Search results for: robot performance

Authors: Tianyi Wang, Hieyong Jeong, An Guo, Yuko Ohno

Abstract:

Healthcare robot for assisting sit-to-stand (STS) performance had aroused numerous research interests. To author’s best knowledge, knowledge about how evaluating healthcare robot is still unknown. Robot should be labeled as fault if users feel demanding during STS when they are assisted by robot. In this research, we aim to propose a method to evaluate sit-to-stand assist robot through center of pressure (CoP), then classify different STS performance. Experiments were executed five times with ten healthy subjects under four conditions: two self-performed STSs with chair heights of 62 cm and 43 cm, and two robot-assisted STSs with chair heights of 43 cm and robot end-effect speed of 2 s and 5 s. CoP was measured using a Wii Balance Board (WBB). Bayesian classification was utilized to classify STS performance. The results showed that faults occurred when decreased the chair height and slowed robot assist speed. Proposed method for fault classification showed high probability of classifying fault classes form others. It was concluded that faults for STS assist robot could be detected by inspecting center of pressure and be classified through proposed classification algorithm.

Keywords: center of pressure, fault classification, healthcare robot, sit-to-stand movement

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Authors: Abdullah M. Almeshal, Mohammad R. Alenezi, Muhammad Moaz

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In this paper, we discuss the performance of applying hybrid spiral dynamic bacterial chemotaxis (HSDBC) optimisation algorithm on an intelligent controller for a differential drive robot. A unicycle class of differential drive robot is utilised to serve as a basis application to evaluate the performance of the HSDBC algorithm. A hybrid fuzzy logic controller is developed and implemented for the unicycle robot to follow a predefined trajectory. Trajectories of various frictional profiles and levels were simulated to evaluate the performance of the robot at different operating conditions. Controller gains and scaling factors were optimised using HSDBC and the performance is evaluated in comparison to previously adopted optimisation algorithms. The HSDBC has proven its feasibility in achieving a faster convergence toward the optimal gains and resulted in a superior performance.

Keywords: differential drive robot, hybrid fuzzy controller, optimization, path tracking, unicycle robot

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Authors: Seyed Reza Mirdehghan, Mohammad Reza Haeri Yazdi

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In this paper, the stability and the performance of a two-degree-of-freedom robot under an interaction with a unknown environment has been investigated. The time when the robot returns to its initial position after an interaction and the primary resistance of the robot against the impact must be reduced. Thus, the applied torque on the motor will be reduced. The impedance control is an appropriate method for robot control in these conditions. The stability of the robot at interaction moment was transformed to be a robust stability problem. The dynamic of the unknown environment was modeled as a weight function and the stability of the robot under an interaction with the environment has been investigated using the robust control concept. To improve the performance of the system, a force controller has been designed which the normalized impedance after interaction has been reduced. The resistance of the robot has been considered as a normalized cost function and its value was 0.593. The results has showed reduction of resistance of the robot against impact and the reduction of convergence time by lower than one second.

Keywords: impedance control, control system, robots, interaction

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Authors: Sultan Muhammed Fatih Apaydin

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In this study, two types of robot were examined as being pioneer robot and follower robot for improving of the capabilities of tracking robots. Robots continue to tracking each other and measurement of the follow-up distance between them is very important for improvements to be applied. It was achieved that the follower robot follows the pioneer robot in line with intended goals. The tests were applied to the robots in various grounds and environments in point of performance and necessary improvements were implemented by measuring the results of these tests.

Keywords: mobile robot, remote and autonomous control, infra-red sensors, arduino

Procedia PDF Downloads 539

Authors: Fang Tang, Jacob Longazo

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This paper describes a sliding autonomy approach for coordinating a team of robots to assist the human operator to accomplish tasks while adapting to new or unexpected situations by requesting help from the human operator. While sliding autonomy has been well studied in the context of controlling a single robot. Much work needs to be done to apply sliding autonomy to a multi-robot team, especially human-robot team. Our approach aims at a hierarchical sliding control structure, with components that support human-robot collaboration. We validated our approach in the USARSim simulation and demonstrated that the human-robot team's overall performance can be improved under the sliding autonomy control.

