CADDY—Cognitive Autonomous Diving Buddy: Two Years of Underwater Human-Robot Interaction

2016 ◽  
Vol 50 (4) ◽  
pp. 54-66 ◽  
Author(s):  
Nikola Mišković ◽  
Marco Bibuli ◽  
Andreas Birk ◽  
Massimo Caccia ◽  
Murat Egi ◽  
...  
Keyword(s):  
Motor Skills ◽  
Pose Estimation ◽  
Cooperative Control ◽  
Underwater Vehicles ◽  
Human Robot Interaction ◽  
Research Topics ◽  
Robot Interaction ◽  
Main Research ◽  
Robot Cooperation ◽  
And Control

AbstractDivers operate in harsh and poorly monitored environments, in which the slightest unexpected disturbance, technical malfunction, or lack of attention can have catastrophic consequences. Motivated by these considerations, the “CADDY—Cognitive Autonomous Diving Buddy” FP7 project sets forth the main goal of developing a cooperative autonomous underwater robotic system to monitor and assist human divers, thus affording them increased levels of safety during the execution of challenging scientific and commercial missions. This article presents the main results obtained in the first 2 years of the project along the following main research topics: Seeing the Diver, where the focus is placed on the 3D reconstruction of a diver's model (pose estimation and recognition of hand gestures) through remote and local sensing technologies, thus enabling behavior interpretation; Understanding the Diver, with the objective of interpreting the model and physiological measurements of the diver in order to determine the state of the diver; and Diver-Robot Cooperation and Control, aimed at investigating the interaction of the diver with underwater vehicles endowed with rich sensory motor skills, focusing on cooperative control and optimal formation with the diver as an integral part of the overall vehicle-diver formation.

HuroCup: competition for multi-event humanoid robot athletes

2016 ◽  
Vol 32 ◽  
Author(s):  
Jacky Baltes ◽  
Kuo-Yang Tu ◽  
Soroush Sadeghnejad ◽  
John Anderson
Keyword(s):  
Humanoid Robot ◽  
Human Robot Interaction ◽  
Complex Motion ◽  
Research Focus ◽  
Research Topics ◽  
Robot Interaction ◽  
Main Research ◽  
Active Balancing ◽  
History Of

AbstractThis paper describes the motivation for the development of the HuroCup competition and follows the rule development from its inaugural competition from 2002 to 2015. The history of HuroCup is broken down into its growing phase (2002–2006), a time of explosive growth (2007–2011), and current times. This paper describes the main research focus of HuroCup, the multi-event humanoid robot competition: (a) active balancing, (b) complex motion planning, and (c) human–robot interaction and shows how the various HuroCup events relate to those research topics. This paper concludes with some medium- and long-term goals of the rule development for HuroCup.

scholarly journals A Brief Review of Neural Networks Based Learning and Control and Their Applications for Robots

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-14 ◽  
Author(s):  
Yiming Jiang ◽  
Chenguang Yang ◽  
Jing Na ◽  
Guang Li ◽  
Yanan Li ◽  
...  
Keyword(s):  
Neural Networks ◽  
Nonlinear Systems ◽  
Human Robot Interaction ◽  
Learning Tools ◽  
Robot Interaction ◽  
Practical Applications ◽  
Powerful Learning ◽  
Wide Range ◽  
Complex Nonlinear Systems ◽  
And Control

As an imitation of the biological nervous systems, neural networks (NNs), which have been characterized as powerful learning tools, are employed in a wide range of applications, such as control of complex nonlinear systems, optimization, system identification, and patterns recognition. This article aims to bring a brief review of the state-of-the-art NNs for the complex nonlinear systems by summarizing recent progress of NNs in both theory and practical applications. Specifically, this survey also reviews a number of NN based robot control algorithms, including NN based manipulator control, NN based human-robot interaction, and NN based cognitive control.

