DOCSLIB.ORG

Humanoid Robots Supporting an Aging Society

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Humanoid Robots Supporting an Aging Society Humanoid Robots Supporting an Aging Society Keynote Speech @ EU-Japan Conference on Smart Society and Beyond for the Super-Aging Era October 8, 2018 Belgian Royal Academy Espace Roi Baudouin, Bruxelles Atsuo Takanishi（高西淳夫） Dept. of Modern Mech. Eng./Humanoid Robotics Institute, Waseda University Long Period Personal/Official Collaboration with Prof. Dario of SSSA, Italy IEEE: Largest Academic Society in Engineering Robotics Researchers’ Ranking by IEEE: All Five Japanese are Waseda’s Almni Waseda’s Achievements in Humanoid Robotics led by the late Prof. Ichiro Kato Prof. Ichiro Kato (1925-1994) WABOT-1 (1973) WABOT-2 (1984) Humanoid Type Industrial Coworkers: Yaskawa Electric Robots Humanoid Type Industrial Coworkers: Kawada Robotics “NEXSTEP” 重量 28kg Sunrise of Domestic Co-workers? Softbank’s “Pepper” for US$1,678!! Specifications Size:1210×425×485 [mm] Weight:28[kg] DOF:20! Sensors: Many! Developed by “Aldebaran Rob.” Pepper: The Robot Buddhist Monk https://robotstart.info/2017/08/14/robot-sogi.html Why Humanoid Robotics? To Build Human Model to Understand Human from Robotics View Point: “Robotic Human Science” To Make Robotics as One of the Social Technologies based on the Human Model to Support Elderly Dominated Society and to Support Education, Etc. Grand Challenge for Roboticists: A human is considered to be an excellent robot both in motional functionality and in intelligential functionality. Humanoid Family in WABOT-HOUSE Project WABIAN-2 as a Robotic Human Simulator and a Measuring Device for Quantitative Evaluation of Handicapped/Elderly Supporting Machines/Robots Yu Ogura Team 2-DOF Pelvis height : 1.5 [m] weight : 55 [kg] 2 DOF Total DOF : 41 3 DOF leg : 6×2 waist : 2 1 DOF trunk : 2 arm : 7×2 neck : 3 3 DOF WABIAN-2 Designed Based on the Human Anatomy More Human-like Walking by WABIAN-2R with a 50cm-Step 0.50[m/step], 0.96[s/step] Human-Like Outdoor Walking 0.40[m/step], 0.96[s/step] WABIAN-2’s Mimicry Walking of Elderly/Handicapped for Hitachi’s Walking Aid Real World Simulation of Elderly/Handicapped for Testing of Walking Aid ■ Mimicry Walking of a Real Handicapped Subject 9th,FEB,2007 ２００６年度 修論発表 Experiments in Fukuoka Robot Tokku： Knowing of Usability, Possible Danger for New Regulation of Robot Usage Jump! ・・・・・・Towards next ones like Radio Wave Bands for Robots and/or Robot/AI Category in Medical Regulation 世界ロボット宣言 World Robot Declaration 2004年2月25日、ロボットテクノロジーの発展と それが人類への多大なる貢献を果たすことを信じ、 日本・福岡の地より｢世界ロボット宣言｣を世界へ発信する。 Confident of the future development of robot technology and of the numerous contributions that robots will make to Humankind, this World Robot Declaration is issued on February 25, 2004 from Fukuoka, Japan. Jump! WABIAN-2R Goes to Public Space, but Many Problems! More efforts needed for higher usability in the real world Special Economical Zone for Robot Test and Experiment in Fukuoka WL-16 Goes to the US Carrying 170 People in NextFest 2007 Experiment at the Entrance of Japanese Shrine for Elderlies to Prey for Temples/Shrines Takanishi Laboratory, Waseda University Running Companion for Runners More Human-like One with Novel Ankle-Foot Mechanism Z Y X 350 1500 Mass： 62 [kg] Z 22-DOF