Examining the Use of Robots As Teacher Assistants in UAE
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Task-Space Control Interface for Softbank Humanoid Robots and Its
Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications Anastasia Bolotnikova, Pierre Gergondet, Arnaud Tanguy, Sébastien Courtois, Abderrahmane Kheddar To cite this version: Anastasia Bolotnikova, Pierre Gergondet, Arnaud Tanguy, Sébastien Courtois, Abderrahmane Kheddar. Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications. IEEE/SICE 13th International Symposium on System Integration (SII 2021), Jan 2021, Online conference (originally: Iwaki, Fukushima), Japan. pp.560-565, 10.1109/IEEECONF49454.2021.9382685. hal-02919367v3 HAL Id: hal-02919367 https://hal.archives-ouvertes.fr/hal-02919367v3 Submitted on 8 Oct 2020 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. Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications Anastasia Bolotnikova1;2, Pierre Gergondet4, Arnaud Tanguy3,Sebastien´ Courtois1, Abderrahmane Kheddar3;2;4 Abstract— We present an open-source software interface, Real robot called mc naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc rtc Fixed frame rate low-level actuator commands Robot sensors readings from framework, on the SoftBank Robotics Europe humanoid robots. Other robot device commands low-level memory fast access We describe the control interface, associated robot description mc_naoqi_dcm packages, robot modules and sample whole-body controllers. -
From Prometheus to Pistorius: a Genaelogy of Physical Ability
FROM PROMETHEUS TO PISTORIUS: A GENAELOGY OF PHYSICAL ABILITY by Stephanie J. Cork A thesis submitted to the Department of Sociology In conformity with the requirements for the degree of Masters of Arts Queen’s University Kingston, Ontario, Canada (September, 2011) Copyright ©Stephanie J. Cork, 2011 Abstract (Fragile Frames + Monstrosities)ModernWar + (Flagged Bodies + Cyborgs)PostmodernWar = dis-AbilityCyborged ii Acknowledgements A huge thank you goes out to: my friends, colleagues, office neighbours, mentors, family, defence committee, readers, editors and Steve. Thank you, also, to the Canadian and American troops as well as Paralympic athletes, Oscar Pistorius and Aimee Mullins for their inspiration, sorry, I have borrowed your stories to perpetuate my own academic success. Thanks also to Louise Bark for her endless patience and kindness, as well as a pint (or three!) at Ben’s Pub. Anne and Wendy and especially Michelle: you are lifesavers! Finally, my eternal gratitude to the: “greatest man alive,” Dr. Rob Beamish (Scott Mason 2011). iii Table of Contents Abstract............................................................................................................................................. i Acknowledgements......................................................................................................................... iii Table of Contents............................................................................................................................ iv Chapter 1: Introduction.....................................................................................................................1 -
The Sphingidae (Lepidoptera) of the Philippines
©Entomologischer Verein Apollo e.V. Frankfurt am Main; download unter www.zobodat.at Nachr. entomol. Ver. Apollo, Suppl. 17: 17-132 (1998) 17 The Sphingidae (Lepidoptera) of the Philippines Willem H o g e n e s and Colin G. T r e a d a w a y Willem Hogenes, Zoologisch Museum Amsterdam, Afd. Entomologie, Plantage Middenlaan 64, NL-1018 DH Amsterdam, The Netherlands Colin G. T readaway, Entomologie II, Forschungsinstitut Senckenberg, Senckenberganlage 25, D-60325 Frankfurt am Main, Germany Abstract: This publication covers all Sphingidae known from the Philippines at this time in the form of an annotated checklist. (A concise checklist of the species can be found in Table 4, page 120.) Distribution maps are included as well as 18 colour plates covering all but one species. Where no specimens of a particular spe cies from the Philippines were available to us, illustrations are given of specimens from outside the Philippines. In total we have listed 117 species (with 5 additional subspecies where more than one subspecies of a species exists in the Philippines). Four tables are provided: 1) a breakdown of the number of species and endemic species/subspecies for each subfamily, tribe and genus of Philippine Sphingidae; 2) an evaluation of the number of species as well as endemic species/subspecies per island for the nine largest islands of the Philippines plus one small island group for comparison; 3) an evaluation of the Sphingidae endemicity for each of Vane-Wright’s (1990) faunal regions. From these tables it can be readily deduced that the highest species counts can be encountered on the islands of Palawan (73 species), Luzon (72), Mindanao, Leyte and Negros (62 each). -
AUTONOMOUS NAVIGATION with NAO David Lavy
