Navigation is an essential skill for robots.It becomes a cumbersome task for the robot in a human-populated environment,and Industry 5.0 is an emerging trend that focuses on the interaction between humans and robots.R...Navigation is an essential skill for robots.It becomes a cumbersome task for the robot in a human-populated environment,and Industry 5.0 is an emerging trend that focuses on the interaction between humans and robots.Robot behavior in a social setting is the key to human acceptance while ensuring human comfort and safety.With the advancement in robotics technology,the true use cases of robots in the tourism and hospitality industry are expanding in number.There are very few experimental studies focusing on how people perceive the navigation behavior of a delivery robot.A robotic platform named“PI”has been designed,which incorporates proximity and vision sensors.The robot utilizes a real-time object recognition algorithm based on the You Only Look Once(YOLO)algorithm to detect objects and humans during navigation.This study is aimed towards evaluating human experience,for which we conducted a study among 36 participants to explore the perceived social presence,role,and perception of a delivery robot exhibiting different behavior conditions while navigating in a hotel corridor.The participants’responses were collected and compared for different behavior conditions demonstrated by the robot and results show that humans prefer an assistant role of a robot enabled with audio and visual aids exhibiting social behavior.Further,this study can be useful for developers to gain insight into the expected behavior of a delivery robot.展开更多
The soccer robot system and the effective multi agents cooperation strategy applied to the MASKARO team composed of a set of action controllers, a set of behavior module and a behavior selector are introduced. The act...The soccer robot system and the effective multi agents cooperation strategy applied to the MASKARO team composed of a set of action controllers, a set of behavior module and a behavior selector are introduced. The action is the primitive low level component of the robot control system necessary to move the robots on the playground. Each action controller determines the linear and angular velocity commands of the robots corresponding to its own purpose. The behavior is the high level component of the robot control system composed of necessary action sequences. Each behavior module determines the desired action sequences and action commands corresponding to its own objective. The behavior selector considering the information that comes from the vision system selects the behavior of each robot every sampling time. Thus, the behavior of each robot is changed dynamically. The presented strategy is successfully applied to the MASKARO team and the team is ranked in the first place in the 2000 FIRA Korea Cup K League.展开更多
Given the difficulty in hand coding task schemes, an intellectualized architecture of the autonomous micro mobile robot based behavior for fault repair was presented. Integrating the reinforcement learning and the...Given the difficulty in hand coding task schemes, an intellectualized architecture of the autonomous micro mobile robot based behavior for fault repair was presented. Integrating the reinforcement learning and the group behavior evolution simulating the human's learning and evolution, the autonomous micro mobile robot will automatically generate the suited actions satisfied the environment. However, the designer only devises some basic behaviors, which decreases the workload of the designer and cognitive deficiency of the robot to the environment. The results of simulation have shown that the architecture endows micro robot with the ability of learning, adaptation and robustness, also with the ability of accomplishing the given task.展开更多
This paper discusses and compares some common architectures used inautonomous mobile robotics. Then it describes a behavior-based autonomous mobile robot that wasimplemented successfully in the Robotics Lab of the Dep...This paper discusses and compares some common architectures used inautonomous mobile robotics. Then it describes a behavior-based autonomous mobile robot that wasimplemented successfully in the Robotics Lab of the Department of Precision Mechanical Engineering.Fuzzy controller was used to implement the emergency behavior, the behaviors arbitration wasimplemented using the subsumption architecture. In an unknown dynamic indoor environment, the robotachieved real-time obstacle avoidance properties that are cruel for mobile robotics.展开更多
In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static ...In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors "Track the Target" and "Avoid Obstacles and Wall Following" are considered based on reduced rule bases(six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach.展开更多
This paper proposes a solution to controls warm robots in an effort to avoid obstacles, moving to the goal by the method of Null Space based Behavior (NSB) control of an individual in the swarm. This paper also provid...This paper proposes a solution to controls warm robots in an effort to avoid obstacles, moving to the goal by the method of Null Space based Behavior (NSB) control of an individual in the swarm. This paper also provides the stability analysis of the converging process by investigating the relationship between single agents, and the analysis result is proved by using the Lyapunov theory. Finally, the simulation results in two-dimensional space have confirmed the obtained theoretical results.展开更多
Approaches to the study of formation keeping for multiple mobile robots are analyzed and a behavior-based robot model is built in this paper. And, a kind of coordination architecture is presented, which is similar to ...Approaches to the study of formation keeping for multiple mobile robots are analyzed and a behavior-based robot model is built in this paper. And, a kind of coordination architecture is presented, which is similar to the infantry squad organization and is used to realize multiple mobile robots to keep formations. Simulations verify the validity of the approach to keep formation, which combines the behavior-based method and formation feedback. The effects of formation feedback on the performance of the system are analyzed.展开更多
A radical new approach is presented to programming human-like levels of Artificial Intelligence (AI) into a humanoid robot equipped with a verbal-phoneme sound generator. The system shares 3 important characteristics ...A radical new approach is presented to programming human-like levels of Artificial Intelligence (AI) into a humanoid robot equipped with a verbal-phoneme sound generator. The system shares 3 important characteristics with human-like input data and processing: 1) The raw data and preliminary processing of the raw data are human-like. 2) All the data are subjective, that is related and correlated with a robotic self-identity coordinate frame. 3) All the data are programmed behaviorally into the system. A multi-tasking Relational Robotic Controller (RRC)-Humanoid Robot, described and published in the peer-reviewed literature, has been specifically designed to fulfill those 3 characteristics. A RRC-controlled system may be behaviorally programmed to achieve human-like high I.Q. levels of subjective AI for the visual signals and the declarative-verbal words and sentences heard by the robot. A proof of concept RRC-Humanoid Robot is under development and present status is presented at the end of the paper.展开更多
基金supported by Taif University Researchers Supporting Projects(TURSP).Under number(TURSP-2020/211),Taif University,Taif,Saudi Arabia.
