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Tytuł:
Bayesian model for multimodal sensory information fusion in humanoid
Autorzy:
Wong, W. K.
Loo, L. C.
Neoh, T. M.
Liew, Y. W.
Lee, E. K.
Powiązania:
https://bibliotekanauki.pl/articles/384986.pdf
Data publikacji:
2011
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
multimodal
Bayesian fusion
fixation
saccade
humanoid robot
Opis:
In this paper, the Bayesian model for bimodal sensory information fusion is presented. It is a simple and biological plausible model used to model the sensory fusion in human’s brain. It is adopted into humanoid robot to fuse the spatial information gained from analyzing auditory and visual input, aiming to increase the accuracy of object localization. Bayesian fusion model requires prior knowledge on weights for sensory systems. These weights can be determined based on standard deviation (SD) of unimodal localization error obtained in experiments. The performance of auditory and visual localization was tested under two conditions: fixation and saccade. The experiment result shows that Bayesian model did improve the accuracy of object localization. However, the fused position of the object is not accurate when both of the sensory systems were bias towards the same direction.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 1; 16-22
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Personal Care Robots for Senior Adults – Analysis and Assessment of the Current State of Selected Gerontechnology
Autorzy:
Halicka, K.
Powiązania:
https://bibliotekanauki.pl/articles/2064890.pdf
Data publikacji:
2018
Wydawca:
STE GROUP
Tematy:
technology assessment
prospective technology analysis gerontechnology
humanoid robots
Opis:
As part of this article, research work aimed at acquiring new knowledge regarding the analysis and assessment of arbitrarily selected gerontechnology: personal care robots for older adults. The results planned to be achieved under the article have not been reflected in previous scientific studies. Until now, no research has been carried out to assess this technology regarding heterogeneous criteria. The existing research results only concern the study of the acceptability of the technologies used by older people to improve their quality of life. The opinions of prospective potential users were not considered as well as their age and place of posting or education. Neither were marketing, social and ethical aspects, competitiveness or innovation. The author will use the proprietary methodology of prospective technology analysis (PAT) to analyse and evaluate the technology. This methodology allows assessing the current state of technology. It enables providing knowledge on characteristic features of the technology, current and potential applications of a given technology and necessary for the development of analysed resource technologies, as well as the impact of technology on the environment and the environment on technology.
Źródło:
Multidisciplinary Aspects of Production Engineering; 2018, 1, 1; 867--873
2545-2827
Pojawia się w:
Multidisciplinary Aspects of Production Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Humanoid robot path planning using rapidly explored random tree and motion primitives
Autorzy:
Szumowski, Maksymilian
Zielinska, Teresa
Powiązania:
https://bibliotekanauki.pl/articles/1837364.pdf
Data publikacji:
2021
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
humanoid robot
path planning
rapidly exploring random tree
Opis:
Path planning is an essential function of the control sy‐ stem of any mobile robot. In this article the path planner for a humanoid robot is presented. The short description of an universal control framework and the Motion Ge‐ neration System is also presented. Described path plan‐ ner utilizes a limited number of motions called the Mo‐ tion Primitives. They are generated by Motion Generation System. Four different algorithms, namely the: Informed RRT, Informed RRT with random bias, and RRT with A* like heuristics were tested. For the last one the version with biased random function was also considered. All menti‐ oned algorithms were evaluated considering three diffe‐ rent scenarios. Obtained results are described and discus‐ sed.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2021, 15, 1; 24-30
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robot ROMAN for investigations of human-robot interaction
Robot ROMAN do badania interakcji człowiek-robot
Autorzy:
Mianowski, K.
Berns, K.
Hirth, J.
Powiązania:
https://bibliotekanauki.pl/articles/277362.pdf
Data publikacji:
2011
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
roboty osobiste
roboty humanoidalne
personal robots
humanoid robots
Opis:
For a long time people have been interested in the similarity between living organisms and the engineering devices built by them. Recent developments in the area of service robotics show an increasing interest in personal robots. Those personal robots can help to handle daily work and to entertain people. Future service robots will more and more be able to communicate with humans in a natural way. The communication between humans is not only based on speech in fact movements and emotions are very important. The expression of those emotions is a combination of neck, eyes and skin movements. Therefore this paper presents the construction of the humanoid robot head ROMAN with artificial eyes and neck. The head includes actuators, sensors and mechanical parts which are all integrated into the head. The currents design enable the robot to include a complex sensors system and a complete emotional system.
