Human Prediction of Robot’s Intention in Object Handling Tasks

2021 ◽  
Vol 65 (1) ◽  
pp. 1190-1194
Author(s):  
Teerachart Soratana ◽  
X. Jessie Yang ◽  
Yili Liu
Keyword(s):  
Energy Expenditure ◽  
Team Performance ◽  
Lower Energy ◽  
Movement Patterns ◽  
Joint Space ◽  
Prediction Performance ◽  
Early Prediction ◽  
Robot Trajectory ◽  
Human Likeness

Trained human workers can predict the intentions of other workers from observed movement patterns when working collaboratively. The intentions prediction is crucial to identify their future actions. In human-machine teams, predictable movement patterns can enhance the interaction and improve team performance. In this article, we investigated the effects of different robot trajectory characteristics on the early prediction performance in human-machine teaming and on perceived robot’s human-likeness. The results showed that humans can predict the robot’s intention quicker and more accurately when the observed robot’s trajectory was generated with relatively lower energy expenditure. We found that the amount of jerk and acceleration in the robot’s joint-space affected perceived robot’s human-likeness.

scholarly journals Exploration-based learning of a step to step controller predicts locomotor adaptation

2021 ◽  
Author(s):  
Nidhi Seethapathi ◽  
Barrett Clark ◽  
Manoj Srinivasan
Keyword(s):  
Mathematical Model ◽  
Nervous System ◽  
Energy Expenditure ◽  
Lower Energy ◽  
Movement Patterns ◽  
Treadmill Walking ◽  
Stabilizing Controller ◽  
Locomotor Adaptation ◽  
Theoretical Account ◽  
Time Periodic

Humans are able to adapt their locomotion to a variety of novel circumstances, for instance, walking on diverse terrain and walking with new footwear. During locomotor adaptation, humans have been shown to exhibit stereotypical changes in their movement patterns. Here, we provide a theoretical account of such locomotor adaptation, positing that the nervous system prioritizes stability in the short timescale and improves energy expenditure over a longer timescale. The resulting mathematical model has two processes: a stabilizing controller which is gradually changed by a reinforcement learner that exploits local gradients to lower energy expenditure, estimating gradients indirectly via intentional exploratory noise. We consider this model walking and adapting under three novel circumstances: walking on a split-belt treadmill (walking with each foot on a different belt, each belt at different speeds), walking with an exoskeleton, and walking with an asymmetric leg mass. This model predicts the short and long timescale changes observed in walking symmetry on the split-belt treadmill and while walking with the asymmetric mass. The model exhibits energy reductions with exoskeletal assistance, as well as entrainment to time-periodic assistance. We show that such exploration-based learning is degraded in the presence of large sensorimotor noise, providing a potential account for some impairments in learning.

scholarly journals Mitochondrial Respiration is Associated with Lower Energy Expenditure and Lower Aerobic Capacity in African American Women

Obesity ◽  
2018 ◽  
Vol 26 (5) ◽  
pp. 903-909 ◽  
Author(s):  
Frederico G.S. Toledo ◽  
John J. Dubé ◽  
Bret H. Goodpaster ◽  
Maja Stefanovic-Racic ◽  
Paul M. Coen ◽  
...  
Keyword(s):  
African American ◽  
Energy Expenditure ◽  
African American Women ◽  
Aerobic Capacity ◽  
Mitochondrial Respiration ◽  
Lower Energy ◽  
American Women

Workspace Analysis of a 6-DOF Installing-Calibrating Robot

2011 ◽  
Vol 422 ◽  
pp. 75-78 ◽  
Author(s):  
Zhi Jiang Xie ◽  
Cheng Li ◽  
Wei Ni ◽  
Nan Liu
Keyword(s):  
Structural Parameters ◽  
Joint Space ◽  
Coordinate Systems ◽  
Robot Trajectory ◽  
The Monte Carlo Method ◽  
Workspace Analysis ◽  
Time Calculation ◽  
Random Probability ◽  
Forward Kinematic ◽  
Kinematic Solution

According to the working characteristics and installment environments of modules，a compact 6-DOF installing-calibrating robot was designed. Coordinate systems of joints are set upand the forward kinematic solution are derived by using D-H methods. Using the Monte Carlo method based on random probability and MATLAB software simulation for the robot's structural parameters to the robot's workspace impact. According to joint space to the mapping workspace，robots have been the workspace. The research results have proved that the designed configuration can satisfy the needs of installment action，which will provide theoretical reference for the robot trajectory planning，dynamic analysis and online real-time calculation.

The Trajectory Planning and Simulation for Industrial Robot Based on Fifth-Order B-Splines

2014 ◽  
Vol 538 ◽  
pp. 367-370 ◽  
Author(s):  
Zhi Jian Gou ◽  
Cheng Wang
Keyword(s):  
Trajectory Planning ◽  
Industrial Robot ◽  
Joint Space ◽  
Robot Kinematics ◽  
Kinematic Parameters ◽  
B Spline ◽  
B Splines ◽  
Robot Trajectory ◽  
Fifth Order ◽  
Parameter Constraints

The trajectory is planned with fifth-order uniform B-splines for the industrial robot aimed to assure the motion is smooth and the trajectory is fourth-order continuous. Under the premise to satisfy the initial kinematic parameters of the robot as zero, its speed, acceleration and jerk are continuous. Based on B-spline theory, process five B-spline curve function is calculated inversely in joint space. Under the robot kinematics parameter constraints, using fifth-order B-spline interpolates to plan robot trajectory when known interpolation points and the kinematic parameters are simulated and validated by the software of ADAMS.So it provides an effective new method for the trajectory planning.

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