Y ① : Thigh ② : Foot X ③ : Link 1 ④ : Link 2 ⑤ : Link 3 ⑥ : Link 4 ⑦ : Active 1DOF(Pitch-axis) ⑧ : Passive 1DOF ⑨ Z : Passive 3DOF ⑩ : Active 1DOF(Roll-axis) & Passive 1DOF(Pitch-axis) Y Mass： 4.4 [kg] ⑪ : Leaf spring(For Deflection) 2-DOF ⑫ : Leaf spring(For Twist) 25 Flutist Robot Entertaining Elderlies:WF-4 Mr. Wakamatsu: Technical Advisor Gifu-Waseda WABOT-HOUSE Project WF-4’s Flute Play: The Flight of the Bumble-Bee (Rimsky-Korsakov) Emotional Humanoid EYE-Chan: WE-4RII for Modeling of Human Mind Part DOF Neck 4 Eyes 3 Eyelids 6 Eyebrows 8 Lips 4 Jaw 1 Lung 1 Waist 2 Arms 18 Hand 12 Total 59 Demos of EYE-Chan Additional Demos Whole Upper Body Testing of Behaviors Consciousness The Secret is Equations of Emotion Equation of Motion（運動方程式）m x x k x )( F t Equations of Emotion（情動方程式） M E E KEEA F E: Emotion Vector, FEA: Emotional Appraisal Emotional Coefficient Matrix（情動係数行列） M ： Emotional Inertia Matrix（情動慣性） ： Emotional Viscosity Matrix（情動粘性） K ： Emotional Stiffness Matrix（情動弾性） WABIAN-2 + EYE-Chan = KOBIAN For Making People Laugh, Especially Children in Tsunami/Fukushima Disaster Area Laughter Induction: KOBIAN Commercial Type: WAMOT-FR1 Why so many onomatopoeias in Japanese? “Japan, The Natural Disaster Country” Tsunami, Typhoon, Eruption, Earth Quake, Flood, Landslide, Volcano, etc. New National Program ImPACT: “Though Robotics Challenge” by Prof. Tadokoro Example of Experimental Field High mobility capability Various terrain shapes Various terrain profiles Powerful Powerful manipulation manipulation Precise manipulation High perception ability Supervised autonomy Precise manipulation Spiral stairs Rough terrain Vertical ladder 早稲⽥⼤学 WAREC-1 (Waseda Rescuer – No.1) Two‐limbed stance Four‐limbed stance [150kg] 早稲⽥⼤学 WAREC‐1 Walking & Climbing TWIns : Tokyo Women’s Medical Univ. – Waseda Univ. Institution for Advanced Biomedical Sciences Blood Flow Measurement Robot System: 46 Commercial Suture/Ligature Training Simulator with Scoring Function Web Dummy Skin Dummy Skin cam (Kyotokagaku Co. Ltd.) PC Web cam Venipuncture Trainer (Kyotokagaku Co. Ltd.) Scoring Functions of WKS owards Production Goods with Kyoto Kagaku Co. Ltd.T 1 2 ESuture 3 Z min T T Suture x () t dt 0 N E 1 Lig 2 Max Ligature T T Lig Jump! Lig x () t dt 0 Max 3 3 3 LigMax IdleMax IdleMax Idle Z Z Max Y Y Max X X Max Endotracheal Intubation Test of WKA-3 by Anesthesiologists from TWMU Commercial Prototype: Airway Management Patient Robot Jump! Elderlies Need Dental Care: Dental Patient Simulator DENTAROID®: Show! Hardware configuration Simulator composed of soft skin and flexible limbs 520 85 x y z Average of neonates Neonatal simulator Height mm 500 520 Weight g 2500-3500 2593 Head circumference mm 330 325 （喉頭圧力） （チューブ位置） （食道挿管） （換気圧） （上顎圧力） Larynx Tube Esophageal Ventilation pressure HardwareUpper jaw pressure configurationposition intubation sensor pressure sensor sensor sensor Left lung: 1ch sensor Left: 3ch Left: 5ch Left: 1ch Right lung: 1ch Right: 3ch Right: 5ch Right: 1ch Stomach: 1ch 520 85 x y z Microcontroller Wireless Head Oral Abdomen A/D converter communication Battery IMU camera IMU Sensor controller module Recent Humanoids and Animaloids for Human Environment in Japan TOYOTA: Partner Robots (Aichi EXPO ’05 and after) SONY: AIBO, QRIO (3 years of secret support) HONDA: P2, P3, ASIMO