Keywords: sliding autonomy, multi-robot team, human-robot collaboration, USARSim

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Authors: G. Gurguze, I. Turkoglu

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Today, the developing features of technological tools with limited energy resources have made it necessary to use energy efficiently. Energy management techniques have emerged for this purpose. As with every field, energy management is vital for robots that are being used in many areas from industry to daily life and that are thought to take up more spaces in the future. Particularly, effective power management in autonomous and multi robots, which are getting more complicated and increasing day by day, will improve the performance and success. In this study, robot management algorithms, usage of renewable and hybrid energy sources, robot motion patterns, robot designs, sharing strategies of workloads in multiple robots, road and mission planning algorithms are discussed for efficient use of energy resources by mobile robots. These techniques have been evaluated in terms of efficient use of existing energy resources and energy management in robots.

Keywords: energy management, mobile robot, robot administration, robot management, robot planning

Procedia PDF Downloads 233

Authors: Ruth Manzanares, Victor Honores, Hugo Zapata, Javier Cansaya, Deivid Yavar, Junior Meza

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LogiSum is a robot focused on education like a solution to the ecological crisis. This robot allows reducing the pollution on the beaches by stimulating environmental awareness of not contaminating through the collection of waste. Through the use of the methodology of design thinking, it is intended to reinforce values in adults and with a greater focus on children, so as not to contaminate the beaches. The goal is to encourage the use of the container of the robot LogiSum to put the garbage, with visual interaction and simulation of dialogue with the function of the robot. The results obtained of the testings of the interaction of children with the robot showed an encouraging behavior. With the robot, children left the waste in the right places and not bury it in the sand or in the floor.

Keywords: interaction human-robot, pollution reduction, social robot, robot container, beach pollution

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Authors: Delowar Hossain, Genci Capi

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This paper concerns with the problem of deep learning parameters tuning using a genetic algorithm (GA) in order to improve the performance of deep learning (DL) method. We present a GA based DL method for robot object recognition and grasping. GA is used to optimize the DL parameters in learning procedure in term of the fitness function that is good enough. After finishing the evolution process, we receive the optimal number of DL parameters. To evaluate the performance of our method, we consider the object recognition and robot grasping tasks. Experimental results show that our method is efficient for robot object recognition and grasping.

Keywords: deep learning, genetic algorithm, object recognition, robot grasping

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Authors: Titanilla Komenda, Viktorio Malisa

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In this paper, the influence of diversity-related factors on the design of collaborative scenarios is analysed. Based on the evaluation, a framework for simulating human-robot-collaboration is presented that considers both human factors as well as the overall system performance. The implementation of the model is shown on a real-life scenario from industry and validated in terms of traceability, safety and physical limitations. By comparing scenarios that consider diversity with those only meeting system performance, an overall understanding of individually adapted human-robot-collaborative workspaces is reached. A diversity-related guideline for human-robot-collaborations provides a summary of the research and aids in optimizing future applications. Finally, limitations and future amendments of the model are discussed.

Keywords: diversity, human-machine system, human-robot collaboration, simulation

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Authors: Kai-Yi Cho, Fa-Shian Chang, Lih-Tyng Hwang, Chih-Feng Liu, Jeng-Nan Lee, Shun-Min Wang, Jhu-Wei Ji

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This paper presents a ground robot which has the tracked transformative structures of the motion mechanism. The robot has a good ability to adapt to the terrain, due to the front end of the track can be deformed, it can more easily pass the more complex area, such as to climb stairs and ramp areas. Usually in the disaster area, where the terrain is generally broken and complicated, there will be many slopes, broken walls, rubble, and obstacles, then if you want the robot through this area, you need to have a good off-road performance for possible complex terrain, this robot with the transformative tracked mechanism has a strong adaptability, it can overcome the limitation of the terrains to be a good rescue robot. Also, the robot has a good flexibility in the shape of contact with the ground; that can adapt the varied terrain by the deformable track, thus able to pass the different terrains, that was verified through the experiments on a test-platform and a field test. The prototype of the robot system has been developed, and experiments are carried out to verify the validity of the proposed design.