AUTONOMOUS NAVIGATION WITH NAO David Lavy and Travis Marshall Boston University Department of Electrical and Computer Engineering 8 Saint Mary's Street Boston, MA 02215 www.bu.edu/ece December 9, 2015 Technical Report No. ECE-2015-06 Summary We introduce a navigation system for the humanoid robot NAO that seeks to find a ball, navigate to it, and kick it. The proposed method uses data acquired using the 2 cameras mounted on the robot to estimate the position of the ball with respect to the robot and then to navigate towards it. Our method is also capable of searching for the ball if is not within the robots immediate range of view or if at some point, NAO loses track of it. Variations of this method are currently used by different universities around the world in the international robotic soccer competition called Robocup. This project was completed within EC720 graduate course entitled \Digital Video Processing" at Boston University in the fall of 2015. i Contents 1 Introduction 1 2 Literature Review 1 3 Problem Solution 2 3.1 Find position of the ball . .3 3.2 Positioning the robot facing the ball . 10 3.3 Walking to the ball . 11 3.4 Kicking the ball . 12 4 Implementation 12 4.1 Image Acquisition . 13 4.2 Finding Contours and Circles . 13 4.3 Navigation and kicking for NAO . 13 5 Experimental Results 14 5.1 Ball identification results by method . 14 5.2 Confusion matrices . 14 5.3 Centering NAO to face the ball . 15 6 Conclusion and Future Work 16 7 Appendix 17 7.1 NAO features . -
Pdf • Cynthia Breazeal
© copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019. https://www.human-robot-interaction.org Human{Robot Interaction An Introduction Christoph Bartneck, Tony Belpaeme, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, Selma Sabanovi´cˇ This material has been published by Cambridge University Press as Human Robot Interaction by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic. ISBN: 9781108735407 (http://www.cambridge.org/9781108735407). This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works. © copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019. https://www.human-robot-interaction.org This material has been published by Cambridge University Press as Human Robot Interaction by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic. ISBN: 9781108735407 (http://www.cambridge.org/9781108735407). This pre-publication version is free to view and download for personal use only. Not for re-distribution, re-sale or use in derivative works. © copyright by Christoph Bartneck, Tony Belpaeime, Friederike Eyssel, Takayuki Kanda, Merel Keijsers, and Selma Sabanovic 2019. https://www.human-robot-interaction.org Contents List of illustrations viii List of tables xi 1 Introduction 1 1.1 About this book 1 1.2 Christoph -
Evaluating the Nao Robot in the Role of Personal Assistant: the Effect of Gender in Robot Performance Evaluation †
Proceedings Evaluating the Nao Robot in the Role of Personal Assistant: The Effect of Gender in Robot Performance Evaluation † Adrian Vega *, Kryscia Ramírez-Benavides, Luis A. Guerrero and Gustavo López Centro de Investigaciones en Tecnologías de la Información y Comunicación, Universidad de Costa Rica, 2060 San José, Costa Rica; [email protected] (K.R.-B.); [email protected] (L.A.G.); [email protected] (G.L.) * Correspondence: [email protected] † Presented at the 13th International Conference on Ubiquitous Computing and Ambient Intelligence UCAmI 2019, Toledo, Spain, 2–5 December 2019. Published: 20 November 2019 Abstract: By using techniques such as the Wizard of Oz (WoZ) and video capture, this paper evaluated the performance of the Nao Robot in the role of a personal assistant, which was valuated alongside the impact of the assigned gender (male/female) in the perceived performance of the robot assistant. Within a sample size of 39 computer sciences students, this study assessed criteria such as: perceived enjoyment, intention to use, perceived sociability, trust, intelligence, animacy, anthropomorphism, and sympathy, utilizing testing tools such as Unified Theory of Acceptance and Use of Technology (UTAUT) and Godspeed Questionnaire (GSQ). These methods identified a significant effect of the gender assigned to the robot in variables such as intelligence and sympathy. Keywords: human–robot interaction; HRI; HCI; UTAUT; GSQ; WoZ; gender 1. Introduction Starting as manufacturing machines, robots have opened to a wider application of areas such as education [1–3], personal assistance [4], health [5,6], and many others. Multiple research studies have described different elements to consider in the design of interactions with socially intelligent robots [6–9]. -
Advance Your Students Into the Future Secondary Education