MITI: HRP-1, HRP-2,3,4 TMSUK/SANYO: T-4, T-5, Banryu-Series (SANYO) ERATO Kitano Project: PINO, PINO2, Morph, etc. NEC: PaPeRo Mitsubishi Heavy Industries: Wakamaru ATR/MHI: Robovie, Robovie-2, Robovie-3 HITACHI, Kawada, Etc. *Robots Colored Red are Supported by Takanishi Lab. Classical PID Control: Position, Integration and Differentiation Need to be Very Fast!! https://ja.wikipedia.org/wiki/PID%E5%88%B6%E5%BE%A1#/media/File:PID_en.svg Possible Main Cause of Instability in Smart Society Too Much Feedbacks Many Explosive Responses in Short Time!! Too Slow to Control/Respond to the Feedback Too Slow in Developing Suppressive Technology and/or Enacting Regulation Modeling Error of Control Objects Modeling Error of Society being Composed of Human, Technology and Regulation Functional Incompleteness of Detector/Sensor Insufficient Precision, Slow Response, Faulty Data, etc. Sensor Detects Noise Detection/Recognition Error, False/Malicious Signal Detection Main Cause of Slow Response Too Strict Regulation→Delay in Problem Solving Solving Problems If Feedback becomes ZERO: 2 DOF Control (Adding of Feedforward) Feed Forward Part Robot Feed Back Inverse Model of Robot No Feedback Needed → Stable and Perfect Block Diagram：http://www.ritsumei.ac.jp/~nokata/RoboEx1figures/control.htm Human’s Muscular Skeletal Motion Control is 2DOF One Koji Ito, Human’s Musuclar Skeletal Motion Control, Bio-Mechanism Journal，Vol. 24, No.1: pp.12-13 (2000) Modeling is not part of ticsthemaMa J D TDJM M ・・・ (1) T(t) TJD M M ・・・ (2) Modeling of Motor in Mechanics JM: Motor Inertia Angle: Rotational DMiscosity on Rotor: V，TrqueoT: Out Shaft ransform of (2)TLaplace 2 T()()() s JM s M D s・・・ s (3) Computers Need A/D and D/A Converters for Real World Computation Video Field Multiplexing Device A/D FSR Olfactory Sensor PC2 CCD (R) Thermistor Ethernet CCD (L) Gyro Microphones Voice Facial Color Inverter Circuit x 2 Heater Driver Circuit x 1 A/D Eyebrows Servo Module x 8 Lips Servo Module x 4 Jaw Servo Module x 1 D/A Eyelids Servo Module x 6 Eyeballs Servo Module x 3 Neck Servo Module x 4 Lung Servo Module x 1 WE-4 Waist Servo Module x 2 PC1 Limitation by Nyquist Frequency Sampling Frequency Maximum Frequency Slower, Stop or Even Reversed Rotation?! https://toyota.jp/86/style/3d/?padid=ag341_from_86gr_3d http://kaba118.jugem.jp/?eid=219 Linear and Non-linear Systems： Single and Double Pendulums Linear System：Simple Non-Linear System： Vibration System Singlle Pendulum https://ja.wikipedia.org/wiki/%E8%87%AA%E7%94%B1 https://ja.wikipedia.org/wiki/%E6%8C%AF%E3%82%8A %E6%8C%AF%E5%8B%95 %E5%AD%90 Chaos easily Occurs Even in Double Pendulum System https://ja.wikipedia.org/wiki/%E4%BA%8C%E9%87%8D%E6%8C%AF%E3%82%8A%E5%AD%90 Limitation of Modeling： Structure cannot be autonomously computed by Phenomena ・・・ is AI really be Perfect? ○ ？ × http://aidiary.hatenablog.com/entry/20111028/1319815300 https://upload.wikimedia.org/wikipedia/commons/f/f1/Pendule_double.gif No Escape from Chaos in Digital Control of Robots!! G. Haller and G. Stepan, Micro-Chaos in Digital Control,J. Nonlinear Sci., Vol. 6: pp. 415–448 (1996) Pure Electric Parts can be affected by Mechanical Action Non-Inv. Amp. with X100 Gain × Non-Inv. Amp. with X100 Gain 4.7μ + 4.7μ 10K + 0.47μ - Output - E 10K 100K 10K 1K 100K 1K Touch and Stroke ＝ Audio Amp.
