scholarly journals ONLINE LEARNING OF THE BODY SCHEMA

2008 ◽  
Vol 05 (02) ◽  
pp. 161-181 ◽  
Author(s):  
MICHA HERSCH ◽  
ERIC SAUSER ◽  
AUDE BILLARD
Keyword(s):  
Online Learning ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Body Schema ◽  
The Body ◽  
Space Representation ◽  
Real Robot ◽  
Sensorimotor Contingencies ◽  
End Effectors ◽  
Subjective Space

We present an algorithm enabling a humanoid robot to visually learn its body schema, knowing only the number of degrees of freedom in each limb. By "body schema" we mean the joint positions and orientations and thus the kinematic function. The learning is performed by visually observing its end-effectors when moving them. With simulations involving a body schema of more than 20 degrees of freedom, results show that the system is scalable to a high number of degrees of freedom. Real robot experiments confirm the practicality of our approach. Our results illustrate how subjective space representation can develop as a result of sensorimotor contingencies.

Design of an Underactuated Robotic End-Effector With a Focus on Power Tool Manipulation

2014 ◽  
Author(s):  
Michael Rouleau ◽  
Dennis Hong
Keyword(s):  
Disaster Response ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Servo Motor ◽  
End Effector ◽  
Design Considerations ◽  
Wide Range ◽  
End Effectors ◽  
Four Bar Linkage ◽  
Careful Design

End-effectors require careful design considerations to be able to successfully hold and use power tools while maintaining the ability to also grasp a wide range of other objects. This paper describes the design of an end effector for a humanoid robot built for disaster response scenarios. The end effector is comprised of two independently actuated fingers with two opposing stationary rigid hollow pylons built to allow the pinching of objects and to provide protection for the opposing fingers when retracted and not in use. Each finger has two degrees of freedom (DOF) and is actuated with one servo motor through the use of an underactuated four bar linkage. Using only two fingers and two actuators the end-effector has the ability to hold a power tool while also being able to simultaneously actuate the trigger of the tool independently. The combination of compliant fingers and rigid pylons along with the careful design of the palm structure creates a strong robust dexterous end-effort that is simple to control.

REACTIVE SELF COLLISION AVOIDANCE WITH DYNAMIC TASK PRIORITIZATION FOR HUMANOID ROBOTS

2010 ◽  
Vol 07 (01) ◽  
pp. 31-54 ◽  
Author(s):  
HISASHI SUGIURA ◽  
MICHAEL GIENGER ◽  
HERBERT JANßEN ◽  
CHRISTIAN GOERICK
Keyword(s):  
Collision Avoidance ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Body Schema ◽  
Humanoid Robots ◽  
The Body ◽  
Reactive System ◽  
Dynamic Task ◽  
Virtual Force ◽  
Task Prioritization

We propose a self collision avoidance system for humanoid robots designed for interacting with the real world. It protects not only the humanoid robots' hardware but also expands its working range while keeping smooth motions. It runs in real-time in order to handle unpredictable reactive tasks such as reaching to moving targets tracked by vision during dynamic motions like e.g. biped walking. The collision avoidance is composed of two important elements. The first element is reactive self collision avoidance which controls critical segments in only one direction — as opposed to other methods which use 3D position control. The virtual force for the collision avoidance is applied to this direction and therefore the system has more redundant degrees of freedom which can be used for other criteria. The other second element is a dynamic task prioritization scheme which blends the priority between target reaching and collision avoidance motions in a simple way. The priority between the two controllers is changed depending on current risk. We test the algorithm on our humanoid robot ASIMO and works while the robot is standing and walking. Reaching motions from the front to the side of the body without the arm colliding with the body are possible. Even if the target is inside the body, the arm stops at the closest point to the target outside the body. The collision avoidance is working as one module of a hierarchical reactive system and realizes reactive motions. The proposed scheme can be used for other applications: We also apply it to realizing a body schema and occlusion avoidance.

scholarly journals Technique of Standing Up From Prone Position of a Soccer Robot

2018 ◽  
Vol 6 (1) ◽  
pp. 124-136 ◽  
Author(s):  
Nur Khamdi ◽  
Mochamad Susantok ◽  
Antony Darmawan
Keyword(s):  
Prone Position ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Soccer Robot ◽  
Robot Soccer ◽  
The Real ◽  
Limited Movement ◽  
Standing Up ◽  
Real Robot

One of the humanoid robots being developed in the field of sports is a soccer robot. A soccer robot is a humanoid robot that can perform activities such as playing football. And a variety method fall down of robot soccer such: falling down toward the front direction, side direction, and rear direction. This paper describes the most stands up methods of a soccer robot from its prone position. The proposed method requires only limited movement with degrees of freedom. The movement standing-up of soccer robot has been implemented on the real robot. Tests we performed showed that reliable standing-up from prone position is possible after a fall and such recovery procedures greatly improve the overall robustness of a Soccer Robot.

