Pub Date : 2005-06-12DOI: 10.1109/ARSO.2005.1511644
Takahiro Suzuki, A. Ohya, S. Yuta
This paper describes the proposal of a novel concept for directing a mobile robot's motion by using human-operator lights. In addition, the construction of an experimental prototype, its operating system as well as results of some laboratory experiments are explained. Basically, the system architecture consists of a laser pointer and a flash light, whereby a target-object is brightened by a human-operator and an image is taken by an omni-directional camera. In such way that the position of the target object is showed to the mobile robot as for calculating its relative position by a vision system, and eventually the robot navigates towards the target-object direction.
{"title":"Operation direction to a mobile robot by projection lights","authors":"Takahiro Suzuki, A. Ohya, S. Yuta","doi":"10.1109/ARSO.2005.1511644","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511644","url":null,"abstract":"This paper describes the proposal of a novel concept for directing a mobile robot's motion by using human-operator lights. In addition, the construction of an experimental prototype, its operating system as well as results of some laboratory experiments are explained. Basically, the system architecture consists of a laser pointer and a flash light, whereby a target-object is brightened by a human-operator and an image is taken by an omni-directional camera. In such way that the position of the target object is showed to the mobile robot as for calculating its relative position by a vision system, and eventually the robot navigates towards the target-object direction.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127423005","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511611
K. Kosuge
This article briefly introduces how robots and RT (robot technology) systems could be utilized in human environments for assisting daily life activities of the elderly. Existing systems developed for enhancing the quality of life are reviewed first. Then, how the service-oriented system integration plays an important role is discussed for bringing robots and/or RT systems into human environments for real applications improving the quality of life.
{"title":"Robots and RT systems in human environments","authors":"K. Kosuge","doi":"10.1109/ARSO.2005.1511611","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511611","url":null,"abstract":"This article briefly introduces how robots and RT (robot technology) systems could be utilized in human environments for assisting daily life activities of the elderly. Existing systems developed for enhancing the quality of life are reviewed first. Then, how the service-oriented system integration plays an important role is discussed for bringing robots and/or RT systems into human environments for real applications improving the quality of life.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125910038","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511628
H. Hashimoto
This paper introduces the recent research result of the intelligent space (iSpace), integrated with enhanced information technology and advanced robotics. The intelligent space project has been active since 1996, and expanding with more and more functions. The core of the intelligent space is an ubiquitous distributed sensory network, integrated in human living environments, what can track multiple human and other object inside the space. Mobile robots are operating in human' living environments, with the support of intelligent space, in order to give several support to the human such as guiding. The iSpace bears artificial spatial memory for interaction between the iSpace and human applying mobile robots and other intelligent device nodes. The spatial memory is an information organizing and classification technology, using gesture recognition, for context-aware information exchange between the iSpace and the human. As one of iSpace powered applications, super-sense tele-micromanipulation project is introduced to conclude this paper.
{"title":"Intelligent interactive spaces - integration of IT and robotics","authors":"H. Hashimoto","doi":"10.1109/ARSO.2005.1511628","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511628","url":null,"abstract":"This paper introduces the recent research result of the intelligent space (iSpace), integrated with enhanced information technology and advanced robotics. The intelligent space project has been active since 1996, and expanding with more and more functions. The core of the intelligent space is an ubiquitous distributed sensory network, integrated in human living environments, what can track multiple human and other object inside the space. Mobile robots are operating in human' living environments, with the support of intelligent space, in order to give several support to the human such as guiding. The iSpace bears artificial spatial memory for interaction between the iSpace and human applying mobile robots and other intelligent device nodes. The spatial memory is an information organizing and classification technology, using gesture recognition, for context-aware information exchange between the iSpace and the human. As one of iSpace powered applications, super-sense tele-micromanipulation project is introduced to conclude this paper.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"8 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120809471","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511610
P. Dario, M. Carrozza, C. Laschi, A. Menciassi, S. Micera
In the last five years, the European Commission dedicated particular attention to the definition and development of several activities to make EU "a knowledge-based society". This choice has been also confirmed during the definition process of the 7th Framework Programme (7FP) increasing significantly EU spending on research. Nine main research themes have been preliminary defined and among them, at least three can represent an important opportunity for robotic research: (1) health; 2) information and communication technologies; (3) nanosciences and nanotechnologies. In particular, we think that well-established global communication networks can increasingly integrate also robotics and mechatronics technologies establishing a new paradigm which can be defined as "ubiquitous robotics" going far beyond the well established and broadly accepted notion of the Web as an infrastructural communication network serving the global community as well as the single individual. This new envisaged scenario provides "augmentation" to individual users and to communities in a broad sense and in different situations.
