Progress in Robotics;FIRA RoboWorld Congress 2009 Proceedings

Cover
......Page 1
Preface......Page 5
Table of Contents......Page 9
Related Work......Page 13
Overview......Page 14
Psychological and Mathematical Foundations......Page 15
Architectural Design and Implementation......Page 19
References......Page 20
The Control System Model of Humanoid Robot......Page 22
Robot Reality......Page 23
Controller of Robot......Page 25
The Motion Trajectory Planning of Humanoid Robot......Page 26
The Design of Adaptive Controller of Humanoid Robot......Page 27
The Simulation Example of Adaptive Controller......Page 28
Conclusions......Page 29
References......Page 30
Introduction......Page 31
Beat Predictor......Page 32
Robot Platforms......Page 33
Future Work......Page 35
References......Page 36
Purpose......Page 37
Distributed Processing......Page 38
Mainboard Cluster......Page 39
Novel Foot Pressure Sensor......Page 40
Inertial Measurement Unit with Complementary Filter......Page 41
Kinematic Model......Page 43
References......Page 44
Introduction......Page 46
Modular Joint Design......Page 47
Decentralized Controller......Page 49
Spinal Processing Unit (SPU)......Page 50
Position Encoders on Start Up......Page 51
Contact-Free Position Encoders for Brushless Motors......Page 52
Conclusion......Page 53
Introduction......Page 54
Management......Page 55
Kinematic and Inverse Dynamic Analyses......Page 56
Force Torque Sensor (FTS)......Page 58
Data Infrastructure......Page 59
Verification, Planning and Control......Page 61
Conclusion......Page 62
References......Page 63
Introduction......Page 65
Initial Situation, Objectives and Approach......Page 66
Motivation......Page 67
Hardware Setup......Page 68
Assembly Product Description......Page 69
Assembly Process......Page 70
Safety Aspects......Page 71
References......Page 73
Introduction......Page 75
Software Architecture......Page 76
Software Requirements......Page 78
Software Architecture of RFID Skills......Page 79
Writing Skill {\tt CRFID_WriteSkill}......Page 80
Tags Detection and Data Reception......Page 81
Application of RFID Skills in the Social Robot Maggie: Medicines Recognition......Page 82
Conclusions......Page 83
Introduction......Page 86
Natural Interaction......Page 87
Balancing Framework......Page 88
Balance the Dimensions for an RUI......Page 89
Conversation Bot......Page 91
Waiter Application......Page 93
Discussion......Page 95
Conclusion......Page 96
Introduction......Page 98
Related Previous Works......Page 99
Frame of the Work......Page 100
System Implementation......Page 101
Robot-Appliance Interface......Page 102
Integration in AD Architecture......Page 103
Conclusions......Page 105
Introduction......Page 108
Design Consideration of BlogRobot......Page 109
System Configuration of TENORI......Page 110
Implementation of BlogRobot......Page 111
Future Work......Page 112
Introduction......Page 114
Roball - The Robot......Page 115
Interaction Modes......Page 116
Experimental Approach and Settings......Page 117
Analysis and Results......Page 118
Conclusions......Page 120
Introduction......Page 122
Biologically Inspired Software......Page 123
Malware using Collaboration Tools......Page 124
Socially Interactive Technology......Page 125
Malware using Social Engineering......Page 126
Future Research......Page 127
References......Page 128
Introduction......Page 131
Video-Enhanced Diary Method......Page 132
Gamer’s Decision Making Process......Page 135
Future Directions and Conclusion......Page 137
References......Page 138
Introduction......Page 140
Experiment......Page 141
Participants and Task......Page 142
Hypothesis......Page 143
Consideration......Page 144
References......Page 145
Introduction......Page 146
Familiarity......Page 147
Stroke Operation......Page 148
Conclusion......Page 150
Introduction......Page 152
FusionBot the Barista Robot......Page 153
Speech Recognition......Page 154
Vision Understanding......Page 155
Smart Device Gateway......Page 156
Experiment Setup......Page 157
Robot Experience......Page 158
Satisfaction on Tasks......Page 159
Suggestion/Comments on the FusionBot......Page 160
Discussion and Conclusions......Page 161
References......Page 162
Introduction......Page 164
Challenge Scenarios......Page 165
Mutually Augmented Cognition......Page 166
Perception-Cognition-Action Loop......Page 168
Human Factors and Ergonomics......Page 169
Conclusion and Outlook......Page 171
Introduction......Page 174
Stimuli and Apparatus......Page 176
Procedure......Page 178
Results......Page 179
Discussion......Page 180
Implication for Robotics......Page 182
Conclusions......Page 183
Introduction......Page 185
Avatar-Mediated Interaction......Page 186
Concept of the System......Page 187
Experimental Setup......Page 188
Sensory Evaluation......Page 189
References......Page 190
Introduction......Page 191
Description Logic......Page 192
Semantics......Page 193
Semantics......Page 194
Runtime......Page 195
Conclusions......Page 197
Introduction......Page 199
Energy Efficient Smart Home Technologies......Page 200
Experiment Setup......Page 201
Audio Sensor Based Event Detection......Page 203
Results......Page 204
Conclusions......Page 205
References......Page 206
Introduction......Page 207
Robot Edutainment......Page 208
Human Interface......Page 209
Intelligent Control of Mobile Robots......Page 210
Tele-operation of Soccer Robots......Page 211
Tele-operation of Human-Like Robots......Page 212
Summary......Page 214
Reference......Page 215
