4,024 research outputs found
Learning Task Priorities from Demonstrations
Bimanual operations in humanoids offer the possibility to carry out more than
one manipulation task at the same time, which in turn introduces the problem of
task prioritization. We address this problem from a learning from demonstration
perspective, by extending the Task-Parameterized Gaussian Mixture Model
(TP-GMM) to Jacobian and null space structures. The proposed approach is tested
on bimanual skills but can be applied in any scenario where the prioritization
between potentially conflicting tasks needs to be learned. We evaluate the
proposed framework in: two different tasks with humanoids requiring the
learning of priorities and a loco-manipulation scenario, showing that the
approach can be exploited to learn the prioritization of multiple tasks in
parallel.Comment: Accepted for publication at the IEEE Transactions on Robotic
Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation
This paper presents an anthropomorphic, compliant and lightweight dual arm manipulator designed and developed for aerial manipulation applications with multi-rotor platforms. Each arm provides four degrees of freedom in a human-like kinematic configuration for end effector positioning: shoulder pitch, roll and yaw, and elbow pitch. The dual arm, weighting 1.3 kg in total, employs smart servo actuators and a customized and carefully designed aluminum frame structure manufactured by laser cut. The proposed
design reduces the manufacturing cost as no computer numerical control machined part is used. Mechanical joint compliance is provided in all the joints, introducing a compact spring-lever transmission mechanism between the servo shaft and the links, integrating a potentiometer for measuring the deflection of the joints.
The servo actuators are partially or fully isolated against impacts and overloads thanks to the ange bearings attached to the frame structure that support the rotation of the links and the deflection of the joints. This simple mechanism increases the robustness of the arms and safety in the physical interactions between the aerial
robot and the environment. The developed manipulator has been validated through different experiments in fixed base test-bench and in outdoor flight tests.Unión Europea H2020-ICT-2014- 644271Ministerio de EconomÃa y Competitividad DPI2015-71524-RMinisterio de EconomÃa y Competitividad DPI2017-89790-
Tahap penguasaan, sikap dan minat pelajar Kolej Kemahiran Tinggi MARA terhadap mata pelajaran Bahasa Inggeris
Kajian ini dilakukan untuk mengenal pasti tahap penguasaan, sikap dan minat pelajar
Kolej Kemahiran Tinggi Mara Sri Gading terhadap Bahasa Inggeris. Kajian yang
dijalankan ini berbentuk deskriptif atau lebih dikenali sebagai kaedah tinjauan. Seramai
325 orang pelajar Diploma in Construction Technology dari Kolej Kemahiran Tinggi
Mara di daerah Batu Pahat telah dipilih sebagai sampel dalam kajian ini. Data yang
diperoleh melalui instrument soal selidik telah dianalisis untuk mendapatkan
pengukuran min, sisihan piawai, dan Pekali Korelasi Pearson untuk melihat hubungan
hasil dapatan data. Manakala, frekuensi dan peratusan digunakan bagi mengukur
penguasaan pelajar. Hasil dapatan kajian menunjukkan bahawa tahap penguasaan
Bahasa Inggeris pelajar adalah berada pada tahap sederhana manakala faktor utama yang
mempengaruhi penguasaan Bahasa Inggeris tersebut adalah minat diikuti oleh sikap.
Hasil dapatan menggunakan pekali Korelasi Pearson juga menunjukkan bahawa terdapat
hubungan yang signifikan antara sikap dengan penguasaan Bahasa Inggeris dan antara
minat dengan penguasaan Bahasa Inggeris. Kajian menunjukkan bahawa semakin positif
sikap dan minat pelajar terhadap pengajaran dan pembelajaran Bahasa Inggeris semakin
tinggi pencapaian mereka. Hasil daripada kajian ini diharapkan dapat membantu pelajar
dalam meningkatkan penguasaan Bahasa Inggeris dengan memupuk sikap positif dalam
diri serta meningkatkan minat mereka terhadap Bahasa Inggeris dengan lebih baik. Oleh
itu, diharap kajian ini dapat memberi panduan kepada pihak-pihak yang terlibat dalam
membuat kajian yang akan datang
Virtual Reality Games for Motor Rehabilitation
This paper presents a fuzzy logic based method to track user satisfaction without the need for devices to monitor users physiological conditions. User satisfaction is the key to any product’s acceptance; computer applications and video games provide a unique opportunity to provide a tailored environment for each user to better suit their needs. We have implemented a non-adaptive fuzzy logic model of emotion, based on the emotional component of the Fuzzy Logic Adaptive Model of Emotion (FLAME) proposed by El-Nasr, to estimate player emotion in UnrealTournament 2004. In this paper we describe the implementation of this system and present the results of one of several play tests. Our research contradicts the current literature that suggests physiological measurements are needed. We show that it is possible to use a software only method to estimate user emotion
Fast human motion prediction for human-robot collaboration with wearable interfaces
In this paper, we aim at improving human motion prediction during human-robot
collaboration in industrial facilities by exploiting contributions from both
physical and physiological signals. Improved human-machine collaboration could
prove useful in several areas, while it is crucial for interacting robots to
understand human movement as soon as possible to avoid accidents and injuries.
In this perspective, we propose a novel human-robot interface capable to
anticipate the user intention while performing reaching movements on a working
bench in order to plan the action of a collaborative robot. The proposed
interface can find many applications in the Industry 4.0 framework, where
autonomous and collaborative robots will be an essential part of innovative
facilities. A motion intention prediction and a motion direction prediction
levels have been developed to improve detection speed and accuracy. A Gaussian
Mixture Model (GMM) has been trained with IMU and EMG data following an
evidence accumulation approach to predict reaching direction. Novel dynamic
stopping criteria have been proposed to flexibly adjust the trade-off between
early anticipation and accuracy according to the application. The output of the
two predictors has been used as external inputs to a Finite State Machine (FSM)
to control the behaviour of a physical robot according to user's action or
inaction. Results show that our system outperforms previous methods, achieving
a real-time classification accuracy of after
from movement onset
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