{"title":"EU views and strategy for the future of advanced robotics","authors":"P. Dario, M. Carrozza, C. Laschi, A. Menciassi, S. Micera","doi":"10.1109/ARSO.2005.1511610","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511610","url":null,"abstract":"In the last five years, the European Commission dedicated particular attention to the definition and development of several activities to make EU \"a knowledge-based society\". This choice has been also confirmed during the definition process of the 7th Framework Programme (7FP) increasing significantly EU spending on research. Nine main research themes have been preliminary defined and among them, at least three can represent an important opportunity for robotic research: (1) health; 2) information and communication technologies; (3) nanosciences and nanotechnologies. In particular, we think that well-established global communication networks can increasingly integrate also robotics and mechatronics technologies establishing a new paradigm which can be defined as \"ubiquitous robotics\" going far beyond the well established and broadly accepted notion of the Web as an infrastructural communication network serving the global community as well as the single individual. This new envisaged scenario provides \"augmentation\" to individual users and to communities in a broad sense and in different situations.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"158 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126739177","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511653
H. Mochiyama, A. Sano, N. Takesue, Ryo Kikuuwe, H. Fujimoto
In this paper, we provide a perspective of touch technology. Two illustrative examples are shown here to explain the potential of touch technology. One is TouchLens, a new type of haptic devices different from tactile sensors and displays. Through this haptic device by our hand we can perceive geometric information of tiny bumps and holes that are difficult to be detected by our bare hand. TouchLens is not only useful for inspections in manufacturing but also attractive as a fun haptic tool by which everyone can understand the power of haptic technology easily. The other relates to a haptic illusion called the velvet hand illusion in which we can feel an illusory surface with strange velvety, slippery or oily texture when we lightly rub a wire mesh of hexagonal pattern between our hands, keeping our hands pressed gently together. We found that moving line stimuli were also effective for eliciting the velvet hand illusion. The observed illusory phenomena caused by a variety of moving line stimuli allow us to see the underlying mechanism of human tactile information processing. Because the obtained illusory sensation is very impressive, it is expected that the illusion can be utilized as a main effect of a new type of haptic display.
{"title":"The potential of touch technology","authors":"H. Mochiyama, A. Sano, N. Takesue, Ryo Kikuuwe, H. Fujimoto","doi":"10.1109/ARSO.2005.1511653","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511653","url":null,"abstract":"In this paper, we provide a perspective of touch technology. Two illustrative examples are shown here to explain the potential of touch technology. One is TouchLens, a new type of haptic devices different from tactile sensors and displays. Through this haptic device by our hand we can perceive geometric information of tiny bumps and holes that are difficult to be detected by our bare hand. TouchLens is not only useful for inspections in manufacturing but also attractive as a fun haptic tool by which everyone can understand the power of haptic technology easily. The other relates to a haptic illusion called the velvet hand illusion in which we can feel an illusory surface with strange velvety, slippery or oily texture when we lightly rub a wire mesh of hexagonal pattern between our hands, keeping our hands pressed gently together. We found that moving line stimuli were also effective for eliciting the velvet hand illusion. The observed illusory phenomena caused by a variety of moving line stimuli allow us to see the underlying mechanism of human tactile information processing. Because the obtained illusory sensation is very impressive, it is expected that the illusion can be utilized as a main effect of a new type of haptic display.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131171775","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511629
E. Martínez-García, Ohya Akihisa, S. Yuta
This article introduces a general description of a multi-robot system (MRS) architecture aimed to provide guidance for a group of humans. At a first approach, only the strategy and architecture framework are described, further than the ethological and human factors involved in human-robot interaction. The paper encompasses a special strategy to conduct and crowd multiple people. Such strategy includes a methodology to localize multi-human; a MRS architecture design; and a control for people trajectory and a robots motion planner. A key-problem in the implementation of the system is that, there is no signal of any type for accomplishing guidance. In addition, some experimental and simulation results are presented, which exhibits the effectiveness of the proposed architecture, and the social force model adapted in a manner to simulate behavior of groups of people.
