30,211 research outputs found
A motion system for social and animated robots
This paper presents an innovative motion system that is used to control the motions and animations of a social robot. The social robot Probo is used to study Human-Robot Interactions (HRI), with a special focus on Robot Assisted Therapy (RAT). When used for therapy it is important that a social robot is able to create an "illusion of life" so as to become a believable character that can communicate with humans. The design of the motion system in this paper is based on insights from the animation industry. It combines operator-controlled animations with low-level autonomous reactions such as attention and emotional state. The motion system has a Combination Engine, which combines motion commands that are triggered by a human operator with motions that originate from different units of the cognitive control architecture of the robot. This results in an interactive robot that seems alive and has a certain degree of "likeability". The Godspeed Questionnaire Series is used to evaluate the animacy and likeability of the robot in China, Romania and Belgium
Reactive Planar Manipulation with Convex Hybrid MPC
This paper presents a reactive controller for planar manipulation tasks that
leverages machine learning to achieve real-time performance. The approach is
based on a Model Predictive Control (MPC) formulation, where the goal is to
find an optimal sequence of robot motions to achieve a desired object motion.
Due to the multiple contact modes associated with frictional interactions, the
resulting optimization program suffers from combinatorial complexity when
tasked with determining the optimal sequence of modes.
To overcome this difficulty, we formulate the search for the optimal mode
sequences offline, separately from the search for optimal control inputs
online. Using tools from machine learning, this leads to a convex hybrid MPC
program that can be solved in real-time. We validate our algorithm on a planar
manipulation experimental setup where results show that the convex hybrid MPC
formulation with learned modes achieves good closed-loop performance on a
trajectory tracking problem
Visualizing and Interacting with Concept Hierarchies
Concept Hierarchies and Formal Concept Analysis are theoretically well
grounded and largely experimented methods. They rely on line diagrams called
Galois lattices for visualizing and analysing object-attribute sets. Galois
lattices are visually seducing and conceptually rich for experts. However they
present important drawbacks due to their concept oriented overall structure:
analysing what they show is difficult for non experts, navigation is
cumbersome, interaction is poor, and scalability is a deep bottleneck for
visual interpretation even for experts. In this paper we introduce semantic
probes as a means to overcome many of these problems and extend usability and
application possibilities of traditional FCA visualization methods. Semantic
probes are visual user centred objects which extract and organize reduced
Galois sub-hierarchies. They are simpler, clearer, and they provide a better
navigation support through a rich set of interaction possibilities. Since probe
driven sub-hierarchies are limited to users focus, scalability is under control
and interpretation is facilitated. After some successful experiments, several
applications are being developed with the remaining problem of finding a
compromise between simplicity and conceptual expressivity
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