Motion Control of Passive Robot Porter with Variable Motion Characteristics for Handling a Single Object

Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics, December 15 -18, 2007, Sanya, Chin

A New Control Approach for a Robotic Walking Support System in Adapting User Characteristics

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Environment Feedback for Robotic Walking Support System Control

2007 IEEE International Conference on FrB4.4 Robotics and Automation, Roma, Italy, 10-14 April 2007 / Proceedings of 2007 IEEE International Conference on Robotics and Automatio

Dance Teaching by a Robot: Combining Cognitive and Physical Human-Robot Interaction for Supporting the Skill Learning Process

This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for assisting the skill learning process. Direct contact cooperation has been designed through an adaptive impedance-based controller that adjusts according to the partner's performance in the task. In measuring performance, a scoring system has been designed using the concept of progressive teaching (PT). The system adjusts the difficulty based on the user's number of practices and performance history. Using the proposed method and a baseline constant controller, comparative experiments have shown that the PT presents better performance in the initial stage of skill learning. An analysis of the subjects' perception of comfort, peace of mind, and robot performance have shown a significant difference at the p < .01 level, favoring the PT algorithm.Comment: Presented at IEEE International Conference on Robotics and Automation ICRA-201

Structural Design for Omni-Directional Mobile Base of Passive-type Mobile Robot

Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, August 5 - 8, 2007, Harbin, Chin

Motion Control of Wearable Walking Support System with Accelerometer Considering Swing Phase Support

Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, Technische Universität München, Munich, Germany, August 1-3, 200

Control Passive Mobile Robots for Object Transportation - Braking Torque Analysis and Motion Control -

2007 IEEE International Conference on Robotics and Automation, Roma, Italy, 10-14 April 2007 / Proceedings of 2007 IEEE International Conference on Robotics and Automatio