Load more

Recommended publications
  • Assistive Humanoid Robot MARKO: Development of the Neck Mechanism
    MATEC Web of Conferences 121, 08005 (2017) DOI: 10.1051/ matecconf/201712108005 MSE 2017 Assistive humanoid robot MARKO: development of the neck mechanism Marko Penčić1,*, Maja Čavić1, Srđan Savić1, Milan Rackov1, Branislav Borovac1, and Zhenli Lu2 1Faculty of Technical Sciences, University of Novi Sad, TrgDositejaObradovića 6, 21000 Novi Sad, Serbia 2School of Electrical Engineering and Automation, Changshu Institute of Technology, Hushan Road 99, 215500 Changshu, People's Republic of China Abstract.The paper presents the development of neck mechanism for humanoid robots. The research was conducted within the project which is developing a humanoid robot Marko that represents assistive apparatus in the physical therapy for children with cerebral palsy.There are two basic ways for the neck realization of the robots. The first is based on low backlash mechanisms that have high stiffness and the second one based on the viscoelastic elements having variable flexibility. We suggest low backlash differential gear mechanism that requires small actuators. Based on the kinematic-dynamic requirements a dynamic model of the robots upper body is formed. Dynamic simulation for several positions of the robot was performed and the driving torques of neck mechanism are determined.Realized neck has 2 DOFs and enables movements in the direction of flexion-extension 100°, rotation ±90° and the combination of these two movements. It consists of a differential mechanism with three spiral bevel gears of which the two are driving and are identical, and the third one which is driven gear to which the robot head is attached. Power transmission and motion from the actuators to the input links of the differential mechanism is realized with two parallel placed gear mechanisms that are identical.Neck mechanism has high carrying capacity and reliability, high efficiency, low backlash that provide high positioning accuracy and repeatability of movements, compact design and small mass and dimensions.
    [Show full text]
  • Generation of the Whole-Body Motion for Humanoid Robots with the Complete Dynamics Oscar Efrain Ramos Ponce
    Generation of the whole-body motion for humanoid robots with the complete dynamics Oscar Efrain Ramos Ponce To cite this version: Oscar Efrain Ramos Ponce. Generation of the whole-body motion for humanoid robots with the complete dynamics. Robotics [cs.RO]. Universite Toulouse III Paul Sabatier, 2014. English. tel- 01134313 HAL Id: tel-01134313 https://tel.archives-ouvertes.fr/tel-01134313 Submitted on 23 Mar 2015 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Christine CHEVALLEREAU: Directeur de Recherche, École Centrale de Nantes, France Francesco NORI: Researcher, Italian Institute of Technology, Italy Patrick DANÈS: Professeur des Universités, Université de Toulouse III, France Ludovic RIGHETTI: Researcher, Max-Plank-Institute for Intelligent Systems, Germany Nicolas MANSARD: Chargé de Recherche, LAAS-CNRS, France Philippe SOUÈRES: Directeur de recherche, LAAS-CNRS, France Yuval TASSA: Researcher, University of Washington, USA Abstract This thesis aims at providing a solution to the problem of motion generation for humanoid robots. The proposed framework generates whole-body motion using the complete robot dy- namics in the task space satisfying contact constraints. This approach is known as operational- space inverse-dynamics control. The specification of the movements is done through objectives in the task space, and the high redundancy of the system is handled with a prioritized stack of tasks where lower priority tasks are only achieved if they do not interfere with higher priority ones.
