146 research outputs found
Acquisition of Visually Guided Swing Motion Based on Genetic Algorithms and Neural Networks in Two-Armed Bipedal Robot
Proceedings of the 1997 IEEE lntemational Conference on Robotics and Automation Albuquerque, New Mexico - April 199
Daily Assistive Modular Robot Design Based on Multi-Objective Black-Box Optimization
The range of robot activities is expanding from industries with fixed
environments to diverse and changing environments, such as nursing care support
and daily life support. In particular, autonomous construction of robots that
are personalized for each user and task is required. Therefore, we develop an
actuator module that can be reconfigured to various link configurations, can
carry heavy objects using a locking mechanism, and can be easily operated by
human teaching using a releasing mechanism. Given multiple target coordinates,
a modular robot configuration that satisfies these coordinates and minimizes
the required torque is automatically generated by Tree-structured Parzen
Estimator (TPE), a type of black-box optimization. Based on the obtained
results, we show that the robot can be reconfigured to perform various
functions such as moving monitors and lights, serving food, and so on.Comment: Accepted at IROS2023, website -
https://haraduka.github.io/auto-modular-design
Singularity-free Aerial Deformation by Two-dimensional Multilinked Aerial Robot with 1-DoF Vectorable Propeller
Two-dimensional multilinked structures can benefit aerial robots in both
maneuvering and manipulation because of their deformation ability. However,
certain types of singular forms must be avoided during deformation. Hence, an
additional 1 Degrees-of-Freedom (DoF) vectorable propeller is employed in this
work to overcome singular forms by properly changing the thrust direction. In
this paper, we first extend modeling and control methods from our previous
works for an under-actuated model whose thrust forces are not unidirectional.
We then propose a planning method for the vectoring angles to solve the
singularity by maximizing the controllability under arbitrary robot forms.
Finally, we demonstrate the feasibility of the proposed methods by experiments
where a quad-type model is used to perform trajectory tracking under
challenging forms, such as a line-shape form, and the deformation passing these
challenging forms
A method for Selecting Scenes and Emotion-based Descriptions for a Robot's Diary
In this study, we examined scene selection methods and emotion-based
descriptions for a robot's daily diary. We proposed a scene selection method
and an emotion description method that take into account semantic and affective
information, and created several types of diaries. Experiments were conducted
to examine the change in sentiment values and preference of each diary, and it
was found that the robot's feelings and impressions changed more from date to
date when scenes were selected using the affective captions. Furthermore, we
found that the robot's emotion generally improves the preference of the robot's
diary regardless of the scene it describes. However, presenting negative or
mixed emotions at once may decrease the preference of the diary or reduce the
robot's robot-likeness, and thus the method of presenting emotions still needs
further investigation.Comment: 6 pages, 5 figures, ROMAN 202
Panoramic-Environmental Description as Robots\u27 Visual Short-Term Memory
Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 199
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