GAIT GENERATION AND OPTIMIZATION USING THE ESTIMATION OF DISTRIBUTION ALGORITHM FOR TEENSIZE HUMANOID SOCCER ROBOT RESr-1

2008 ◽  
Vol 05 (03) ◽  
pp. 437-456 ◽  
Author(s):  
LINGYUN HU ◽  
CHANGJIU ZHOU
Keyword(s):  
Hierarchical Control ◽  
Estimation Of Distribution Algorithm ◽  
Human Robot Interaction ◽  
Cooperative Research ◽  
Soccer Robot ◽  
Robot Interaction ◽  
Planning And Control ◽  
Hierarchical Control Architecture ◽  
Estimation Of Distribution ◽  
And Control

This paper gives an overview of locomotion planning and control of a TeenSize humanoid soccer robot, Robo-Erectus Senior (RESr-1), which has been developed as an experimental platform for human–robot interaction and cooperative research in general and robotics soccer games in particular. The locomotion planning and control, along with an introduction of hierarchical control architecture, vision-based behavior and its application in the Humanoid TeenSize soccer challenge, are elaborated. The Estimation of Distribution Algorithm (EDA) is used in locomotion generation and optimization to achieves dynamically stable walk and a powerful kick. By setting different objective functions, smooth walking and powerful kicking can be generated quickly. RESr-1 made its debut at RoboCup 2007, and got fourth place in the Humanoid TeenSize penalty kick competition. In addition, some experimental results on RESr-1's walking, tracking and kicking are presented.

scholarly journals A simulated risk assessment of human-robot interaction in the domestic environment

2020 ◽  
Vol 9 (4) ◽  
pp. 300
Author(s):  
Tamanna E Kaonain ◽  
Mohd Azizi Abdul Rahman ◽  
Mohd Hatta Mohammed Ariff ◽  
Kuheli Mondal
Keyword(s):  
Simulation Software ◽  
Human Robot Interaction ◽  
Complex Environments ◽  
Robot Interaction ◽  
Domestic Environment ◽  
Robot Controller ◽  
Planning And Control ◽  
Python Language ◽  
Real Robot ◽  
And Control

In human-robot interaction, the use of collaborative robots or cobots in many industries is of major importance to researchers in human-robot interaction (HRI). The interaction between human robot carries several challenges, the greatest being the risk of human injury. In addition to reducing the proximity between robots and humans, increased difficulty of human-robot encounters raises the likelihood of accidents only. This paper proposes a virtual collaborative robot in the simulated non-industrial workspace. The safety during human-robot interaction using simulation software was investigated by measuring the risks for planning and control. A reactive robot controller was formulated to minimize the risk during human-robot interaction. A Gazebo software is used in this article, written in Python language, to replicate complex environments that a robot can face. This paper also investigated the robot’s speed. It can be reduced before a collision with a human about to happen, and it minimized the risk of the collision or reduced the damage of the risk. After the successful simulation, this can be applied to the real robot in a practical domestic environment.

Improved Surgical Robot Design Using a Novel Compliant Rolling-Contact Joint

2019 ◽  
Author(s):  
Carl A. Nelson ◽  
Cole A. Dempsey ◽  
Ethan R. Brush ◽  
M. Amine Laribi
Keyword(s):  
Human Robot Interaction ◽  
Rolling Contact ◽  
Surgical Robot ◽  
Excessive Force ◽  
Robot Interaction ◽  
Rolling Element ◽  
Spherical Wrist ◽  
Improved Design ◽  
Safety Features ◽  
And Control

Abstract This paper presents an improved design concept for a surgical robot that contributes to improved human-robot interaction and precise positioning of surgical tools. Based on a spherical wrist design, the robot incorporates new human-safe features limiting its ability to apply excessive force and uses a novel adaptation of the compliant rolling-element (CORE) joint suitable for conical rolling surfaces. The proposed safety features aim to provide novel functionality by mechanically disengaging the drive in overload conditions. This approach avoids the necessity of force sensing and control to detect and compensate for unintended device collisions. Further, proof of concept of a novel compliant rolling-element joint is presented as a low-backlash alternative to bevel gear pairs for heightened precision in angular positioning.

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