basis for mobile robot navigation. However, such maps are in general quite resource expensive and do not scale very well. Aiming for a highly scalable map, we adopt theories of insect navigation to develop an algorithm which builds a topological map for global navigation. Similar to insect conduct, positions in space are memorized as snapshots, which are unique configurations of landmarks. Unlike conventional snapshot approaches, we do not simply store the landmarks as a set, but we build a landmark tree which enables us to easily free memory in case of a continuously growing map while still preserving the dominant information. The resulting navigation is not sensor specific and solely relies on the directions of arbitrary landmarks. The generated map enables a mobile robot to navigate between defined locations and let it retrace a previously pursued path. Finally, we verify the reliability of the Landmark-Tree Map (LT-Map) concept and its robustness on memory limitations.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117222926","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 : 2012-12-11DOI: 10.1109/ROBIO.2012.6491036
T. K. Bera, A. Samantaray, R. Merzouki, B. O. Bouamama
This article deals with modeling of an intelligent autonomous vehicle with four traction wheels, four braking wheels and four-wheel steering system. The bond graph model of the integrated vehicle dynamic system is developed in a modular and hierarchical modeling environment. The Ackerman steering concept was used in the steering motor controller. Simulation results show the advantages of four-wheel steering during tight maneuvers.
{"title":"Bond graph modeling of an over-actuated intelligent autonomous vehicle with decoupled steering wheel","authors":"T. K. Bera, A. Samantaray, R. Merzouki, B. O. Bouamama","doi":"10.1109/ROBIO.2012.6491036","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491036","url":null,"abstract":"This article deals with modeling of an intelligent autonomous vehicle with four traction wheels, four braking wheels and four-wheel steering system. The bond graph model of the integrated vehicle dynamic system is developed in a modular and hierarchical modeling environment. The Ackerman steering concept was used in the steering motor controller. Simulation results show the advantages of four-wheel steering during tight maneuvers.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"213 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134352778","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 : 2012-12-11DOI: 10.1109/ROBIO.2012.6490960
B. Winstone, Gareth Griffiths, C. Melhuish, A. Pipe, J. Rossiter
Previous work on the TACTIP project has demonstrated a prototype tactile fingertip device, at a little over twice the diameter(40mm) of a human fingertip (16–20mm). Unlike most other developed MEMS sensors, the TACTIP device is appropriate for all tasks for which humans use their fingertips; examples include object manipulation, contact sensing, pressure sensing and shear force detection. This is achieved whilst maintaining a very high level of robustness. Further work with this concept has reduced the size of the device to that closely matching the range of a human fingertip (20mm). Previous development of the TACTIP device has in isolation, proven the potential for these applications, but not provided a benchmark specification of its technical performance. This paper presents benchmarking results from testing pressure and shear force readings using both versions of the TACTIP designs with comparisons that highlight the compromises encountered when reducing the physical build size of the device. The results show that a reduced size device offers greater sensitivity under lower forces, but cannot be subjected to the greater forces that the larger device can.
{"title":"TACTIP — Tactile fingertip device, challenges in reduction of size to ready for robot hand integration","authors":"B. Winstone, Gareth Griffiths, C. Melhuish, A. Pipe, J. Rossiter","doi":"10.1109/ROBIO.2012.6490960","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6490960","url":null,"abstract":"Previous work on the TACTIP project has demonstrated a prototype tactile fingertip device, at a little over twice the diameter(40mm) of a human fingertip (16–20mm). Unlike most other developed MEMS sensors, the TACTIP device is appropriate for all tasks for which humans use their fingertips; examples include object manipulation, contact sensing, pressure sensing and shear force detection. This is achieved whilst maintaining a very high level of robustness. Further work with this concept has reduced the size of the device to that closely matching the range of a human fingertip (20mm). Previous development of the TACTIP device has in isolation, proven the potential for these applications, but not provided a benchmark specification of its technical performance. This paper presents benchmarking results from testing pressure and shear force readings using both versions of the TACTIP designs with comparisons that highlight the compromises encountered when reducing the physical build size of the device. The results show that a reduced size device offers greater sensitivity under lower forces, but cannot be subjected to the greater forces that the larger device can.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130739059","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 : 2012-12-11DOI: 10.1109/ROBIO.2012.6491046
Yi Zhang, Xinli Xu, Yuan Luo, Huosheng Hu, Huiyu Zhou
Considering the problem that stability of surface Electromyographic Signal (sEMG) based human-machine interface (HMI) gradually declines as fatigue takes place in muscles, we propose a novel method for updating samples to improve incremental online training algorithm for support vector machine (SVM). We study the changes of sEMG when muscle fatigue occurs using a method based on continuous wavelet transform, and then applies the improved incremental online SVM for sEMG classification. Experiment results show that the proposed algorithm can be used to improve the classification accuracy and training speed significantly. Furthermore, this method effectively diminish the influence of muscle fatigue during long-term operation of sEMG based HMI.