Od bardzo dawna ludzie są zainteresowani w podobieństwie budowanych przez siebie urządzeń technicznych i organizmów żywych. Aktualnie rozwój robotów usługowych pokazuje znaczny wzrost zainteresowania robotami osobistymi. Roboty osobiste mogą ułatwić i umilić codzienne życie. W przyszłości roboty usługowe będą mogły porozumiewać się z ludźmi w bardziej naturalny sposób. Komunikacja między ludźmi opiera się nie tylko na komunikacji werbalnej (słownej) lecz również w znacznej mierze na mimice ciała (wymowie ruchów) i emocjach wyrażanych przez mimikę twarzy. Emocje te są kombinacją ruchów szyi, oczu, i mięśni/skóry twarzy. W niniejszym artykule zaprezentowano rozwiązania konstrukcyjne robota humanoidalnego ROMAN, w szczególności głowy ze sztucznymi oczami i szyi. Głowa zawiera siłowniki, czujniki i układy mechaniczne zintegrowane w złożoną konstrukcję mechatroniczną naśladującą kształty i wybrane funkcje głowy człowieka. Aktualny stan projektu pozwala na włączenie skomplikowanego układu sensorycznego i wykonawczego do wyrażania emocji w sposób bardzo podobny jak to robią ludzie.
Źródło:
Pomiary Automatyka Robotyka; 2011, 15, 2; 474-483
1427-9126
Pojawia się w:
Pomiary Automatyka Robotyka
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Navigation of humanoids by a hybridized regression-adaptive particle swarm optimization approach
Autorzy:
Kumar, P. B.
Sahu, C.
Parhi, D. R.
Powiązania:
https://bibliotekanauki.pl/articles/229923.pdf
Data publikacji:
2018
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
navigation
humanoid NAO
RA
APSO
Petri-Net
V-REP
Opis:
In the era of humanoid robotics, navigation and path planning of humanoids in complex environments have always remained as one of the most promising area of research. In this paper, a novel hybridized navigational controller is proposed using the logic of both classical technique and computational intelligence for path planning of humanoids. The proposed navigational controller is a hybridization of regression analysis with adaptive particle swarm optimization. The inputs given to the regression controller are in the forms of obstacle distances, and the output of the regression controller is interim turning angle. The output interim turning angle is again fed to the adaptive particle swarm optimization controller along with other inputs. The output of the adaptive particle swarm optimization controller termed as final turning angle acts as the directing factor for smooth navigation of humanoids in a complex environment. The proposed navigational controller is tested for single as well as multiple humanoids in both simulation and experimental environments. The results obtained from both the environments are compared against each other, and a good agreement between them is observed. Finally, the proposed hybridization technique is also tested against other existing navigational approaches for validation of better efficiency.
Źródło:
Archives of Control Sciences; 2018, 28, 3; 349--378
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Interactive programming of a humanoid robot
Autorzy:
Wasielica, M.
Wąsik, M.
Kasiński, A.
