12 research outputs found

    Diseño de una arquitectura robótica para mapear un lenguaje de acción a comandos de movimiento de bajo nivel para manipulación hábil

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    This paper gives an overview of a robotic architecture meant for skillful manipulation. This design is meant to close the gap between the high level layer (reasoning and planing layer) and the object model system (physical control layer). This architecture proposes an interface layer that allows, in a meaningful way, to connect atomic tasks with controller inputs. In this paper, we discuss how specific complex tasks can be resolved by this system; we analyze the affordance unit design and, we overview the future challenges in the implemenation of the whole system.Este artículo ofrece una visión general de una arquitectura robótica destinada a la manipulación hábil. Este diseño está destinado a cerrar la brecha entre la capa de alto nivel (capa de razonamiento y planificación) y el sistema de modelo de objetos (capa de control físico). Esta arquitectura propone una capa de interfaz que permite, de manera significativa, conectar tareas básicas con el controlador. En este artículo, discutimos cómo este sistema puede resolver tareas complejas específicas; analizamos el diseño de la unidad de accesibilidad y presentamos una visión general de los desafíos futuros en la implementación de todo el sistema.Universidad de Costa Rica/[322-B6-279]/UCR/Costa RicaUCR::Vicerrectoría de Investigación::Unidades de Investigación::Ingeniería::Instituto Investigaciones en Ingeniería (INII)UCR::Vicerrectoría de Docencia::Ingeniería::Facultad de Ingeniería::Escuela de Ingeniería EléctricaUCR::Vicerrectoría de Investigación::Sistema de Estudios de Posgrado::Ingeniería::Maestría Académica en Ingeniería Eléctric

    Finite-Time State Estimation for an Inverted Pendulum under Input-Multiplicative Uncertainty

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    A sliding mode observer is presented, which is rigorously proven to achieve finite-time state estimation of a dual-parallel underactuated (i.e., single-input multi-output) cart inverted pendulum system in the presence of parametric uncertainty. A salient feature of the proposed sliding mode observer design is that a rigorous analysis is provided, which proves finite-time estimation of the complete system state in the presence of input-multiplicative parametric uncertainty. The performance of the proposed observer design is demonstrated through numerical case studies using both sliding mode control (SMC)- and linear quadratic regulator (LQR)-based closed-loop control systems. The main contribution presented here is the rigorous analysis of the finite-time state estimator under input-multiplicative parametric uncertainty in addition to a comparative numerical study that quantifies the performance improvement that is achieved by formally incorporating the proposed compensator for input-multiplicative parametric uncertainty in the observer. In summary, our results show performance improvements when applied to both SMC- and LQR-based control systems, with results that include a reduction in the root-mean square error of up to 39% in translational regulation control and a reduction of up to 29% in pendulum angular control

    Finite-Time State Estimation for an Inverted Pendulum under Input-Multiplicative Uncertainty

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    A sliding mode observer is presented, which is rigorously proven to achieve finite-time state estimation of a dual-parallel underactuated (i.e., single-input multi-output) cart inverted pendulum system in the presence of parametric uncertainty. A salient feature of the proposed sliding mode observer design is that a rigorous analysis is provided, which proves finite-time estimation of the complete system state in the presence of input-multiplicative parametric uncertainty. The performance of the proposed observer design is demonstrated through numerical case studies using both sliding mode control (SMC)- and linear quadratic regulator (LQR)-based closed-loop control systems. The main contribution presented here is the rigorous analysis of the finite-time state estimator under input-multiplicative parametric uncertainty in addition to a comparative numerical study that quantifies the performance improvement that is achieved by formally incorporating the proposed compensator for input-multiplicative parametric uncertainty in the observer. In summary, our results show performance improvements when applied to both SMC- and LQR-based control systems, with results that include a reduction in the root-mean square error of up to 39% in translational regulation control and a reduction of up to 29% in pendulum angular control

    Exploring the role of trust and expectations in CRI using in-the-wild studies

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    Studying interactions of children with humanoid robots in familiar spaces in natural contexts has become a key issue for social robotics. To fill this need, we conducted several Child-Robot Interaction (CRI) events with the Pepper robot in Polish and Japanese kindergartens. In this paper, we explore the role of trust and expectations towards the robot in determining the success of CRI. We present several observations from the video recordings of our CRI events and the transcripts of free-format question-answering sessions with the robot using the Wizard-of-Oz (WOZ) methodology. From these observations, we identify children’s behaviors that indicate trust (or lack thereof) towards the robot, e.g., challenging behavior of a robot or physical interactions with it. We also gather insights into children’s expectations, e.g., verifying expectations as a causal process and an agency or expectations concerning the robot’s relationships, preferences and physical and behavioral capabilities. Based on our experiences, we suggest some guidelines for designing more effective CRI scenarios. Finally, we argue for the effectiveness of in-the-wild methodologies for planning and executing qualitative CRI studies

    또 다른 인간의 동반자: 동물의 권리를 로봇에게도?