文摘Navigation is an essential skill for robots.It becomes a cumbersome task for the robot in a human-populated environment,and Industry 5.0 is an emerging trend that focuses on the interaction between humans and robots.Robot behavior in a social setting is the key to human acceptance while ensuring human comfort and safety.With the advancement in robotics technology,the true use cases of robots in the tourism and hospitality industry are expanding in number.There are very few experimental studies focusing on how people perceive the navigation behavior of a delivery robot.A robotic platform named“PI”has been designed,which incorporates proximity and vision sensors.The robot utilizes a real-time object recognition algorithm based on the You Only Look Once(YOLO)algorithm to detect objects and humans during navigation.This study is aimed towards evaluating human experience,for which we conducted a study among 36 participants to explore the perceived social presence,role,and perception of a delivery robot exhibiting different behavior conditions while navigating in a hotel corridor.The participants’responses were collected and compared for different behavior conditions demonstrated by the robot and results show that humans prefer an assistant role of a robot enabled with audio and visual aids exhibiting social behavior.Further,this study can be useful for developers to gain insight into the expected behavior of a delivery robot.
文摘The soccer robot system and the effective multi agents cooperation strategy applied to the MASKARO team composed of a set of action controllers, a set of behavior module and a behavior selector are introduced. The action is the primitive low level component of the robot control system necessary to move the robots on the playground. Each action controller determines the linear and angular velocity commands of the robots corresponding to its own purpose. The behavior is the high level component of the robot control system composed of necessary action sequences. Each behavior module determines the desired action sequences and action commands corresponding to its own objective. The behavior selector considering the information that comes from the vision system selects the behavior of each robot every sampling time. Thus, the behavior of each robot is changed dynamically. The presented strategy is successfully applied to the MASKARO team and the team is ranked in the first place in the 2000 FIRA Korea Cup K League.
文摘Given the difficulty in hand coding task schemes, an intellectualized architecture of the autonomous micro mobile robot based behavior for fault repair was presented. Integrating the reinforcement learning and the group behavior evolution simulating the human's learning and evolution, the autonomous micro mobile robot will automatically generate the suited actions satisfied the environment. However, the designer only devises some basic behaviors, which decreases the workload of the designer and cognitive deficiency of the robot to the environment. The results of simulation have shown that the architecture endows micro robot with the ability of learning, adaptation and robustness, also with the ability of accomplishing the given task.
文摘This paper discusses and compares some common architectures used inautonomous mobile robotics. Then it describes a behavior-based autonomous mobile robot that wasimplemented successfully in the Robotics Lab of the Department of Precision Mechanical Engineering.Fuzzy controller was used to implement the emergency behavior, the behaviors arbitration wasimplemented using the subsumption architecture. In an unknown dynamic indoor environment, the robotachieved real-time obstacle avoidance properties that are cruel for mobile robotics.
文摘In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors "Track the Target" and "Avoid Obstacles and Wall Following" are considered based on reduced rule bases(six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach.
文摘This paper proposes a solution to controls warm robots in an effort to avoid obstacles, moving to the goal by the method of Null Space based Behavior (NSB) control of an individual in the swarm. This paper also provides the stability analysis of the converging process by investigating the relationship between single agents, and the analysis result is proved by using the Lyapunov theory. Finally, the simulation results in two-dimensional space have confirmed the obtained theoretical results.
文摘Approaches to the study of formation keeping for multiple mobile robots are analyzed and a behavior-based robot model is built in this paper. And, a kind of coordination architecture is presented, which is similar to the infantry squad organization and is used to realize multiple mobile robots to keep formations. Simulations verify the validity of the approach to keep formation, which combines the behavior-based method and formation feedback. The effects of formation feedback on the performance of the system are analyzed.
文摘A radical new approach is presented to programming human-like levels of Artificial Intelligence (AI) into a humanoid robot equipped with a verbal-phoneme sound generator. The system shares 3 important characteristics with human-like input data and processing: 1) The raw data and preliminary processing of the raw data are human-like. 2) All the data are subjective, that is related and correlated with a robotic self-identity coordinate frame. 3) All the data are programmed behaviorally into the system. A multi-tasking Relational Robotic Controller (RRC)-Humanoid Robot, described and published in the peer-reviewed literature, has been specifically designed to fulfill those 3 characteristics. A RRC-controlled system may be behaviorally programmed to achieve human-like high I.Q. levels of subjective AI for the visual signals and the declarative-verbal words and sentences heard by the robot. A proof of concept RRC-Humanoid Robot is under development and present status is presented at the end of the paper.