Emotion-based biped walking

Robotica ◽  
2004 ◽  
Vol 22 (5) ◽  
pp. 577-586 ◽  
Author(s):  
Hun-ok Lim ◽  
Akinori Ishii ◽  
Atsuo Takanishi
Keyword(s):  
Motion Control ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
The Body ◽  
Body Motion ◽  
Whole Body ◽  
Emotional Expressions ◽  
Biped Walking ◽  
Walking Motion ◽  
Compensatory Motion

This paper describes emotion-based walking for a biped humanoid robot. In this paper, three emotions, such as happiness, sadness and anger are considered. These emotions are expressed by the walking styles of the biped humanoid robot that are preset by the parameterization of its whole body motion. To keep its balance during the emotional expressions, the motion of the trunk is employed which is calculated by the compensatory motion control based on the motions of the head, arms and legs. We have constructed a biped humanoid robot, WABIAB-RII (WAseda BIpedal humANoid robot-Revised II), to explore the issue of the emotional walking motion for a smooth and natural communication. WABIAN-RII has forty-three mechanical degrees of freedom and four passive degrees of freedom. Its height is about 1.84 m and its total weight is 127 kg. Using WABIAN-RII, three emotion expressions are experimented by the biped walking, including the body motion, and evaluated.

scholarly journals Acquisition of a Gymnast-Like Robotic Giant-Swing Motion by Q-Learning and Improvement of the Repeatability

2011 ◽  
Vol 23 (1) ◽  
pp. 126-136 ◽  
Author(s):  
Masayuki Hara ◽  
◽  
Naoto Kawabe ◽  
Jian Huang ◽  
Tetsuro Yabuta ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Markov Property ◽  
Value Functions ◽  
Dynamic Information ◽  
Q Learning ◽  
Key Factor ◽  
Dynamic Simulator ◽  
Real Robot ◽  
Action Value

This paper proposes an application of Q-learning to a compact humanoid robot, aiming at acquisition of a gymnastic swinging even through the Markov property may not be guaranteed in such dynamic motions. As for this, several studies have relied on information from the robotic models or multiple controllers, but very few studies have tried Q-learning of human-like swing motion without preliminary knowledge. We avoid this Markov property problem by embedding the dynamic information in a robotic state space and averaging action-value functions. In this study, Q-learning is executed with a dynamic simulator based on a real humanoid robot with 5 degrees of freedom (DOF) and we verify the learning effectiveness by actually applying the learning results to the real robot. The particularly significant point in our Q-learning is that preliminary information is eliminated as far as possible; only the reward and current robotic state are available. The key factor in robotic giant-swing motion is discussed by examining effects of various rewards on the robotic performance. In addition, we argue a method for improving the repeatability and duration until reaching giant-swing motion. Finally, this paper demonstrates an attractive robotic giant-swing motion generated by only the environmental interaction.

Representing utility and deploying the body

2020 ◽  
Vol 43 ◽  
Author(s):  
David Spurrett
Keyword(s):  
Functional Activity ◽  
Degrees Of Freedom ◽  
The Body ◽  
Target Article ◽  
Processing Demands ◽  
The Many

Abstract Comprehensive accounts of resource-rational attempts to maximise utility shouldn't ignore the demands of constructing utility representations. This can be onerous when, as in humans, there are many rewarding modalities. Another thing best not ignored is the processing demands of making functional activity out of the many degrees of freedom of a body. The target article is almost silent on both.

scholarly journals Computer Literacy and Online Learning Attitude toward GSOE Students in Distance Education Programs