ADVANCE YOUR STUDENTS INTO THE FUTURE SECONDARY EDUCATION www.active-robots.com/aldebaran STEP INTO THE FUTURE CLASSROOM Robotics is the fastest growing industry and most advanced technology used in education and research. The NAO humanoid robot is the ideal platform for MOTIVATE STUDENTS teaching or researching in Science and Technology. — IMPROVE LEARNING By using our NAO robotics platform, instructors and researchers EFFECTIVENESS stay current with major technical and commercial breakthroughs in — TEACH A JOB-CREATING FIELD programming and applied research. WHY STUDY A HUMANOID ROBOT? MAJOR INNOVATION MULTIDISCIPLINARY PLATFORM ROBOT & JOB-CREATING FIELD FOR TEACHING & RESEARCH FASCINATION — — — After Computer and Internet, Robotics is the new Computer sciences, mechanics, electronics, Humanoid robots have always fascinated people technological revolution. With ageing population and control are already at the core of the NAO especially students with new applications and and labour shortage, humanoid robots will be platform. Our curriculum used in conjunction incredible inventions. Now technology has made one of the solutions for people assistance thanks with NAO allows students to develop a structured a huge leap forward. Stemming from 6 years to their humanoid shape adapted to a world approach to finding solutions and adapting a wide of research, NAO is one of the most advanced made for humans. Educate students today using range of cross-sectional educational content. One humanoid robots ever created. He is fully the NAO platform for opportunities in robotics, example is for the instructor to assign students programmable, open and autonomous. engineering, computer science and technology. In to program NAO to grasp an object and lift it. -
Planetary Exploration Using Bio Inspired Technologies
© 2016 California Institute of Technology. Government sponsorship acknowledged. Planetary exploration using bio inspired technologies Ref.: Y. Bar-Cohen & D. Hanson “Humanlike Robots” 2009. Courtesy of Adi Marom, Graphics Artist. Yoseph Bar-Cohen, Jet Propulsion Laboratory, California Institute of Technology http://ndeaa.jpl.nasa.gov/ Who really invented the wheel? Ref: http://www.natgeocreative.com/photography/1246755 2 Biology – inspiring human innovation Honeycomb structures are part of almost every aircraft The fins were copied to significantly improve Flying was enabled using aerodynamic swimming and diving principles http://www.wildland.com/trips/details/326/ne The spider is quite an w_zealand_itin.aspx “engineer”. Its web may have inspired the fishing net, fibers, clothing and others. http://www.swimoutlet.com/Swim_Fins _s/329.htm The octopus as a model for biomimetics Adaptive shape, texture and camouflage of the Octopus Courtesy of William M. Kier, of North Carolina Courtesy of Roger T. Hanlon, Director, Marine Resources Center, Marine Biological Lab., MA Camouflage has many forms The swan puffs its wings to look Jewel Scarab Beetles - Leafy seadragon bigger in an attack posture bright colors appear bigger Butterfly - Color matching Owl butterfly Wikipedia freely licensed media Lizard - Color matching http://en.wikipedia.org/wiki/Owl_butterfly 5 Plants use of camouflage • To maximize the pollination opportunities - flowers are as visible as possible. • To protect from premature damage – initially, fruits are green, have sour taste, and are camouflaged by leaves. • Once ripped, fruits become colorful and tasty, as well as have good smell Biomimetic robotic exploration of the universe The mountain goat is an inspiring model for all- terrain legged rovers The Curiosity rover and the Mars Science Laboratory MSL) landed on Mars in Aug. -
Humanoid Navigation and Heavy Load Transportation in a Cluttered Environment Antoine Rioux, Wael Suleiman
Humanoid navigation and heavy load transportation in a cluttered environment Antoine Rioux, Wael Suleiman To cite this version: Antoine Rioux, Wael Suleiman. Humanoid navigation and heavy load transportation in a cluttered environment. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2015, Hambourg, Germany. pp.2180-2186, 10.1109/IROS.2015.7353669. hal-01521584 HAL Id: hal-01521584 https://hal.archives-ouvertes.fr/hal-01521584 Submitted on 12 May 2017 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. Humanoid Navigation and Heavy Load Transportation in a Cluttered Environment Antoine Rioux and Wael Suleiman Abstract— Although in recent years several studies aimed at the navigation of robots in cluttered environments, just a few have addressed the problem of robots navigating while moving a large or heavy object. This is especially useful when transporting loads with variable weights and shapes without having to change the robot hardware. On one hand, a major advantage of using a humanoid robot to move an object is that it has arms to firmly grasp it and control it. On the other hand, humanoid robots tend to have higher drift than their wheeled counterparts as well as having significant lateral swing while walking, which propagates to anything they carry. -
Introducing the New Generation of Nao Robot