Keywords: tracked robot, rescue robot, transformation mechanism, deformable track, hull design

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Authors: Zijian Zhang, Yangyang Dong

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Synchronization is of great importance to ensure the multi-arm robot to complete the task. Therefore, a synchronous controller is designed to coordinate task space motion of the multi-arm in the paper. The position error, the synchronous position error, and the coupling position error are all considered in the controller. Besides, an adaptive control method is used to adjust parameters of the controller to improve the effectiveness of coordinated control performance. Simulation in the Matlab shows the effectiveness of the method. At last, a robot experiment platform with two 7-DOF (Degree of Freedom) robot arms has been established and the synchronous controller simplified to control dual-arm robot has been validated on the experimental set-up. Experiment results show the position error decreased 10% and the corresponding frequency is also greatly improved.

Keywords: synchronous control, space robot, task space control, multi-arm robot

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Authors: Wayan Widhiada, Cok Indra Partha, Gusti Ngurah Nitya Santhiarsa

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The purpose of this paper is to investigate the sophistication of the use of Proportional Integral and Derivative Control to control the kinematic motion of the mobile robot manipulator. Simulation and experimental methods will be used to investigate the sophistication of PID control to control the mobile robot arm in the collection and placement of several kinds of objects quickly, accurately and correctly. Mathematical modeling will be done by utilizing the integration of Solidworks and MATLAB / Simmechanics software. This method works by converting the physical model file into the xml file. This method is easy, fast and accurate done in modeling and design robotics. The automatic control design of this robot manipulator will be validated in simulations and experimental in control labs as evidence that the mobile robot manipulator gripper control design can achieve the best performance such as the error signal is lower than 5%, small overshoot and get steady signal response as quickly.

Keywords: control analysis, kinematics motion, mobile robot manipulator, performance

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Authors: Abdallah Ghoul, Bachir Ouamri, Ismail Khalil Bousserhane

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In this paper, we have developed a sliding mode controller for PUMA 600 manipulator robot, to control the remote robot a teleoperation system was developed. This system includes two sites, local and remote. The sliding mode controller is installed at the remote site. The client asks for a position through an interface and receives the real positions after running of the task by the remote robot. Both sites are interconnected via the Internet. In order to verify the effectiveness of the sliding mode controller, that is compared with a classic PID controller. The developed approach is tested on a virtual robot. The results confirmed the high performance of this approach.

Keywords: internet, manipulator robot, PID controller, remote control, sliding mode, teleoperation

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Authors: Sahil Anand, John Luetke, Nikhil Venkatesh, Dorothy Wong

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Trust plays an important role in building and sustaining long-term relationships between people. In this paper, we present a robot that communicates using nonverbal behaviors such as facial expressions and body movements. Our study reports on an experiment in which participants were asked to team up with the robot to perform specific tasks. We varied the expressivity of the robot and measured the effects on trust, quality of interactions as well as on the praising and punishing behavior of the participant towards the robot. We found that participants developed a stronger affinity towards the expressive robot, but did not show any significant differences in the level of trust. When the same robot made mistakes, participants unconsciously punished it with lesser intensity compared to the neutral robot. The results emphasize the role of expressive behaviors on participant’s perception of the robot and also on the quality of interactions between humans and robots.