    [Show full text]
  • [2 [6 I8 [12 176
    Aba - Abe Abarbanel, Isaac 35 an J 257 8. Jishäq,- . Abravanel. Abdruck zweier Schreiben: So an Hertzog Johans Friderichen den mitlern [Johann Friedrich 11.1 Abbadie, Jaques: zu Sachsen, seiner F.G. Rethe aus Augspurg inn E 646 werendem jüngsten Reichstag gethan, sampt ange- --- L'Art de se oonnoitre soy-meme, ou La Recher- hengter Erklerung der Röm. Key. May. [gaximili- ohe des sources de la morale. Par Jaques Abbadie. an 11. Kaiser v. Deutschland: Ankündigung der P. 1.2’ Acht6 Exeoution] den Echter Wilhelmen von -um- Rotterdam: vander Slaart 1692. 494 S. k1.8’ [1 hach . betr. 0.0. 1567. 16 Bl. 8' [Y --- Die triumphierende christliche Religion s. Abbadie: Traitk de la veritk de la religion 2an J515 chrbtienne [deutsch]. Abdruok.- Wahrer Abdruck derer Sohrifften, welche -gewesenen Mönchs-Zellen . Martin Luthers D 201 in dem Augustiner-Kloster zu Erffurt . angemah- --- [Traite de la v&itk de la religion chreti- let zu befinden. enne, deutsch] Gotha 1677: Reyher. 12 Bl. k1.8’ [IO Die triumphirende christliche Religion. Das ist hochnöthiger, nützlicher und erbaulicher Trattat 2 an C 247 von der Warheit und Gewißheit der christl. Reli- Abdruck.- Warhaffter Abdruck etlicher vornehmer Schrifften und Handlungen der Evangelischen Chur: gion. Aus d. unvergleichlichen frantz. Sorip- to des Jacobi Abbadie . übers. und . erl. Fürsten und Stände . so auff dem zu Leipzig ge- haltenem Conventu beysammen gewesen. Wie auch der (von C;hristoph] L[orenz] g[ilderbeck].) Nebst e. Röm: Kayserl. Mayest: hierüber außgefertigten und Vorr. (T.I.) ins Reich publicirtenoKayserl. Monitorij. Franokfurt u. Leipzig: Hoffmann 1713. 0.0. 1631. 22 Bl. 8 [11 26 Bl., 536 S.
    [Show full text]
  • Systems Overview of Ono a DIY Reproducible Open Source Social Robot
    Systems Overview of Ono A DIY Reproducible Open Source Social Robot Cesar Vandevelde1, Jelle Saldien1, Maria-Cristina Ciocci and Bram Vanderborght2 1 Ghent University, Dept. of Industrial Systems and Product Design, Campus Kortrijk, Belgium {cesar.vandevelde, jelle.saldien, maria-cristina.ciocci}@ugent.be 2Vrije Universiteit Brussel, Dept. of Mechanical Engineering, Brussels, Belgium [email protected] Abstract. One of the major obstacles in the study of HRI (human-robot interac- tion) with social robots is the lack of multiple identical robots that allow testing with large user groups. Often, the price of these robots prohibits using more than a handful. A lot of the commercial robots do not possess all the necessary features to perform specific HRI experiments and due to the closed nature of the platform, large modifications are nearly impossible. While open source social robots do exist, they often use high-end components and expensive manufactur- ing techniques, making them unsuitable for easy reproduction. To address this problem, a new social robotics platform, named Ono, was developed. The de- sign is based on the DIY mindset of the maker movement, using off-the-shelf components and more accessible rapid prototyping and manufacturing tech- niques. The modular structure of the robot makes it easy to adapt to the needs of the experiment and by embracing the open source mentality, the robot can be easily reproduced or further developed by a community of users. The low cost, open nature and DIY friendliness of the robot make it an ideal candidate for HRI studies that require a large user group.
    [Show full text]
  • Online Calibration of a Humanoid Robot Head from Relative Encoders, IMU Readings and Visual Data
    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems October 7-12, 2012. Vilamoura, Algarve, Portugal Online Calibration of a Humanoid Robot Head from Relative Encoders, IMU Readings and Visual Data Nuno Moutinho†, Martim Brand˜ao‡, Ricardo Ferreira†, Jos´eGaspar†, Alexandre Bernardino†, Atsuo Takanishi‡,Jos´e Santos-Victor† Abstract— Humanoid robots are complex sensorimotor sys- tems where the existence of internal models are of utmost importance both for control purposes and for predicting the changes in the world arising from the system’s own actions. This so-called expected perception relies on the existence of accurate internal models of the robot’s sensorimotor chains. We assume that the kinematic model is known in advance but that the absolute offsets of the different axes cannot be directly retrieved from encoders. We propose a method to estimate such parameters, the zero position of the joints of a humanoid robotic head, by relying on proprioceptive sensors such as relative encoders, inertial sensing and visual input. (a) iCub head (b) Actuators and Sensors We show that our method can estimate the correct offsets of the different joints (i.e. absolute positioning) in a continuous, online manner. Not only the method is robust to noise but it can as well cope with and adjust to abrupt changes in the parameters. Experiments with three different robotic heads are presented and illustrate the performance of the methodology as well as the advantages of using such an approach. (d) 2o offsets I. INTRODUCTION The application of robotic technologies in fields such as military, industry, service or research has grown quite significantly over the past years.