INTRODUCING THE NEW GENERATION OF NAO ROBOT SoftBank Robotics Europe Outline 01 INTRODUCTION OF NAO6 02 NAO6 VALUE PROPOSITION & BENEFITS 03 SOFTBANK ROBOTICS QUICK VIEW NAO6 INTRODUCTION NAO6 INTRODUCTION NAO6 IMPROVEMENTS MARKET SECTORS SoftBank Robotics Europe THE 6TH GENERATION OF HUMANOID ROBOT NAO II Attractive programmable platform: create a unique human-robot interaction experience and leverage it to a new level II DETECTION 2 5-megapixels cameras 58 cm ACOUSTIC COMPUTING 4 omnidirectional microphones CPU ATOM E3845 2 loudspeakers Quad core 1.91 GHz 4 GB DDR3 RAM 32 GB SSD CONNECTIVITY Bluetooth – Ethernet - Wi-Fi SPEECH RECOGNITION More than 20 Languages GRACEFUL BODY MOVEMENTS 25 degrees of freedom FALL MANAGER Detects falls & trigger the protection FALL RECOVERY Able to stand up alone EXPLORATION 4 sonars to detect obstacles ADAPTIVE WALK 8x Force Sensitive Resistors 5,5 kg NAO6, 6 MAJOR AREAS OF HARDWARE IMPROVEMENT II A continuous augmentation of robot performance: enriched package for a greater product II 1 - POWER 1 - POWER 6 CPU – ATOM Z530 ➔ E3845 NAO benefits from the progress made on Pepper which Memory: 8GB SDCard ➔ 32GB SSD makes it more powerful. 2 - VISION Camera – Aptina MT114 1.3Mpix ➔ 3 – AUDIO 2 - VISION Omnivision 5640 5Mpix Cardioid mic ➔ 6 Omnidirectional mic With its new cameras, NAO better detects people. + Audio codec Dual stream of the top and bottom cameras is now supported. 3 - AUDIO NAO6 hears and understands a lot better making dialog a full part of the interactions. 4 – MOTION Motors - PortEscape 16 GT ➔ PortEscape 16 GT MP 4 - MOTION Thanks to its new motors, NAO6 can move longer without overheating. -
An Interactive Tool for Designing Complex Robot Motion Patterns
An Interactive Tool for Designing Complex Robot Motion Patterns Georgios Pierris and Michail G. Lagoudakis Abstract— Low-cost robots with a large number of degrees KME was originally designed for and currently supports of freedom are becoming increasingly popular, nevertheless only the Aldebaran Nao humanoid robot (RoboCup edi- their programming is still a domain for experts. This paper tion) [1], which features a total of 21 degrees of freedom, and introduces the Kouretes Motion Editor (KME), an interactive software tool for designing complex motion patterns on robots its simulated model on the Webots simulator [2]. However, with many degrees of freedom using intuitive means. KME the main features of KME could be easily adapted for allows for a TCP/IP connection to a real or simulated robot, other robots and the tool itself could be used for a variety over which various robot poses can be communicated to or from of purposes, such as providing complex motion patterns the robot and manipulated locally using the KME graphical as starting points for learning algorithms and supporting user interface. This portability and flexibility enables the user to work under different modes, with different robots, using educational activities in robot programming courses. KME different host machines. KME was originally designed for and has been employed successfully by Kouretes, the RoboCup currently supports only the Aldebaran Nao humanoid robot team of the Technical University of Crete in Greece, for which features a total of 21 degrees of freedom. KME has designing various special actions (stand-up, ball kicks, goalie been employed successfully by Kouretes, the RoboCup team of falls), thanks to which the team ranked in the 3rd place at the Technical University of Crete, for designing various special actions, thanks to which the team ranked in the 3rd place at the RoboCup 2008 competition (Standard Platform League). -
State of the Art: Bipedal Robots for Lower Limb Rehabilitation
applied sciences Review State of the Art: Bipedal Robots for Lower Limb Rehabilitation Xiong Yang 1,†, Haotian She 2,†, Haojian Lu 1, Toshio Fukuda 2 and Yajing Shen 1,3,* 1 Department of Mechanical and Biomedical Engineering, University of Hong Kong, Tat Chee Avenue, Kowloon, Hong Kong 999077, China; [email protected] (X.Y.); [email protected] (H.L.) 2 Beijing Institute of Technology, No.5 Yard, Zhong Guan Cun South Street, Haidian District, Beijing 100000, China; [email protected] (H.S.); [email protected] (T.F.) 3 Centre for Robotics and Automation, CityU Shenzhen Research Institute, Shenzhen 518000, China * Correspondence: [email protected]; Tel.: +852-3442-2045 † These authors contributed equally to this work. Received: 5 October 2017; Accepted: 3 November 2017; Published: 16 November 2017 Abstract: The bipedal robot is one of the most attractive robots types given its similarity to the locomotion of human beings and its ability to assist people to walk during rehabilitation. This review summarizes the chronological historical development of bipedal robots and introduces some current popular bipedal robots age. Then, the basic theory-stability control and key technology-motion planning of bipedal robots are introduced and analyzed. Bipedal robots have a wide range of applications in the service, education, entertainment, and other industries. After that, we specifically discuss the applications of bipedal robots in lower limb rehabilitation, including wearable exoskeleton robots, rehabilitation equipment, soft exoskeleton robots, and unpowered exoskeleton robots, and their control methods. Lastly, the future development and the challenges in this field are discussed.