Keywords: human-robot interaction, nonverbal communication, relationships, social robot, trust

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Authors: Victor Bloch, Eerikki Kaila, Reetta Palva

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Field robots are an important tool for enhancing efficiency and decreasing the climatic impact of food production. There exists a number of commercial field robots; however, since this technology is still new, the robot advantages and limitations, as well as methods for optimal using of robots, are still unclear. In this study, the performance of a commercial field robot for seeding and weeding was assessed. A research 2-ha sugar beet field with 0.5m row width was used for testing, which included robotic sowing of sugar beet and weeding five times during the first two months of the growing. About three and five percent of the field were used as untreated and chemically weeded control areas, respectively. The plant detection was based on the exact plant location without image processing. The robot was equipped with six seeding and weeding tools, including passive between-rows harrow hoes and active hoes cutting inside rows between the plants, and it moved with a maximal speed of 0.9 km/h. The robot's performance was assessed by image processing. The field images were collected by an action camera with a height of 2 m and a resolution 27M pixels installed on the robot and by a drone with a 16M pixel camera flying at 4 m height. To detect plants and weeds, the YOLO model was trained with transfer learning from two available datasets. A preliminary analysis of the entire field showed that in the areas treated by the robot, the weed average density varied across the field from 6.8 to 9.1 weeds/m² (compared with 0.8 in the chemically treated area and 24.3 in the untreated area), the weed average density inside rows was 2.0-2.9 weeds / m (compared with 0 on the chemically treated area), and the emergence rate was 90-95%. The information about the robot's performance has high importance for the application of robotics for field tasks. With the help of the developed method, the performance can be assessed several times during the growth according to the robotic weeding frequency. When it’s used by farmers, they can know the field condition and efficiency of the robotic treatment all over the field. Farmers and researchers could develop optimal strategies for using the robot, such as seeding and weeding timing, robot settings, and plant and field parameters and geometry. The robot producers can have quantitative information from an actual working environment and improve the robots accordingly.

Keywords: agricultural robot, field robot, plant detection, robot performance

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Authors: Habtemariam Alemu

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It has been known that the performance of position and force control is highly affected by both robot dynamic and environment stiffness uncertainties. In this paper, joint space hybrid force and position control strategy with self-selecting matrix using artificial neural network compensator is proposed. The objective of the work is to improve controller robustness by applying a neural network technique in order to compensate the effect of uncertainties in the robot model. Simulation results for a 6 degree of freedom (6-DoF) manipulator and different types of environments showed the effectiveness of the suggested approach. 6-DoF Puma 560 family robot manipulator is chosen as industrial robot and its efficient dynamic model is designed using Matlab/SimMechanics library.

Keywords: robot manipulator, force/position control, artificial neural network, Matlab/Simulink

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Authors: Abdullah M. Almeshal, Mohammad R. Alenezi, Talal H. Alzanki

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This paper presents a hybrid fuzzy logic control strategy for a unicycle trajectory following robot on irregular terrains. In literature, researchers have presented the design of path tracking controllers of mobile robots on non-frictional surface. In this work, the robot is simulated to drive on irregular terrains with contrasting frictional profiles of peat and rough gravel. A hybrid fuzzy logic controller is utilised to stabilise and drive the robot precisely with the predefined trajectory and overcome the frictional impact. The controller gains and scaling factors were optimised using spiral dynamics optimisation algorithm to minimise the mean square error of the linear and angular velocities of the unicycle robot. The robot was simulated on various frictional surfaces and terrains and the controller was able to stabilise the robot with a superior performance that is shown via simulation results.

Keywords: fuzzy logic control, mobile robot, trajectory tracking, spiral dynamic algorithm

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Authors: Shrikant V. Sangludkar, Dilip I. Sangotra, Sachin T. Bagde, Abhijeet A. Khandagale

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The paper discloses a controlled tracked humanoid robot moving platform. A driving and driven wheel are controlled by a control module to drive a robot body to move according to data signals of a monitoring module, in addition, remote transmission can be achieved, and a certain remote control function can be realized. A power management module circuit board looks after in used for providing electric drive for moving of the robot body and distribution of separate power source to be used in internal of robot system. An external port circuit board is arranged, the tracked robot moving platform can be used immediately for any data acquisition. The moving platform is simple and compact in structure, strong in adaptation performance, stable in operation and suitable for being operated in severe environments. Meanwhile, a layered modular installation structure is adopted, and therefore the moving platform is convenient to assemble and disassemble.