{"title":"Crowding and guiding groups of humans by teams of mobile robots","authors":"E. Martínez-García, Ohya Akihisa, S. Yuta","doi":"10.1109/ARSO.2005.1511629","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511629","url":null,"abstract":"This article introduces a general description of a multi-robot system (MRS) architecture aimed to provide guidance for a group of humans. At a first approach, only the strategy and architecture framework are described, further than the ethological and human factors involved in human-robot interaction. The paper encompasses a special strategy to conduct and crowd multiple people. Such strategy includes a methodology to localize multi-human; a MRS architecture design; and a control for people trajectory and a robots motion planner. A key-problem in the implementation of the system is that, there is no signal of any type for accomplishing guidance. In addition, some experimental and simulation results are presented, which exhibits the effectiveness of the proposed architecture, and the social force model adapted in a manner to simulate behavior of groups of people.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131707457","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511650
M. Wada
This paper presents a new type of omnidirectional mobile base with four-wheel drive (4WD) mechanism for improving traction on the slippery surface and enhancing mobility on rough terrain of omnidirectional electric wheelchairs. The mobile base includes a pair of normal wheels on the rear side of the base and a pair of omni-wheels on the front side. The normal wheel in rear and the omni-wheel in front, mounted on the same side of the base, are interconnected by a power transmission to rotate in unison with a wheel motor. The omni-wheels allow the front end of the mobile base to roll freely from side to side. Additionally, the third motor is installed to turn a chair about a vertical axis on the center of the mobile base. For omnidirectional control of the 4WD mobile base, two wheel motors are coordinated to translate the center of the chair in an arbitrary direction while the chair orientation is controlled by the third motor separately. Thus a wheelchair with proposed mobile base can move in any direction without changing the chair orientation and turn in a place. The 4WD mechanism guarantees the traction force even on irregular surfaces and the step climbing ability is enhanced since all wheels are large in diameter and no passive caster is used. Moreover three motors provide 3DOF motion of the chair with no redundancy. The configuration with the minimum number of motors contributes not only to cost saving but also to high reliability of the mechanism. In the paper, motion analysis of the 4WD mechanism and the omnidirectional control method are presented followed by kinematic simulations for verification of the proposed 4WD omnidirectional wheelchair.
{"title":"Omnidirectional control of a four-wheel drive mobile base for wheelchairs","authors":"M. Wada","doi":"10.1109/ARSO.2005.1511650","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511650","url":null,"abstract":"This paper presents a new type of omnidirectional mobile base with four-wheel drive (4WD) mechanism for improving traction on the slippery surface and enhancing mobility on rough terrain of omnidirectional electric wheelchairs. The mobile base includes a pair of normal wheels on the rear side of the base and a pair of omni-wheels on the front side. The normal wheel in rear and the omni-wheel in front, mounted on the same side of the base, are interconnected by a power transmission to rotate in unison with a wheel motor. The omni-wheels allow the front end of the mobile base to roll freely from side to side. Additionally, the third motor is installed to turn a chair about a vertical axis on the center of the mobile base. For omnidirectional control of the 4WD mobile base, two wheel motors are coordinated to translate the center of the chair in an arbitrary direction while the chair orientation is controlled by the third motor separately. Thus a wheelchair with proposed mobile base can move in any direction without changing the chair orientation and turn in a place. The 4WD mechanism guarantees the traction force even on irregular surfaces and the step climbing ability is enhanced since all wheels are large in diameter and no passive caster is used. Moreover three motors provide 3DOF motion of the chair with no redundancy. The configuration with the minimum number of motors contributes not only to cost saving but also to high reliability of the mechanism. In the paper, motion analysis of the 4WD mechanism and the omnidirectional control method are presented followed by kinematic simulations for verification of the proposed 4WD omnidirectional wheelchair.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130308831","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511637
R. Luo
The development of robotics in Taiwan has been focused on autonomous mobile robot for various applications including security robot, surgical robot, soccer robot and so on. The security robot is mounted with various kinds of sensors and executes fire detection, intruder detection, obstacle avoidance and auto-recharging system through multi-sensor fusion technique. Nowadays, the surgical robot has already been used to diagnose the patient by using the robot arm extensively in the hospital. The doctors can control the robot arm to operate on the patients for his illness by eliminating errors while performing a surgery.