{"title":"An improved incremental online training algorithm for reducing the influence of muscle fatigue in sEMG based HMI","authors":"Yi Zhang, Xinli Xu, Yuan Luo, Huosheng Hu, Huiyu Zhou","doi":"10.1109/ROBIO.2012.6491046","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491046","url":null,"abstract":"Considering the problem that stability of surface Electromyographic Signal (sEMG) based human-machine interface (HMI) gradually declines as fatigue takes place in muscles, we propose a novel method for updating samples to improve incremental online training algorithm for support vector machine (SVM). We study the changes of sEMG when muscle fatigue occurs using a method based on continuous wavelet transform, and then applies the improved incremental online SVM for sEMG classification. Experiment results show that the proposed algorithm can be used to improve the classification accuracy and training speed significantly. Furthermore, this method effectively diminish the influence of muscle fatigue during long-term operation of sEMG based HMI.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"271 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121358148","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 : 2012-12-11DOI: 10.1109/ROBIO.2012.6491150
F. L. Roubieu, J. Serres, N. Franceschini, F. Ruffier, S. Viollet
The small autonomous vehicles of the future will have to navigate close to obstacles in highly unpredictable environments. Risky tasks of this kind may require novel sensors and control methods that differ from conventional approaches. Recent ethological findings have shown that complex navigation tasks such as obstacle avoidance and speed control are performed by flying insects on the basis of optic flow (OF) cues, although insects' compound eyes have a very poor spatial resolution. The present paper deals with the implementation of an optic flow-based autopilot on a fully autonomous hovercraft. Tests were performed on this small (878-gram) innovative robotic platform in straight and tapered corridors lined with natural panoramas. A bilateral OF regulator controls the robot's forward speed (up to 0.8m/s), while a unilateral OF regulator controls the robot's clearance from the two walls. A micro-gyrometer and a tiny magnetic compass ensure that the hovercraft travels forward in the corridor without yawing. The lateral OFs are measured by two minimalist eyes mounted sideways opposite to each other. For the first time, the hovercraft was found to be capable of adjusting both its forward speed and its clearance from the walls, in both straight and tapered corridors, without requiring any distance or speed measurements, that is, without any need for on-board rangefinders or tachometers.
{"title":"A fully-autonomous hovercraft inspired by bees: Wall following and speed control in straight and tapered corridors","authors":"F. L. Roubieu, J. Serres, N. Franceschini, F. Ruffier, S. Viollet","doi":"10.1109/ROBIO.2012.6491150","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491150","url":null,"abstract":"The small autonomous vehicles of the future will have to navigate close to obstacles in highly unpredictable environments. Risky tasks of this kind may require novel sensors and control methods that differ from conventional approaches. Recent ethological findings have shown that complex navigation tasks such as obstacle avoidance and speed control are performed by flying insects on the basis of optic flow (OF) cues, although insects' compound eyes have a very poor spatial resolution. The present paper deals with the implementation of an optic flow-based autopilot on a fully autonomous hovercraft. Tests were performed on this small (878-gram) innovative robotic platform in straight and tapered corridors lined with natural panoramas. A bilateral OF regulator controls the robot's forward speed (up to 0.8m/s), while a unilateral OF regulator controls the robot's clearance from the two walls. A micro-gyrometer and a tiny magnetic compass ensure that the hovercraft travels forward in the corridor without yawing. The lateral OFs are measured by two minimalist eyes mounted sideways opposite to each other. For the first time, the hovercraft was found to be capable of adjusting both its forward speed and its clearance from the walls, in both straight and tapered corridors, without requiring any distance or speed measurements, that is, without any need for on-board rangefinders or tachometers.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129704044","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 : 2012-12-01DOI: 10.1109/ROBIO.2012.6491129
Zhang Xuchong, Chen Zhong, Zhang Xianmin
The difference of the probe's stiffness in the different measuring direction and its dynamic characteristics will influence the measuring precision of a coordinate measuring machine (CMM), so the consistency of directional compliance of the probe is demanded. In this paper, we introduce a 3D probe used in a CMM, which takes advantage of delta structure and flexure hinges. The freedom of the 3D compliant probe is analyzed in screw theory, and its kinematic analysis is done in the matrix method. After simulation and experiments on the probe, the output to input displacement transforming matrix is built up and the finite element model of the probe is verified by modal test and the finite element analysis (FEA). Finally, the optimization of key dimensions is implemented based on the verified finite element model, the optimized model of the 3D compliant probe is obtained.1
{"title":"Kinematic analysis and optimal design of a 3D compliant probe","authors":"Zhang Xuchong, Chen Zhong, Zhang Xianmin","doi":"10.1109/ROBIO.2012.6491129","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491129","url":null,"abstract":"The difference of the probe's stiffness in the different measuring direction and its dynamic characteristics will influence the measuring precision of a coordinate measuring machine (CMM), so the consistency of directional compliance of the probe is demanded. In this paper, we introduce a 3D probe used in a CMM, which takes advantage of delta structure and flexure hinges. The freedom of the 3D compliant probe is analyzed in screw theory, and its kinematic analysis is done in the matrix method. After simulation and experiments on the probe, the output to input displacement transforming matrix is built up and the finite element model of the probe is verified by modal test and the finite element analysis (FEA). Finally, the optimization of key dimensions is implemented based on the verified finite element model, the optimized model of the 3D compliant probe is obtained.1","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115150473","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 : 2012-12-01DOI: 10.1109/ROBIO.2012.6490998
Handdeut Chang, Y. Sugimoto, K. Osuka, Y. Sankai
Recently, the importance of musculoskeletal system's self-stability for its movements has been focused. Self-stability of a system is defined as the ability of a system to return to its original state after a disturbance by its own quality without any controls. In this study, with a Lyapunov function, we analytically derive the sufficient condition which gives self-stabilizing function to the 2-dimensional time-varying musculoskeletal system and investigate how musculoskeletal systems achieve them.