Keywords: moving platform, humanoid robot, embedded controlled drive, mobile robot, museum robots, self-localization, obstacle avoidance, communication

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Authors: Nihal Murali, Kunal Gupta, Surekha Bhanot

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Training of artificial neural networks (ANNs) using reinforcement learning (RL) techniques is being widely discussed in the robot learning literature. The high model complexity of ANNs along with the model-free nature of RL algorithms provides a desirable combination for many robotics applications. There is a huge need for algorithms that generalize using raw sensory inputs, such as vision, without any hand-engineered features or domain heuristics. In this paper, the standard control problem of line following robot was used as a test-bed, and an ANN controller for the robot was trained on images from a live video feed using Q-learning. A virtual agent was first trained in simulation environment and then deployed onto a robot’s hardware. The robot successfully learns to traverse a wide range of curves and displays excellent generalization ability. Qualitative analysis of the evolution of policies, performance and weights of the network provide insights into the nature and convergence of the learning algorithm.

Keywords: artificial neural networks, q-learning, reinforcement learning, robot learning

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Authors: Shiuh-Jer Huang, Su-Shean Chen, Sheam-Chyun Lin

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Two-wheel inverted pendulum robot (TWIPR) is designed with two-hub DC motors for human riding and motion control evaluation. In order to measure the tilt angle and angular velocity of the inverted pendulum robot, accelerometer and gyroscope sensors are chosen. The mobile robot’s moving position and velocity were estimated based on DC motor built in hall sensors. The control kernel of this electric mobile robot is designed with embedded Arduino Nano microprocessor. A handle bar was designed to work as steering mechanism. The intelligent model-free fuzzy sliding mode control (FSMC) was employed as the main control algorithm for this mobile robot motion monitoring with different control purpose adjustment. The intelligent controllers were designed for balance control, and moving speed control purposes of this robot under different operation conditions and the control performance were evaluated based on experimental results.

Keywords: balance control, speed control, intelligent controller, two wheel inverted pendulum

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Authors: Hazim Abdulsada

Abstract:

The inspection of underneath vehicle system has been given significant attention by governments after the threat of terrorism become more prevalent. New technologies such as mobile robots and computer vision are led to have more secure environment. This paper proposed that a mobile robot like Aria robot can be used to search and inspect the bombs under parking a lot vehicle. This robot is using fuzzy logic and subsumption algorithms to control the robot that movies underneath the vehicle. An OpenCV library and laser Hokuyo are added to Aria robot to complete the experiment for under vehicle inspection. This experiment was conducted at the indoor environment to demonstrate the efficiency of our methods to search objects and control the robot movements under vehicle. We got excellent results not only by controlling the robot movement but also inspecting object by the robot camera at same time. This success allowed us to know the requirement to construct a new cost effective robot with more functionality.

Keywords: fuzzy logic, mobile robots, Opencv, subsumption, under vehicle inspection

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Authors: Jhu-Wei Ji, Fa-Shian Chang, Lih-Tyng Hwang, Chih-Feng Liu, Jeng-Nan Lee, Shun-Min Wang, Kai-Yi Cho

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This paper presents a tracked robot with blade arms powered to assist movement in difficult environments. As a result, the tracked robot is able to pass a ramp or climb stairs. The main feature is a pair of blade arms on both sides of the vehicle body working in collaboration with previously validated transformable track system. When the robot encounters an obstacle in a terrain, it enlists the blade arms with power to overcome the obstacle. In disaster areas, there usually will be terrains that are full of broken and complicated slopes, broken walls, rubbles, and ditches. Thereupon, a robot, which is instructed to pass through such disaster areas, needs to have a good off-road capability for such complicated terrains. The robot with crawling-assisting blade arms would overcome the obstacles along the terrains, and possibly become to be a rescue robot. A prototype has been developed and built; experiments were carried out to validate the enhanced crawling capability of the robot.