Powiązania:
https://bibliotekanauki.pl/articles/384248.pdf
Data publikacji:
2014
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
bipeds
control of robotic systems
humanoid robots
legged robots
teleoperation
Opis:
This paper presents a control system for a humanoid robot based on human body movement tracking. The system uses the popular Kinect sensor to capture the mo- tion of the operator and allows the small, low-cost, and proprietary robot to mimic full body motion in real time. Tracking controller is based on optimization-free algorithms and uses a full set of data provided by Kinect SDK, in order to make movements feasible for the considerably different kinematics of the humanoid robot compared to the human body kinematics. To maintain robot stability we implemented the balancing algorithm based on a simple geometrical model, which adjusts only the configuration of the robot’s feet joints, maintaining an unchanged imitated posture. Experimental results demonstrate that the system can successfully allow the robot to mimic captured human motion sequences.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2014, 8, 3; 3-9
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Hey Robot, the Mind Is Not Enough to Join the Moral Community! The Effect of Assigning a Mind and a Soul to a Humanoid Robot on Its Moral Status
Autorzy:
Fortuna, Paweł
Gut, Arkadiusz
Wróblewski, Zbigniew
Powiązania:
https://bibliotekanauki.pl/articles/31341021.pdf
Data publikacji:
2023
Wydawca:
Katolicki Uniwersytet Lubelski Jana Pawła II. Towarzystwo Naukowe KUL
Tematy:
moral status
mind perception
soul perception
humanoid robot
artificial intelligence
Opis:
Current research explored the link between beliefs about the mind, the soul, and the moral status (MS) of humanoid robot (HR). Determining the conditions for the assignment of MS to artificially intelligent agents is important from the point of view of their inclusion in the moral community. The indication of the role of beliefs about the mind and the soul is consistent with the tendency to distinguish these two incorporeal entities observed in folk psychology. In an online study, participants (N = 223), who believed in the existence of the mind and the soul, assessed the MS of the HR Sophia and assigned attributes to it; based on this, two dimensions of the mind perception (MP) were distinguished: Experience and Agency. As expected, we found that the participants attributed the mind more than the soul to the robot, and these projections significantly affected the MS of the robot. Path analysis revealed that the dimensions of MP acted as a mediator in the mind-MS relationship, while the soul-MS relationship was direct. The analysis of the obtained results leads to a more general conclusion that the soul attribution is a diverse and parallel condition to the mind attribution in individuals.
Źródło:
Roczniki Psychologiczne; 2023, 26, 2; 115-133
1507-7888
Pojawia się w:
Roczniki Psychologiczne
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Criminal law assessments of the exploitation of prostitution practised by humanoid robots
Autorzy:
Lachowski, Jerzy
Powiązania:
https://bibliotekanauki.pl/articles/52089862.pdf
Data publikacji:
2024
Wydawca:
Uczelnia Łazarskiego. Oficyna Wydawnicza
Tematy:
law, criminal law, exploitation of prostitution, artificial intelligence, humanoid robots
Opis:
The subject of this study is the criminal law issue of exploiting prostitution practised by humanoid robots. Interest in this issue stems from two main reasons. Firstly, the development of new technologies, including artificial intelligence capable of self-education, analysis of the surrounding reality, and decision-making necessitates the consideration of its legal subjectivity. Secondly, the emergence of brothels employing humanoid robots prompts reflection on the criminal responsibility of those who benefit from the prostitution facilitated by them. This article aims to highlight the phenomenon of using humanoid robots in prostitution, offer a criminal law assessment of such behaviour from the perspective of Polish criminal law, and suggest the direction for the development of domestic criminal law to accommodate this phenomenon in the future. Additionally, it addresses the issue of criminal liability for harm caused by a humanoid robot equipped with artificial intelligence while providing sexual services. The article predominantly employs the dogmatic-legal method, performing an exegesis of the provisions of Article 204 of the Criminal Code in the context of the issue signalled. The analyses have concluded that this norm does not encompass in which the perpetrator facilitates, induces prostitution of a humanoid robot or derives financial benefits from such activities, despite such behaviour being detrimental to morality, the fundamental good protected under Article 204 of the Criminal Code. De lege lata, a humanoid robot may also not be subject to criminal liability if it harms a person using its sexual services, as such an ‘essence’ does not align with the current structure of crime and the concept of criminal punishment. However, the liability of manufacturers or users of such devices is not ruled out. It should be noted that as humanoid robots become more autonomous, holding producers or users criminally liable for damages they cause becomes less justifiable, and the applicability of artificial intelligence liability similar to the criminal liability of legal persons becomes more relevant.
Źródło:
Ius Novum; 2024, 18, 1 ENG; 1-12
1897-5577
Pojawia się w:
Ius Novum
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Trajectory planning of the humanoid manipulator
Autorzy:
Kacprzak, C.
Pająk, G.
Powiązania:
https://bibliotekanauki.pl/articles/266170.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
manipulator
redundancja
unikanie kolizji
humanoid manipulator
redundancy resolution
collision avoidance
manipulability measure
Opis:
The paper presents a method of planning a collision-free trajectory for a humanoid manipulator mounted on a rail system. The task of the robot is to move its end-effectors from the current position to the given final location in the workspace. The method is based on a redundancy resolution at the velocity level. In addition to this primary task, secondary objectives are also taken into account. The motion of the robot is planned in order to maximize a manipulability measure in purpose of avoiding manipulator singularities. State inequality constraints resulting from collision avoidance conditions are also considered. A computer example involving a humanoid manipulator operating in a three dimensional task space is also presented.