{"title":"Self-stabilizing function of two dimensional human lower limb musculoskeletal system","authors":"Handdeut Chang, Y. Sugimoto, K. Osuka, Y. Sankai","doi":"10.1109/ROBIO.2012.6490998","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6490998","url":null,"abstract":"Recently, the importance of musculoskeletal system's self-stability for its movements has been focused. Self-stability of a system is defined as the ability of a system to return to its original state after a disturbance by its own quality without any controls. In this study, with a Lyapunov function, we analytically derive the sufficient condition which gives self-stabilizing function to the 2-dimensional time-varying musculoskeletal system and investigate how musculoskeletal systems achieve them.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115297983","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 : 2012-12-01DOI: 10.1109/ROBIO.2012.6491236
Hiroaki Iwata, K. Saneyoshi
We have developed forward obstacle detection system which has good detectability and the accuracy of distance only by using stereo vision. The dense disparity images of a region-based matching can be obtained at real time by using FPGA-based stereo processing system. Road surfaces are detected and the space to drive can be limited. A smoothing filter is also used. Owing to these, the accuracy of distance is improved. This system runs in real time. In the experiments, this system could detect forward obstacles 100 m away, and also it could immediately detect cutting-in objects.
{"title":"Forward obstacle detection system by stereo vision","authors":"Hiroaki Iwata, K. Saneyoshi","doi":"10.1109/ROBIO.2012.6491236","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6491236","url":null,"abstract":"We have developed forward obstacle detection system which has good detectability and the accuracy of distance only by using stereo vision. The dense disparity images of a region-based matching can be obtained at real time by using FPGA-based stereo processing system. Road surfaces are detected and the space to drive can be limited. A smoothing filter is also used. Owing to these, the accuracy of distance is improved. This system runs in real time. In the experiments, this system could detect forward obstacles 100 m away, and also it could immediately detect cutting-in objects.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115584709","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 : 2012-12-01DOI: 10.1109/ROBIO.2012.6490975
X. Tian, Xinyu Wu, Jianquan Sun, Ping Jiang, Ruiqing Fu
In this paper, a novel stress relief robotic system is designed to help people release their stress. Such a system should have good interactivity, that is, the robotic system can respond to various user input such as touch and voice by playing audio, video and so on. Besides interactivity, the robotic system should also have good application scalability. Good application scalability means developing and integrating a new application into the system should be easy without modification to the structure of the system. This is due to the fact that users in different situations need different applications to release their stress. The robotic system in this paper is designed to be capable of responding to touch and voice and providing good scalability. The robotic system is mainly made of a multi-touch interface based on diffused illumination technology, a microphone to receive voice, a projector to show screen on the interface, and a PC as main controller.
{"title":"Stress relief robotic system based on diffused illumination multi-touch technology","authors":"X. Tian, Xinyu Wu, Jianquan Sun, Ping Jiang, Ruiqing Fu","doi":"10.1109/ROBIO.2012.6490975","DOIUrl":"https://doi.org/10.1109/ROBIO.2012.6490975","url":null,"abstract":"In this paper, a novel stress relief robotic system is designed to help people release their stress. Such a system should have good interactivity, that is, the robotic system can respond to various user input such as touch and voice by playing audio, video and so on. Besides interactivity, the robotic system should also have good application scalability. Good application scalability means developing and integrating a new application into the system should be easy without modification to the structure of the system. This is due to the fact that users in different situations need different applications to release their stress. The robotic system in this paper is designed to be capable of responding to touch and voice and providing good scalability. The robotic system is mainly made of a multi-touch interface based on diffused illumination technology, a microphone to receive voice, a projector to show screen on the interface, and a PC as main controller.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"50 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121064912","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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