    [Show full text]
  • Facial Recognition Patterns of Children and Adults Looking at Robotic Faces
    ARTICLE International Journal of Advanced Robotic Systems Facial Recognition Patterns of Children and Adults Looking at Robotic Faces Regular Paper Eunil Park1,*, Ki Joon Kim1 and Angel P. del Pobil1,2 1 Department of Interaction Science, Sungkyunkwan University 2 Robotic Intelligence Laboratory, University Jaume-I * Corresponding author E-mail: [email protected] Received 30 Nov 2011; Accepted 07 Jan 2012 DOI: 10.5772/47836 © 2012 Park et al.; licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Abstract The present study investigates whether adults and When we communicate with others, we exchange our children exhibit different eye‐fixation patterns when they emotions, feelings and thoughts by using various look at human faces, machinelike robotic faces, and communication modalities. In addition to verbal humanlike robotic faces. The results from two between‐ communication, we also use non‐verbal communication subject experiments showed that children and adults did modalities such as body movements, hand gestures and have different facial recognition patterns; children tended to facial expressions [1, 2, 3, 4, 5, 6, 7]. Gross and Ballif fixate more on the mouth of both machinelike and suggested that facial expressions are one of the most humanlike robotic faces than they do on human faces, while efficient ways for understanding others’ emotions and adults focused more on the eyes. The implications of notable feelings. In particular, children do not have sufficient findings and the limitations of the experiment are discussed.
    [Show full text]
  • The Study of Safety Governance for Service Robots: on Open-Texture Risk
    From the SelectedWorks of Yueh-Hsuan Weng Spring May 28, 2014 The tudyS of Safety Governance for Service Robots: On Open-Texture Risk Yueh-Hsuan Weng, Peking University Available at: https://works.bepress.com/weng_yueh_hsuan/30/ 博士研究生学位论文 题目： 服务机器人安全监管问题初探 ——以开放组织风险为中心 姓 名： 翁岳暄 学 号： 1001110716 院 系： 法学院 专 业： 法学理论 研究方向： 科技法学 导师姓名： 强世功 教授 二 0 一四 年 五 月 服务机器人安全监管问题初探--以开放组织风险为中心 摘要： 自工业革命以来“蒸汽机”乃至“微电机”陆续地融入人类社会之中，迄今人类 和机械共存的时间已经超过两个世纪，同时法律形成一套固有的监管模式来应对 “蒸汽机”以及“微电机”之机械安全性。另一方面，就来自日本与韩国官方预 测，所谓“人类-机器人共存社会（The Human-Robot Co-Existence Society）”将 在 2020 年至 2030 年之间形成，然而与现存于人类社会并提供服务的“微电机” 相比，智能服务机器人的新风险主要来自于贴近人类并与人共存的机器自律行为 之不确定性, 或称“开放组织风险（Open-Texture Risk）”，这种科技风险的基本 性质以及人机共存安全性所对应的风险监管框架对于将来发展人类-机器人共存 前提之下的安全监管法制将是不可或缺的，因此本研究着眼于思考开放组织风险 的基本性质，以及其如何应用在未来的人类-机器人共存之安全监管法制中, 并且 尝试厘清几个现存的开放性问题，期能为将来政府发展智能机器人产业所面临的 结构性法制问题提供参考和借鉴作用。 本研究结构编排分为六个部分，第一章 “绪论：迈向人类-机器人共存社会”、 第二章 “风险社会与机械安全”、第三章 “非结构化环境与开放组织风险”、第 四章 “个案研究（一）：智能汽车、自动驾驶汽车安全监管问题研究”、第五章 “个 案研究（二）：““Tokku”机器人特区与科技立法研究”、第六章“结论”。 关键字： 科技法学，风险社会学，机器人安全监管，开放组织风险，机器人法律 I The Study of Safety Governance for Service Robots: On Open-Texture Risk Yueh-Hsuan Weng Supervised by Prof. Dr. Shigong Jiang Abstract: The emergence of steam and microelectrical machines in society gradually expanded since the era of the Industrial Revolution. Up until now, human beings have already co-existed with these machines for more than two centuries, and contemporary laws have developed preventional regulatory frameworks. These frameworks are based on risk assessments to supervise the safety of microelectrical machines which include automobiles, railway systems, elevators and industrial robots, etc. Regulators, especially South Korea and Japan expect human-robot co-existence societies to emerge within the next decade. These next generation robots will be capable of adapting to complex, unstructured environments and interact with humans to assist them with tasks in their daily lifes.
