Movement Primitive Learning and Generalization : Using Mixture Density Networks

Representing robot skills as movement primitives (MPs) that can be learned from human demonstration and adapted to new tasks and situations is a promising approach toward intuitive robot programming. To allow such adaptation, mapping between task parameters and MP parameters is needed, and different approaches have been proposed in the literature to learn such mapping. In human demonstrations, however, multiple modes and models exist, and these should be taken into account when learning these mappings and generalized MP representations

Data-Driven Grasp Synthesis—A Survey

We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps. We divide the approaches into three groups based on whether they synthesize grasps for known, familiar, or unknown objects. This structure allows us to identify common object representations and perceptual processes that facilitate the employed data-driven grasp synthesis technique. In the case of known objects, we concentrate on the approaches that are based on object recognition and pose estimation. In the case of familiar objects, the techniques use some form of a similarity matching to a set of previously encountered objects. Finally, for the approaches dealing with unknown objects, the core part is the extraction of specific features that are indicative of good grasps. Our survey provides an overview of the different methodologies and discusses open problems in the area of robot grasping. We also draw a parallel to the classical approaches that rely on analytic formulations

Mechanical design and friction modelling of a cable-driven upper-limb exoskeleton

This paper presents a lightweight and low-inertia cable-driven upper-limb exoskeleton powerful enough to meet the requirements for activities of daily living. It presents the mechanical design, kinematic structure,the underlying actuation system, sensors, other electronic components as well as the controller of the exoskeleton. The extensive effect of friction on cable-driven designs, such as the one presented in this paper, requires proper mathematical modelling for controller design. Thus, we propose a current actuator model that describes the relationship between the motor current, velocity, and external load. The model relies on an underlying Stribeck+Coulomb friction representation and an additional parameter that modifies its Coulomb friction representation with an offset to represent adhesion between a cable and sheath. The model has been validated based on experimental data collected with the exoskeleton. The results show that the proposed model better captures the non-linear behaviour of the exoskeleton’s actuation system, increasing overall descriptive performance by 15%. However, adding the adhesion offset to extend the relation of static friction, does not improve the model

4D-EGB Black Holes in RPS Thermodynamics

In this paper, we study thermodynamics of charged and uncharged 4-Dimension Einstein-Gauss-Bonnet (4D-EGB) black holes. The context of this study is the Visser's holographic thermodynamics with a fixed anti-de Sitter radius and a variable Newton constant known as restricted phase space thermodynamics (RPST). Our setup is constructed by using the AdS/CFT correspondence and by introducing a conjugate quantity of the Gauss-Bonnet parameter. By this ansatz, we conclude that the Gauss-Bonnet action multiplied by a temperature, behaves as a free energy. We derive the conjugate quantities corresponding to the first law in the RPST formalism. The study of the $T-S$ processes and the effect of the Gauss-Bonnet constant, $\alpha$, show that thermodynamic properties of charged black holes depend on the Gauss-Bonnet term and the charge of black holes. For an uncharged black holes, the effect of Gauss-Bonnet becomes crucial, as it behaves as a charged black hole with an effective charge. Finally, we find that the Hawking-Page phase transition occurs between a large black hole and a thermal AdS space.Comment: 12 pages, 4 figure

A Novel Greeting Selection System for a Culture-Adaptive Humanoid Robot

Robots, especially humanoids, are expected to perform human-like actions and adapt to our ways of communication in order to facilitate their acceptance in human society. Among humans, rules of communication change depending on background culture: greetings are a part of communication in which cultural differences are strong. Robots should adapt to these specific differences in order to communicate effectively, being able to select the appropriate manner of greeting for different cultures depending on the social context. In this paper, we present the modelling of social factors that influence greeting choice, and the resulting novel culture-dependent greeting gesture and words selection system. An experiment with German participants was run using the humanoid robot ARMAR-IIIb. Thanks to this system, the robot, after interacting with Germans, can perform greeting gestures appropriate to German culture in addition to a repertoire of greetings appropriate to Japanese culture

Model-based visual self-localization using geometry and graphs

Abstrac

Is hugging a robot weird? Investigating the influence of robot appearance on users' perception of hugging

Humanoid robots are expected to be able to communicate with humans using physical interaction, including hug, which is a common gesture of affection. In order to achieve that, their physical embodiment has to be carefully planned, as a user-friendly design will facilitate interaction and minimise repulsion. In this paper, we investigate the effect of manipulating the visual/tactile appearance of a robot, covering wires and metallic parts with clothes, and the auditory effect by enabling or disabling the connector of the hand. The experiment consists in a hugging interaction between the participants and the humanoid robot ARMAR-IIIb. Results after participation of 24 subjects confirm the positive effect from using clothes to modify the appearance and the negative effect of noise and vibration