Human-driven multi-robot design process for social interactions with children on complex environments

Author(s):  
David Goncalves ◽  
Artur Arsenio
Author(s):  
Muhammad Fadhil Ginting ◽  
Kyohei Otsu ◽  
Jeffrey Edlund ◽  
Jay Gao ◽  
Ali-akbar Agha-mohammadi

Author(s):  
Andrew P. Sabelhaus ◽  
Hao Ji ◽  
Patrick Hylton ◽  
Yakshu Madaan ◽  
ChanWoo Yang ◽  
...  

The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to create a compliant, cable-driven, 3-degree-of-freedom, underactuated tensegrity core for quadruped robots. This work presents simulations and preliminary mechanism designs of that robot. Design goals and the iterative design process for an ULTRA Spine prototype are discussed. Inverse kinematics simulations are used to develop engineering characteristics for the robot, and forward kinematics simulations are used to verify these parameters. Then, multiple novel mechanism designs are presented that address challenges for this structure, in the context of design for prototyping and assembly. These include the spine robot’s multiple-gear-ratio actuators, spine link structure, spine link assembly locks, and the multiple-spring cable compliance system.


2020 ◽  
Vol 18 (3) ◽  
pp. 235-253
Author(s):  
Mads Brath Jensen ◽  
Isak Worre Foged ◽  
Hans Jørgen Andersen

This study seeks to identify key aspects for increased integration of interactive robotics within the creative design process. Through its character as foundational research, the study aims to contribute to the advancement of new explorative design methods to support architects in their exploration of fabrication and assembly of an integrated performance-driven architecture. The article describes and investigates a proposed design framework for supporting an interactive human–robot design process. The proposed framework is examined through a 3-week architectural studio, with university master students exploring the design of a brick construction with the support of an interactive robotic platform. Evaluation of the proposed framework was done by triangulation of the authors’ qualitative user observations, quantitative logging of the students’ individual design processes, and through questionnaires completed after finishing the studies. The result suggests that interactive human–robot fabrication is a relevant mode of design with positive effect on the process of creative design exploration.


2020 ◽  
Vol 12 (5) ◽  
pp. 168781402092449 ◽  
Author(s):  
Liang Tang ◽  
Guanjun Liu ◽  
Min Yang ◽  
Feiyang Li ◽  
Fangping Ye ◽  
...  

The performance of the real-time dynamic force and torque compensation, flexible force interactive control, and the ability to compensate for the defect of the passive rehabilitation training are the important functions within the rehabilitation robot design process. In this investigation, the upper limb rehabilitation robot is designed, and the force sensor is used to measure the joint feedback torque with high precision, high sensitivity, and low cost. In the rehabilitation robot design process, the human–machine adaptability and lightweight flexible driving design are considered, and the static and dynamic moment detection performances of the driving joint are analyzed. Furthermore, the impedance control algorithm is used to control the force output of the single drive joint, and then the sinusoidal force output performance and step force output performance are tested under different amplitudes and frequencies. Finally, the passive rehabilitation mode of the prototype is tested to evaluate the performance of the rehabilitation robot. The results show that the force output accuracy and stability of the driving joint has a good performance, which can satisfy the force-assisted application of exoskeleton.


Dementia ◽  
2018 ◽  
Vol 19 (3) ◽  
pp. 915-931 ◽  
Author(s):  
Emmanuel Tsekleves ◽  
Amanda F Bingley ◽  
Maria A Luján Escalante ◽  
Adrian Gradinar

Stimulating active, social interactions for people with dementia is an important and timely challenge that merits continuing attention in design research. The idea of using participatory co-design to engage people with dementia is attracting increased interest. In this paper, we draw on our qualitative study that used a playful, participatory arts approach to explore the ways co-design could be implemented in a group of 12 people with dementia and their carers, and developed practical recommendations, in the form of a set of playing cards, for other researchers and caregivers to work in similar ways. The emphasis is on the value of play and playfulness, providing a ‘magic circle’ (Huizinga, 1955) that fosters the required conditions for a co-creative, co-design space. This aims to encourage social interaction between people with dementia, to stimulate imagination and creativity; and engage even the most the reticent, less confident members. Our observations, however, suggest that the exact notion and nature of co-design within the context of working with people with dementia is unclear. We critically explore whether such participatory creative practices that engage people with dementia can be considered as purely co-design. In conclusion, we argue that such interaction is better described as co-creation and that this definition can still embrace considerable contribution and involvement by people with dementia in a co-design process.


Robotics ◽  
2013 ◽  
pp. 143-165
Author(s):  
Aurélie Beynier ◽  
Abdel-Illah Mouaddib

Optimizing the operation of cooperative multi-robot systems that can cooperatively act in large and complex environments has become an important focal area of research. This issue is motivated by many applications involving a set of cooperative robots that have to decide in a decentralized way how to execute a large set of tasks in partially observable and uncertain environments. Such decision problems are encountered while developing exploration rovers, teams of patrolling robots, rescue-robot colonies, mine-clearance robots, et cetera. In this chapter, we introduce problematics related to the decentralized control of multi-robot systems. We first describe some applicative domains and review the main characteristics of the decision problems the robots must deal with. Then, we review some existing approaches to solve problems of multiagent decentralized control in stochastic environments. We present the Decentralized Markov Decision Processes and discuss their applicability to real-world multi-robot applications. Then, we introduce OC-DEC-MDPs and 2V-DEC-MDPs which have been developed to increase the applicability of DEC-MDPs.


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