Keywords: tracked robot, rescue robot, blade arm, crawling ability, control system

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Authors: Jun-ya Nagase

Abstract:

There are many pipes such as a water pipe and a gas pipe in a chemical plant and house. It is possible to prevent accidents by these inspections. However, many pipes are very narrow and it is difficult for people to inspect directly. Therefore, development of a robot that can move in narrow pipe is necessary. A wheel movement type robot, a snake-like robot and a multi-leg robot are all described in the relevant literature as pipe inspection robots that are currently studied. Among them, the tracked crawler robot can travel by traversing uneven ground flexibly with a crawler belt attached firmly to the ground surface. Although conventional crawler robots have high efficiency and/or high ground-covering ability, they require a comparatively large space to move. In this study, a cylindrical crawler robot based on worm-rack mechanism, which does not need large space to move and which has high ground-covering ability, is proposed. Experiments have demonstrated smooth operation and a forward movement of the robot by application of voltage to the motor. In addition, performance tests show that it can propel itself in confined spaces. This paper reports the structure, drive mechanism, prototype, and experimental evaluation.

Keywords: tracked-crawler, pipe inspection robot, worm-rack mechanism, amoeba locomotion

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Authors: Brahim Brahmi, Mohammed Hamza Laraki, Mohammad Habibur Rahman, Islam M. Rasedul, M. Assad Uz-Zaman

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The humanoid robot, specifically the NAO robot must be able to provide a highly dynamic performance on the soccer field. Maintaining the balance of the humanoid robot during the required motion is considered as one of a challenging problems especially when the robot is subject to external disturbances, as contact with other robots. In this paper, a dynamic controller is proposed in order to ensure a robust walking (stabilization) and to improve the dynamic balance of the robot during its contact with the environment (external disturbances). The generation of the trajectory of the center of mass (CoM) is done by a model predictive controller (MPC) conjoined with zero moment point (ZMP) technique. Taking into account the properties of the rotational dynamics of the whole-body system, a modified previous control mixed with feedback control is employed to manage the angular momentum and the CoM’s acceleration, respectively. This latter is dedicated to provide a robust gait of the robot in the presence of the external disturbances. Simulation results are presented to show the feasibility of the proposed strategy.

Keywords: preview control, Nao robot, model predictive control

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Authors: Kaan Karaoglu, Raif Bayir

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In this study, a cartesian robot is developed to improve the performance and efficiency of wireless charging of electric vehicles. The cartesian robot has three axes, each of which moves linearly. Magnetic positioning is used to align the cartesian robot transmitter charging pad. There are two different wireless charging methods, static and dynamic, for charging electric vehicles. The current state of charge information (SOC State of Charge) and location information are received wirelessly from the electric vehicle. Based on this information, the power to be transmitted is determined, and the transmitter and receiver charging pads are aligned for maximum efficiency. With this study, a fully automated cartesian robot structure will be used to charge electric vehicles with the highest possible efficiency. With the wireless communication established between the electric vehicle and the charging station, the charging status will be monitored in real-time. The cartesian robot developed in this study is a fully automatic system that can be easily used in static wireless charging systems with vehicle-machine communication.