Introduction......Page 216
Android Receptionist Robot: SAYA......Page 217
Partner Robots: MOBiMac......Page 219
Remote Control System......Page 220
Interaction Mode in the Remote Education......Page 222
Experimental Results......Page 223
References......Page 224
Robots and Robotics - A Brief History......Page 226
The UK National Curriculum - An Example Curriculum......Page 227
Attempts and Developments to Make Robotics, Computing, Modelling and Computer Game Programming and AI More Accessible - Cricket Logo, Arduino, Scratch......Page 230
Examples and Suggestions for Teaching through Robotics Opportunities in a Range of Subjects......Page 232
Robots and Teaching Those with Special Needs - Using Autism as an Example......Page 233
References......Page 234
Introduction......Page 236
Robots, Languages and Tools......Page 238
Autonomous Toys, Programming Languages and Tools......Page 239
An Application Case between Robots and Autonomous Toys......Page 240
Autonomous Robot System Development Laboratory......Page 241
References......Page 242
Introduction......Page 244
Design......Page 245
Control......Page 246
Testing and Evaluation......Page 247
Method/Theory......Page 248
Experiment Setup......Page 250
References......Page 251
Introduction......Page 252
Collective and Self-efficacy......Page 253
Pilot Study, 2006-2007......Page 254
Primary Study, 2007-2008......Page 255
Collective Efficacy......Page 257
Conclusion......Page 258
References......Page 259
Robotics Education in Science Museums......Page 260
Learning Activities......Page 261
Educational Study......Page 262
Commitment to Team Success in Achieving the Common Goal......Page 263
Pleasable Experience in the Museum Environment......Page 264
Conclusions......Page 265
References......Page 266
Introduction......Page 267
Didactical Principles of Teaching Mechatronics......Page 268
Course Syllabus and Activities......Page 269
Educational Study......Page 270
Findings......Page 271
References......Page 273
Introduction......Page 274
The Construction Kit......Page 275
Heliotropism: A Sunflower Functional Model......Page 276
Homeostasis of the Eye: An Iris Functional Model......Page 278
Educational Study......Page 279
Findings......Page 280
References......Page 281
Introduction......Page 283
Firefighting Robot Competition......Page 284
Mini Grand Challenge......Page 285
Integration into Curriculum and K-12 Outreach Activities......Page 286
Assessment of Robot Contests......Page 287
Summary and Conclusions......Page 289
References......Page 290
Introduction......Page 291
The Compulsory Task......Page 292
Some Design Details......Page 294
The Evaluations and the Competition......Page 296
Conclusions......Page 297
References......Page 298
Introduction......Page 299
Dynamic Box Change of Identities of Agents and Their Existence......Page 300
Action - "Total Defensive"......Page 301
References......Page 304
Introduction......Page 305
Position Measurement......Page 306
Localization of Multiple Robots......Page 307
Master and Slave Method......Page 308
Master and Slave Method......Page 309
Simulation......Page 310
References......Page 311
Introduction......Page 312
Previous Color Patch Designs......Page 313
Preprocessing......Page 314
Algorithm of Color Patch Recognition......Page 316
Experiments......Page 318
Color Patch Recognition......Page 319
Conclusion......Page 320
Introduction......Page 322
Task-Based Flocking Algorithm......Page 323
Flocking Model......Page 324
Task and Switching Criteria......Page 326
Stability Analysis......Page 327
Rule of Task......Page 328
Algorithm Implement......Page 329
Experiment Results......Page 330
Conclusion......Page 332
Introduction......Page 334
Hardware Robots......Page 335
Landmark-Based Navigation......Page 336
Program Concept......Page 337
Evaluation Scenarios......Page 338
Results......Page 339
Conclusion......Page 342
Introduction......Page 344
The Field of Play and the Ball......Page 345
The Player's Equipment......Page 346
Duration of the Match......Page 347
Method of Scoring......Page 348
Free Kicks......Page 349
Robot Chassis......Page 350
Robot Sensors......Page 351
Robot Information Processing......Page 353
Tournaments......Page 354
Conclusion......Page 356
Introduction......Page 358
Platform......Page 359
Software Environment......Page 361
Wireless Communication......Page 362
Dynamic Reconfiguration......Page 363
Mechatronic Seminar......Page 364
Research Project Guardians......Page 365
Conclusion......Page 367
Introduction......Page 369
Communication......Page 370
Strategy Subsystem......Page 371
PC Side Communication Module......Page 372
Main Feature of Humanoid Robot in the Market......Page 373
Conclusion and Future Development......Page 374
References......Page 375
Introduction......Page 376
Ontology Based Situation Recognition......Page 377
Situation-Aggregation-Tree (SAT)......Page 378
Basic Principle of TAA......Page 379
Improvement......Page 381
Conclusion......Page 382
Introduction......Page 384
General Mathematical Model......Page 385
Velocity-Position Model......Page 386
The Solving Process of TSP Based on ICPSO......Page 388
Simulation Experiment and Analysis......Page 389
References......Page 391
Introduction......Page 392
WIFI versus ZIGBEE......Page 393
Experiment Equipments......Page 394
Attenuation of Materials......Page 395
Construction of Artificial Rubble......Page 397
Experiment Description and Results......Page 398
Routing Reconnection Tests......Page 399
References......Page 401
Author Index......Page 403