Źródło:
International Journal of Applied Mechanics and Engineering; 2019, 24, 3; 591-602
1734-4492
2353-9003
Pojawia się w:
International Journal of Applied Mechanics and Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Inverse kinematics solution for humanoid robot minimizing gravity-related joint torques
Autorzy:
Mikołajczyk, Kacper
Szumowski, Maksymilian
Woliński, Łukasz
Powiązania:
https://bibliotekanauki.pl/articles/27309838.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
humanoid robot
redundant kinematics
joint torque minimization
humanoidalnego robot humanoidalny
minimalizacja momentu obrotowego
Opis:
A method of solving the inverse kinematics problem for a humanoid robot modeled as a tree-shaped manipulator is presented. Robot trajectory consists of a set of trajectories of the characteristic points (the robot’s center of mass, origins of feet and hands frames) in the discrete time domain. The description of motion in the frame associated with the supporting foot allows one to represent the robot as a composite of several serial open-loop redundant manipulators. Stability during the motion is provided by the trajectory of the robot’s center of mass which ensures that the zero moment point criterion is fulfilled. Inverse kinematics solution is performed offline using the redundancy resolution at the velocity level. The proposed method utilizes robot’s redundancy to fulfill joint position limits and to reduce gravity-related joint torques. The method have been tested in simulations and experiments on a humanoid robot Melson, and results are presented.
Źródło:
Archive of Mechanical Engineering; 2022, LXIX, 3; 393--409
0004-0738
Pojawia się w:
Archive of Mechanical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Preview Control applied for humanoid robot motion generation
Autorzy:
Szumowski, Maksymilian
Żurawska, Magdalena Sylwia
Zielińska, Teresa
Powiązania:
https://bibliotekanauki.pl/articles/229349.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
motion generation
humanoid robot
Preview Control
Extended Cart-Table model
off-line method
Opis:
This paper presents a concept of humanoid robot motion generation using the dedicated simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait with equal steps length is considered. Motion pattern is obtained here with use of Preview Control method. Motion trajectories are first obtained in simulations (off-line) and then they are verified on a test-bed. Tests performed using the real robot confirmed the correctness of the method. Robot completed a set of steps without losing its balance.
Źródło:
Archives of Control Sciences; 2019, 29, 1; 111-132
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Gerontechnology — the assessment of one selected technology improving the quality of life of older adults
Autorzy:
Halicka, Katarzyna
Powiązania:
https://bibliotekanauki.pl/articles/125597.pdf
Data publikacji:
2019
Wydawca:
Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:
technology assessment
gerontechnology
humanoid robot
older adult
ocena technologii
gerontechnologia
humanoidalny robot
starszy dorosły
Opis:
Older adults experience difficulties in their daily lives as their health deteriorates. Gerontechnology (the compilation of terms “gerontology” and “technology”) helps in the resolution of problems faced by older adults by improving their quality of life and, above all, developing tools to facilitate the access of older adults to all goods, services and infrastructure, which is also the understanding of the term used in this paper. The article mainly aimed to assess the selected gerontechnology that improved the quality of life of older adults in terms of different criteria, namely, innovation, demand, socioethics, usability, and functionality. It also analysed whether the respondent's age and gender had any influence on the assessment. Care robots were chosen from among the variety of gerontechnologies. The survey was conducted in the first quarter of 2018 and involved 643 people from different voivodships of Poland. Two types of questionnaires were designed. The electronic form of the survey was distributed using social media and snowball techniques, and the paper form was sent by traditional post to all nursing homes in Poland.
Źródło:
Engineering Management in Production and Services; 2019, 11, 2; 43-51
2543-6597
2543-912X
Pojawia się w:
Engineering Management in Production and Services
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Vision based persistent localization of a humanoid robot for locomotion tasks
Autorzy:
Martínez, P. A.
Castelán, M.
Arechavaleta, G.