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    학위논문 (석사) -- 서울대학교 대학원 : 국제대학원 국제학과(국제협력전공), 2020. 8. Jiyeoun Song.This paper considers the academic debate on and different responses to the emergence of lifelike social robots as others from humans in society. The philosophical issues surrounding legal rights that are raised by this regulatory issue will be analyzed by deploying a 2x2 matrix based on two modalities: can and should social robots have rights? On these two questions, this thesis examines how the legal treatment of animals, the original others, has evolved historically, and how the animal-robot analogy, which encourages an understanding of social robots as analogues of animals, has risen to prominence as a line of argument to push for the extension of legal rights to protect social robots akin to animals. Using the same modalities, other positions on robot rights will be examined to suggest that the debate on robot rights shows parallels to the debate on animal rights and can be modeled along similar lines. In doing so, this thesis provides an overview of the current rights debate and suggests that the robot rights debate may follow a similar trajectory to the animal rights debate in the future.I. INTRODUCTION 1 II. LITERATURE REVIEW 8 II.1. ANALYSIS 9 II.1.1. On Social Robots 9 II.1.2. On Anthropomorphism 12 II.1.3. On the Comparison between Animal and Robot Rights 14 II.2. LIMITATIONS 16 III. METHODOLOGY 18 IV. DEFINING SOCIAL ROBOTS: WHY DO WE TALK ABOUT THEM? 22 IV.1. BACKGROUND 22 IV.2. EXAMPLES OF SOCIAL ROBOTS 25 IV.3. ANTHROPOMORPHISM AS INTENTIONAL DESIGN CHOICE 27 V. THE ANIMAL RIGHTS DEBATE 34 V.1. BACKGROUND 34 V.2. DEBATE ANALYSIS: FROM INDIFFERENCE TO ADVOCACY 35 V.3. CONTEMPORARY PERSPECTIVE 44 VI. THE ROBOT RIGHTS DEBATE 49 VI.1. BACKGROUND 49 VI.2. DEBATE ANALYSIS: FROM TOOLS TO SOCIAL ENTITIES 51 VI.2.1. Q1: Since social robots cannot have rights, they should not have rights. 52 VI.2.2. Q2: Even though social robots cannot have rights, they should have rights. 55 VI.2.3. Q3: Even though social robots can have rights, they should not have rights. 59 VI.2.4. Q4: Since social robots can have rights, they should have rights. 62 VI.2.5. The Dynamics of The Discourse 64 VI.3. THE ANIMAL-ROBOT ANALOGY 73 VI.4. CONTEMPORARY PERSPECTIVE 86 VII. CONCLUSION 89 VIII. REFERENCES 92Maste

    Modelling Multimodal Dialogues for Social Robots Using Communicative Acts

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    Social Robots need to communicate in a way that feels natural to humans if they are to effectively bond with the users and provide an engaging interaction. Inline with this natural, effective communication, robots need to perceive and manage multimodal information, both as input and output, and respond accordingly. Consequently, dialogue design is a key factor in creating an engaging multimodal interaction. These dialogues need to be flexible enough to adapt to unforeseen circumstances that arise during the conversation but should also be easy to create, so the development of new applications gets simpler. In this work, we present our approach to dialogue modelling based on basic atomic interaction units called Communicative Acts. They manage basic interactions considering who has the initiative (the robot or the user), and what is his/her intention. The two possible intentions are either ask for information or give information. In addition, because we focus on one-to-one interactions, the initiative can only be taken by the robot or the user. Communicative Acts can be parametrised and combined in a hierarchical manner to fulfil the needs of the robot’s applications, and they have been equipped with built-in functionalities that are in charge of low-level communication tasks. These tasks include communication error handling, turn-taking or user disengagement. This system has been integrated in Mini, a social robot that has been created to assist older adults with cognitive impairment. In a case of use, we demonstrate the operation of our system as well as its performance in real human–robot interactions.The research leading to these results has received funding from the projects Development of social robots to help seniors with cognitive impairment (ROBSEN), funded by the Ministerio de Economia y Competitividad; RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, funded by “Programas de Actividades I+D en la Comunidad de Madrid” and cofunded by Structural Funds of the EU; and Robots sociales para estimulación física, cognitiva y afectiva de mayores (ROSES) RTI2018-096338-B-I00 funded by Agencia Estatal de Investigación (AEI), Ministerio de Ciencia, Innovación y Universidade
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