2016 ◽  
Vol 6 (3) ◽  
pp. 147 ◽  
Author(s):  
Lung-Yu Li ◽  
Long-Yuan Lee
Keyword(s):  
Online Learning ◽  
Computer Literacy ◽  
Online Courses ◽  
The Body ◽  
Education Management ◽  
Learning Attitude ◽  
Learning Attitudes ◽  
Significant Difference ◽  
Learning Programs ◽  
Managerial Implications

<p>The purpose of this study was to explore graduate students’ competencies in computer use and their attitudes toward online learning in asynchronous online courses of distance learning programs in a Graduate School of Education (GSOE) in Taiwan. The research examined the relationship between computer literacy and the online learning attitudes of these students. Data were collected via a survey through 252 GSOE students in Taiwan. Results revealed a significant positive relationship between computer literacy and online learning attitude among the students. Higher computer literacy was correlated with higher online learning attitude. However, no statistically significant difference was found in online learning attitude by gender or by age group. Suggestions and managerial implications were discussed in the study, and would provide contribution both to the body of knowledge in the filed of education management.</p>

scholarly journals Making the choice between bioelectrical impedance measures for body hydration status assessment

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Dmitry M. Davydov ◽  
Andrey Boev ◽  
Stas Gorbunov
Keyword(s):  
Body Schema ◽  
Bioelectrical Impedance ◽  
Information Criterion ◽  
The Body ◽  
Whole Body ◽  
Hydration Status ◽  
Status Assessment ◽  
Best Fitting ◽  
Body Compartments ◽  
Fitting In

AbstractSituational or persistent body fluid deficit (i.e., de- or hypo-hydration) is considered a significant health risk factor. Bioimpedance analysis (BIA) has been suggested as an alternative to less reliable subjective and biochemical indicators of hydration status. The present study aimed to compare various BIA models in the prediction of direct measures of body compartments associated with hydration/osmolality. Fish (n = 20) was selected as a biological model for physicochemically measuring proximate body compartments associated with hydration such as water, dissolved proteins, and non-osseous minerals as the references or criterion points. Whole-body and segmental/local impedance measures were used to investigate a pool of BIA models, which were compared by Akaike Information Criterion in their ability to accurately predict the body components. Statistical models showed that ‘volumetric-based’ BIA measures obtained in parallel, such as distance2/Rp, could be the best approach in predicting percent of body moisture, proteins, and minerals in the whole-body schema. However, serially-obtained BIA measures, such as the ratio of the reactance to resistance and the resistance adjusted for distance between electrodes, were the best fitting in predicting the compartments in the segmental schema. Validity of these results should be confirmed on humans before implementation in practice.

scholarly journals Robot-Assisted Autism Therapy (RAAT). Criteria and Types of Experiments Using Anthropomorphic and Zoomorphic Robots. Review of the Research

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3720
Author(s):  
Barbara Szymona ◽  
Marcin Maciejewski ◽  
Robert Karpiński ◽  
Kamil Jonak ◽  
Elżbieta Radzikowska-Büchner ◽  
...  
Keyword(s):  
Body Schema ◽  
Autism Spectrum ◽  
The Body ◽  
Review Of The Literature ◽  
Robot Assisted ◽  
Social Contacts ◽  
Joint Activities ◽  
Autism Therapy ◽  
Real Person ◽  
Future Work

Supporting the development of a child with autism is a multi-profile therapeutic work on disturbed areas, especially understanding and linguistic expression used in social communication and development of social contacts. Previous studies show that it is possible to perform some therapy using a robot. This article is a synthesis review of the literature on research with the use of robots in the therapy of children with the diagnosis of early childhood autism. The review includes scientific journals from 2005–2021. Using descriptors: ASD (Autism Spectrum Disorders), Social robots, and Robot-based interventions, an analysis of available research in PubMed, Scopus and Web of Science was done. The results showed that a robot seems to be a great tool that encourages contact and involvement in joint activities. The review of the literature indicates the potential value of the use of robots in the therapy of people with autism as a facilitator in social contacts. Robot-Assisted Autism Therapy (RAAT) can encourage child to talk or do exercises. In the second aspect (prompting during a conversation), a robot encourages eye contact and suggests possible answers, e.g., during free conversation with a peer. In the third aspect (teaching, entertainment), the robot could play with autistic children in games supporting the development of joint attention. These types of games stimulate the development of motor skills and orientation in the body schema. In future work, a validation test would be desirable to check whether children with ASD are able to do the same with a real person by learning distrust and cheating the robot.

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