Powiązania:
https://bibliotekanauki.pl/articles/329982.pdf
Data publikacji:
2016
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
robot localization
monocular vision
humanoid locomotion
lokalizacja robota
wizja jednookularowa
ruch robota
robot humanoidalny
Opis:
Typical monocular localization schemes involve a search for matches between reprojected 3D world points and 2D image features in order to estimate the absolute scale transformation between the camera and the world. Successfully calculating such transformation implies the existence of a good number of 3D points uniformly distributed as reprojected pixels around the image plane. This paper presents a method to control the march of a humanoid robot towards directions that are favorable for visual based localization. To this end, orthogonal diagonalization is performed on the covariance matrices of both sets of 3D world points and their 2D image reprojections. Experiments with the NAO humanoid platform show that our method provides persistence of localization, as the robot tends to walk towards directions that are desirable for successful localization. Additional tests demonstrate how the proposed approach can be incorporated into a control scheme that considers reaching a target position.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2016, 26, 3; 669-682
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Stability Controller on the Atlas Robot Example
Kontroler równowagi na przykładzie robota Atlas
Autorzy:
Wasielica, M.
Powiązania:
https://bibliotekanauki.pl/articles/930302.pdf
Data publikacji:
2017
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
bipeds
humanoid robots
legged robots
motion planning
robot dwunożny
robot humanoidalny
robot kroczący
planowanie ruchu
Opis:
The paper presents the gait framework for a biped robot on the Atlas robot example. The method utilizes inverted pendulum model and static stability controller with correction from IMU sensor. A straight-forward balance control strategy based on ankle joints control is proposed. The controller which stabilizes the robot during execution of the planned path is described. To show the efficiency of the proposed method the results obtained in the Virtual Robotics Challenge environment (Gazebo) are provided.
Artykuł przedstawia system generowania chodu dla robotów dwunożnych na przykładzie robota Atlas. Metoda wykorzystuje model odwróconego wahadła oraz statyczny kontroler stabilności wraz z korekcją z sensora IMU. Zaproponowano prostą metodę utrzymywania równowagi w oparciu o sterowanie ruchami stóp robota. Opisano też kontroler stabilizujący robota podczas pokonywania zaplanowanej ścieżki. Zweryfikowano działanie zaproponowanych metod na robocie Atlas w symulatorze Virtual Robotics Challenge (Gazebo).
Źródło:
Pomiary Automatyka Robotyka; 2017, 21, 2; 65-70
1427-9126
Pojawia się w:
Pomiary Automatyka Robotyka
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The robot joint lubrication with ultra-thin hyperelastic superficial layers
Autorzy:
Wierzcholski, K.
Miszczak, A.
Powiązania:
https://bibliotekanauki.pl/articles/243815.pdf
Data publikacji:
2016
Wydawca:
Instytut Techniczny Wojsk Lotniczych
Tematy:
robot joint lubrication
various curvilinear hyperactive thin
soft layer shapes
basic hydrodynamic equations
physical models
humanoid robot
Opis:
The surface of humanoid robots is more or less deformable metal and plastic replica of human body. An advanced humanoid robot has human like behaviour – it can talk, run, jump or climb stairs in a very similar way a human does. Hence follows that operation of construction of the robots artificial joints to be similar for biological joints activities. This fact requires applying proper as well corresponding soft solid materials, and specific lubricants. To the interesting phenomena belong the fact, that as well the surfaces of an articular cartilage human joint as the soft surfaces of the robot joints, coated with ultra-thin hyperelastic multi-layers, plays an important role in the surface active lubrication, relative small friction forces and wear during the human limb or robot body activities in the movement. The presence of the ultra-thin hyperelastic layers consisting the soft bearing materials including hyperelastic nano-particles during the robot bearing lubrication enables to indicate numerous positive effects among other the decreases the friction coefficient values. Therefore, the results obtained in this paper may be applicable during the joint-endo-prosthesis or artificial joint design in new humanoid robots, where instead cartilage and synovial fluid are applied new soft materials with active hyperelastic micro- and nano- particles. In this paper is shortly presented the mathematical model of hydrodynamic lubrication of thin boundary layer describing the robot joint. Mathematical model in 3D for lubricant consists of three equations of motion, continuity equation, conservation of energy equation and Young-Kelvin-Laplace equation describing the thin layer interfacial energy.
Źródło:
Journal of KONES; 2016, 23, 3; 555-562
1231-4005
2354-0133
Pojawia się w:
Journal of KONES
Dostawca treści:
Biblioteka Nauki
Artykuł
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