{"title":"The current development and future prospect for robotics in Taiwan","authors":"R. Luo","doi":"10.1109/ARSO.2005.1511637","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511637","url":null,"abstract":"The development of robotics in Taiwan has been focused on autonomous mobile robot for various applications including security robot, surgical robot, soccer robot and so on. The security robot is mounted with various kinds of sensors and executes fire detection, intruder detection, obstacle avoidance and auto-recharging system through multi-sensor fusion technique. Nowadays, the surgical robot has already been used to diagnose the patient by using the robot arm extensively in the hospital. The doctors can control the robot arm to operate on the patients for his illness by eliminating errors while performing a surgery.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133885171","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511647
K. Morita, H. Ishihara
This paper discusses the possibility to realize both of walking and running at a single robot with the under-actuated legged system, which is made by the combination mechanism of linkages and actuators. The under-actuated system is driven by less numbers of actuator than the numbers of degree of freedom of a system, and therefore it enables to reduce the weight of the robot. This study aims at realizing the 4-legged locomotion by controlling the phase to manipulate the legs made by links which is designed by the under-actuated system. This paper first shows the similarity of walking and running of 4-legged animal, and proposes the way of realizing the both actions by the declination of phase of motion. In order to design the leg mechanism with effective linkage systems, the kinematics simulator was developed and the performance was tested by the prototype.
{"title":"Mechanisms and control of under-actuated 4-legged locomotion robot -proposal of walking model by under-actuated system","authors":"K. Morita, H. Ishihara","doi":"10.1109/ARSO.2005.1511647","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511647","url":null,"abstract":"This paper discusses the possibility to realize both of walking and running at a single robot with the under-actuated legged system, which is made by the combination mechanism of linkages and actuators. The under-actuated system is driven by less numbers of actuator than the numbers of degree of freedom of a system, and therefore it enables to reduce the weight of the robot. This study aims at realizing the 4-legged locomotion by controlling the phase to manipulate the legs made by links which is designed by the under-actuated system. This paper first shows the similarity of walking and running of 4-legged animal, and proposes the way of realizing the both actions by the declination of phase of motion. In order to design the leg mechanism with effective linkage systems, the kinematics simulator was developed and the performance was tested by the prototype.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"218 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113985188","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511609
L. Perlovsky, J. Fontanari
In existing works on evolution of communication, communication signs refer to objects. This is a principled limitation. This paper formulates mathematically the human ability for the development of two parallel hierarchies, the hierarchy of language and the cognitive hierarchy of objects and relationships. So that learning objects and relationships in the world is supported by language communication and vice versa.
{"title":"Evolution of communication in a community of robots","authors":"L. Perlovsky, J. Fontanari","doi":"10.1109/ARSO.2005.1511609","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511609","url":null,"abstract":"In existing works on evolution of communication, communication signs refer to objects. This is a principled limitation. This paper formulates mathematically the human ability for the development of two parallel hierarchies, the hierarchy of language and the cognitive hierarchy of objects and relationships. So that learning objects and relationships in the world is supported by language communication and vice versa.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"380 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122856600","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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