    [Show full text]
  • How to Achieve the Huggable Behavior of the Social Robot Probo?
    Mechatronics 21 (2011) 490–500 Contents lists available at ScienceDirect Mechatronics journal homepage: www.elsevier.com/locate/mechatronics How to achieve the huggable behavior of the social robot Probo? A reflection on the actuators ⇑ Kristof Goris a,b, , Jelle Saldien a, Bram Vanderborght a, Dirk Lefeber a a Vrije Universiteit Brussel, Robotics & Multibody Mechanics Research Group, Pleinlaan 2, 1050 Brussel, Belgium b Group T – Leuven Engineering College (Association K.U. Leuven), A.Vesaliusstraat 13, 3000 Leuven, Belgium article info abstract Article history: Most robots have a mechanical look or are covered with plastic or metallic shells. Their actuators are stiff Received 3 May 2010 which gives them not only an unnatural look, but also an unnatural touch. The goal of the huggable robot Accepted 10 January 2011 Probo is to serve as robotic research platform for human–robot interaction (HRI) studies with a special Available online 12 February 2011 focus on children. Since not only cognitive interaction, but also physical interaction is targeted a new mechatronic design must be developed. To give Probo a huggable and safe behavior a new set of actuators Keywords: is developed together with a triple layered protection cover which is presented in this paper. Probo’s soft Social robot touch is introduced, on the one side by use of novel passive compliant actuators, Compliant Bowden Compliant actuation Cable Driven Actuators (CBCDAs), and on the other side by combining custom made servo motors, Non Huggable Safety Back Drivable Servos (NBDSs), with flexible components and materials such as springs, silicon and foam. Human–robot interaction (HRI) The working principle of the novel CBCDA is extensively described, together with experiments in order to determine its level of compliance and its bandwidth.
    [Show full text]
  • Too Human to Be a Machine? Social Robots, Anthropomorphic Appearance, and Concerns on the Negative Impact of This Technology on Humans and Their Identity
    View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by Unitn-eprints PhD University of Trento Department of Psychology and Cognitive Science Doctoral School in Psychology and Education XXVIII Cycle Too Human To Be a Machine? Social robots, anthropomorphic appearance, and concerns on the negative impact of this technology on humans and their identity. PhD Candidate Francesco Ferrari Advisor: Prof. Maria Paola Paladino Academic Year 2015/2016 Alla mia famiglia 5 Content Introduction ............................................................................................................................................. 7 CHAPTER 1 Theoretical Introduction ................................................................................................. 9 1.1 Technology to interact with: Social Robots ................................................................................ 9 1.2 Meeting social robots I: The appearance .................................................................................. 11 1.3 Meeting social robots II: Why is humanlike appearance important? .................................... 17 1.3.1 Functional approach ................................................................................................................ 17 1.3.2 Psychological approach .......................................................................................................... 19 1.4 The Uncanny Valley theory .......................................................................................................
    [Show full text]
  • Motivational Emotion Generation and Behavior Selection Based on Emotional Experiences for Social Robots
    Motivational Emotion Generation and Behavior Selection based on Emotional Experiences for Social Robots Won Hyong Lee1, Jeong Woo Park1, Woo Hyun Kim1, Hui Sung Lee2, Dong-Soo Kwon1, and Myung Jin Chung1 1Korea Advanced Institute of Science and Technology (KAIST) 2Hyundai-KIA MOTORS [email protected] Abstract. As the number of social and psychological service robots increase, many robots which have emotions have been developed. In order to implement an emotion generation model, the authors of this paper suggest to employ the unified motivation theory which is proposed by Higgins. In addition, a behavior selection model based on emotional experience is suggested. A joint attention scenario is suggested in which a human and a robot play a 2048 game together with a follow-up interaction. A preliminary pilot test was conducted to examine the proposed method and it performed properly as intended. Finally, further ex- periment plans and expectations are discussed. Keywords: Motivation, Emotion, Attention, Emotional Experiences, Social Robot 1 Introduction People expect that robots will be partners coexisting with human beings and assist human not only physically but also psychologically. According to World Robot Dec- laration which was issued by the international robot fair 2004, one of the expectation for next-generation robots is that robots will be social members in our human society. After 10 years later, nowadays, robots can be found easily in our daily lives and they are being used in different and various social areas such as supporting the elderly’s emotional communication, helping autism treatment, and so on. Social Robotics, is becoming one of the very important topics in the robotic field [1][2].
