3,849 research outputs found
To The Effects of Anthropomorphic Cues on Human Perception of Non-Human Robots: The Role of Gender
As non-humanoid robots increasingly permeate various sectors, understanding
their design implications for human acceptance becomes paramount. Despite their
ubiquity, studies on how to optimize their design for better human interaction
are sparse. Our investigation, conducted through two comprehensive surveys,
addresses this gap. The first survey delineated correlations between robot
behavioral and physical attributes, perceived occupation suitability, and
gender attributions, suggesting that both design and perceived gender
significantly influence acceptance. Survey 2 delved into the effects of varying
gender cues on robot designs and their consequent impacts on human-robot
interactions. Our findings highlighted that distinct gender cues can bolster or
impede interaction comfort
Faster Optimization in S-Graphs Exploiting Hierarchy
3D scene graphs hierarchically represent the environment appropriately
organizing different environmental entities in various layers. Our previous
work on situational graphs extends the concept of 3D scene graph to SLAM by
tightly coupling the robot poses with the scene graph entities, achieving
state-of-the-art results. Though, one of the limitations of S-Graphs is
scalability in really large environments due to the increased graph size over
time, increasing the computational complexity.
To overcome this limitation in this work we present an initial research of an
improved version of S-Graphs exploiting the hierarchy to reduce the graph size
by marginalizing redundant robot poses and their connections to the
observations of the same structural entities. Firstly, we propose the
generation and optimization of room-local graphs encompassing all graph
entities within a room-like structure. These room-local graphs are used to
compress the S-Graphs marginalizing the redundant robot keyframes within the
given room. We then perform windowed local optimization of the compressed graph
at regular time-distance intervals. A global optimization of the compressed
graph is performed every time a loop closure is detected. We show similar
accuracy compared to the baseline while showing a 39.81% reduction in the
computation time with respect to the baseline.Comment: 4 pages, 3 figures, IROS 2023 Workshop Pape
S-Nav: Semantic-Geometric Planning for Mobile Robots
Path planning is a basic capability of autonomous mobile robots. Former
approaches in path planning exploit only the given geometric information from
the environment without leveraging the inherent semantics within the
environment. The recently presented S-Graphs constructs 3D situational graphs
incorporating geometric, semantic, and relational aspects between the elements
to improve the overall scene understanding and the localization of the robot.
But these works do not exploit the underlying semantic graphs for improving the
path planning for mobile robots. To that aim, in this paper, we present S-Nav a
novel semantic-geometric path planner for mobile robots. It leverages S-Graphs
to enable fast and robust hierarchical high-level planning in complex indoor
environments. The hierarchical architecture of S-Nav adds a novel semantic
search on top of a traditional geometric planner as well as precise map
reconstruction from S-Graphs to improve planning speed, robustness, and path
quality. We demonstrate improved results of S-Nav in a synthetic environment.Comment: 6 pages, 4 figure
A Lightweight Universal Gripper with Low Activation Force for Aerial Grasping
Soft robotic grippers have numerous advantages that address challenges in
dynamic aerial grasping. Typical multi-fingered soft grippers recently
showcased for aerial grasping are highly dependent on the direction of the
target object for successful grasping. This study pushes the boundaries of
dynamic aerial grasping by developing an omnidirectional system for autonomous
aerial manipulation. In particular, the paper investigates the design,
fabrication, and experimental verification of a novel, highly integrated,
modular, sensor-rich, universal jamming gripper specifically designed for
aerial applications. Leveraging recent developments in particle jamming and
soft granular materials, the presented gripper produces a substantial holding
force while being very lightweight, energy-efficient and only requiring a low
activation force. We show that the holding force can be improved by up to 50%
by adding an additive to the membrane's silicone mixture. The experiments show
that our lightweight gripper can develop up to 15N of holding force with an
activation force as low as 2.5N, even without geometric interlocking. Finally,
a pick and release task is performed under real-world conditions by mounting
the gripper onto a multi-copter. The developed aerial grasping system features
many useful properties, such as resilience and robustness to collisions and the
inherent passive compliance which decouples the UAV from the environment.Comment: 21 pages, 19 figures; corrected affiliation
Características de personalidad percibidas en los padres y la pareja permanente: un estudio correlacional
Diversos autores afirman que la elección de pareja se basa principalmente en encontrar características semejantes a las de los padres. Así, las mujeres buscarían un hombre que se parezca a su padre, mientras que los hombres tenderían a elegir una mujer parecida a su madre. Por ello, se realizó una investigación con el fin de encontrar si había correlación entre las características percibidas en las características de autoconcepto de los padres y el de la pareja permanente, para lo cual se utilizó un cuestionario elaborado ex profeso. Se halló que los hombres perciben una mayor relación entre su madre y su pareja, en comparación con las mujeres, concluyéndose que en ambos sexos existe una clara tendencia a vincularse con una pareja sobre la base del tipo de relación que se tuvo con los padres
Semantic situation awareness of ellipse shapes via deep learning for multirotor aerial robots with a 2D LIDAR
In this work, we present a semantic situation awareness system for multirotor aerial robots equipped with a 2D LIDAR sensor, focusing on the understanding of the environment, provided to have a drift-free precise localization of the robot (e.g. given by GNSS/INS or motion capture system).
Our algorithm generates in real-time a semantic map of the objects of the environment as a list of ellipses represented by their radii, and their pose and velocity, both in world coordinates.
Two different Convolutional Neural Network (CNN) architectures are proposed and trained using an artificially generated dataset and a custom loss function, to detect ellipses in a segmented (i.e. with one single object) LIDAR measurement.
In cascade, a specifically designed indirect-EKF estimates the ellipses based semantic map in world coordinates, as well as their velocity.
We have quantitative and qualitatively evaluated the performance of our proposed situation awareness system.
Two sets of Software-In-The-Loop simulations using CoppeliaSim with one and multiple static and moving cylindrical objects are used to evaluate the accuracy and performance of our algorithm.
In addition, we have demonstrated the robustness of our proposed algorithm when handling real environments thanks to real laboratory experiments with non-cylindrical static (i.e. a barrel) objects and moving persons
Elección de pareja en universitarios mexicanos
El objetivo de la investigación fue conocer algunas de las características que los universitarios toman en cuenta al momento de elegir pareja real e ideal. Se trabajó con una muestra de 100 sujetos mediante la técnica de redes semánticas naturales. Los resultados muestran que para elegir pareja existen más similitudes que diferencias entre hombres y mujeres. Se encontró que las mujeres toman en cuenta las emociones, el humor, la intimidad, la personalidad y los valores, mientras que los hombres las cualidades físicas, la intimidad y la personalidad. Se obtuvieron resultados semejantes en cuanto a la pareja ideal. Las mujeres la definen en términos de emociones, valores, personalidad y cualidades físicas, y los hombres en función de la intimidad, el humor, la personalidad y las cualidades físicas. Pero unas y otros lo hacen con la finalidad común de satisfacer sus necesidades propias de afiliación
Evolución histórica de los vehículos aéreos no tripulados hasta la actualidad
The origin and development of unmanned aviation has been almost matched that of manned aviation, starting both from an almost common point. As in conventional manned aviation, military applications, have been the motor of technological development and the potential applications of these types of systems throughout much of the twentieth century and early twenty-first century. Finally it has been in relatively recent times that these systems are experiencing an impressive boom due to the discovery of the wide variety of commercial and civil operations that are able to perform very effectively. This paper attempts to summarize the historical evolution that these systems have suffered and in the end, to present a quick analysis of the major civil / commercial applications, trying to provide an overview of the main types of systems, their classification and general configuration.Peer Reviewe
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