Keywords: electric vehicle, wireless charging systems, energy efficiency, cartesian robot, location detection, trajectory planning

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Authors: Rahul Arora, S. S. Dhami

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This paper implements the design structure of industrial robot along with the different transmission components like gear assembly and analysis of complete industrial robot. In this paper, it gives the overview on the most efficient types of modeling and different analysis results that can be obtained for an industrial robot. The investigation is executed in regards to two classifications i.e. the deformation and the stress tests. SolidWorks is utilized to design and review the 3D drawing plan while ANSYS Workbench is utilized to execute the FEA on an industrial robot and the designed component. The CAD evaluation was conducted on a disentangled model of an industrial robot. The study includes design and drafting its transmission system. In CAE study static, modal and dynamic analysis are presented. Every one of the outcomes is divided in regard with the impact of the static and dynamic analysis on the situating exactness of the robot. It gives critical data with respect to parts of the industrial robot that are inclined to harm under higher high force applications. Therefore, the mechanical structure under different operating conditions can help in optimizing the manipulator geometry and in selecting the right material for the same. The FEA analysis is conducted for four different materials on the same industrial robot and gear assembly.

Keywords: CAD, CAE, FEA, robot, static, dynamic, modal, gear assembly

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Authors: M. Aguilar, D. L. Araujo, A. L. Avendaño, D. C. Flores, I. Lascurain, R. A. Molina, M. Romero

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This work presents an application of social robotics, specifically the use of a NAO Robot as a tool for therapists in the treatment of Autism Spectrum Disorder (ASD). According to this, therapies approved by specialist psychologists have been developed and implemented, focusing on creating a triangulation between the robot, the child, and the therapist, aiming to improve their social and language skills, as well as communication skills and joint attention. In addition, quantitative and qualitative analysis tools have been developed and applied to prove the acceptance and the impact of the robot in the treatment of ASD.

Keywords: autism spectrum disorder, NAO robot, social and language skills, therapy

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Authors: Misbah Javaid, Vladimir Estivill-Castro, Rene Hexel

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The field of robotics is advancing rapidly to the point where robots have become an integral part of the modern society. These robots collaborate and contribute productively with humans and compensate some shortcomings from human abilities and complement them with their skills. Effective teamwork of humans and robots demands to investigate the critical issue of trust. The field of human-computer interaction (HCI) has already examined trust humans place in technical systems mostly on issues like reliability and accuracy of performance. Early work in the area of expert systems suggested that automatic generation of explanations improved trust and acceptability of these systems. In this work, we augmented a robot with the user-invoked explanation generation proficiency. To measure explanations effect on human’s level of trust, we collected subjective survey measures and behavioral data in a human-robot team task into an interactive, adversarial and partial information environment. The results showed that with the explanation capability humans not only understand and recognize robot as an expert team partner. But, it was also observed that human's learning and human-robot team performance also significantly improved because of the meaningful interaction with the robot in the human-robot team. Moreover, by observing distinctive outcomes, we expect our research outcomes will also provide insights into further improvement of human-robot trustworthy relationships.

Keywords: explanation interface, adversaries, partial observability, trust building

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Authors: Roya Khajepour, Alireza B. Novinzadeh

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In this paper, the spherical robot is modeled using the Band-Graph approach. This breed of robots is typically employed in expedition missions to unknown territories. Its motion mechanism is based on convection of a fluid in a set of three donut vessels, arranged orthogonally in space. This robot is a non-linear, non-holonomic system. This paper utilizes the Band-Graph technique to derive the torque generation mechanism in a spherical robot. Eventually, this paper describes the motion of a sphere due to the exerted torque components.

Keywords: spherical robot, Band-Graph, modeling, torque

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Authors: B. Arend, P. Sunnen, P. Caire

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In a single case study, we show how a conversation analysis (CA) approach can shed light onto the sequential unfolding of human-robot interaction. Relying on video data, we are able to show that CA allows us to investigate the respective turn-taking systems of humans and a NAO robot in their dialogical dynamics, thus pointing out relevant differences. Our fine grained video analysis points out occurring breakdowns and their overcoming, when humans and a NAO-robot engage in a multimodally uttered multi-party communication during a sports guessing game. Our findings suggest that interdisciplinary work opens up the opportunity to gain new insights into the challenging issues of human robot communication in order to provide resources for developing mechanisms that enable complex human-robot interaction (HRI).

Keywords: human robot interaction, conversation analysis, dialogism, breakdown, museum

Procedia PDF Downloads 270