    [Show full text]
  • Socially Believable Robots Socially Believable Robots
    DOI: 10.5772/intechopen.71375 Chapter 1 Provisional chapter Socially Believable Robots Socially Believable Robots Momina Moetesum and Imran Siddiqi Momina Moetesum and Imran Siddiqi Additional information is available at the end of the chapter Additional information is available at the end of the chapter http://dx.doi.org/10.5772/intechopen.71375 Abstract Long-term companionship, emotional attachment and realistic interaction with robots have always been the ultimate sign of technological advancement projected by sci-fi literature and entertainment industry. With the advent of artificial intelligence, we have indeed stepped into an era of socially believable robots or humanoids. Affective com- puting has enabled the deployment of emotional or social robots to a certain level in social settings like informatics, customer services and health care. Nevertheless, social believability of a robot is communicated through its physical embodiment and natural expressiveness. With each passing year, innovations in chemical and mechanical engi- neering have facilitated life-like embodiments of robotics; however, still much work is required for developing a “social intelligence” in a robot in order to maintain the illusion of dealing with a real human being. This chapter is a collection of research studies on the modeling of complex autonomous systems. It will further shed light on how different social settings require different levels of social intelligence and what are the implications of integrating a socially and emotionally believable machine in a society driven by behaviors and actions. Keywords: social robots, human computer interaction, social intelligence, cognitive systems, anthropomorphism, humanoids, roboethics 1. Introduction Robots have been an important part of the industrial setups around the globe for many years now.
    [Show full text]
  • Bokauktion, 524
    Bokauktion, 524 Saturday 3 June 2017 at 06:00 EDT ABC-bok. Barnabok Hans Kongl. Höghet Kronprinsen i underdånighet tilägnad af Samfundet Pro Fide et 1 Christianismo. A. J. Nordström, Stockholm, 1795. Andra förbättrade upplagan. Estimate: 1,000 SEK Hammer price: 500 SEK ACCARIAS DE SERIONNE, Jacques. Les intérêts des nations de l'Europe développés relativement au commerce I-II. Complete. Elie 2 Luzac, Leide, 1766. First edition. Two 4:o-volumes in contemporary blue stiff paper bindings. Estimate: 2,000 SEK Hammer price: 700 SEK JOSEPH ADDISON et al & Ogle, N. (preface). The Spectator (I-VIII) corrected from the original with a new biographical preface by No. Ogle. 8 vol. Printed for Gweo B. Whittaker, London, 1827. Eight small 8vo volumes in rubbed 3 contemporary dark blue morocco bindings. Exlibris. With 8 engraved portraits as frontispieces. Estimate: 1,200 SEK Hammer price: - ADLERSPARRE, G. J. Läsning i blandade ämnen, 1-50 (komplett). Första-femte och sista årgången i 5 vol. Med 5 utvikbara tabeller, en utvikbar graverad karta samt 3 utvikbara graverade planscher. Stockholm, 4 1797-1801. Fem samtida något skavda halvfranska band. Estimate: 1,200 SEK Hammer price: 1,200 SEK GÖSTA ADRIAN-NILSSON (GAN). Den gudomliga geometrien. En uppsats om konst. Thure Waldströms förlag, Stockholm, 1922. Första upplagan. Häftad 8vo med dekoration och text i svart på främre omslag. Ett bra exemplar. 5 Illustrerad i texten. 50 sid. Estimate: 1,200 SEK Hammer price: 1,100 SEK GÖSTA ADRIAN-NILSSON. Dikter. AB Ljus, Stockholm, 1907. Första upplagan. Med 4 illustrationer av författaren. 8vo i ett 6 svart klotband med skav på pärmarna.
    [Show full text]