Search

The utilization of nonmobile, distributed sensor and communication devices by a team of mobile robots offers performance advantages in terms of speed, energy, robustness and communication requirements. Models of mobile robots with on-board sensors, a communication protocol and the S-Net system are established. Algorithms are defined for the S-Net which perform cooperative computation and provide information about the environment. Behaviors include robots going to or surrounding a temperature source. The simulation experiments show that the S-Net performs well, and is particularly robust with respect to noise in the environment. System cost versus performance is studied, and guidelines are formulated for which the S-Net system out-performs the non-S-Net system. [ABSTRACT FROM AUTHOR]

The ability to analyze individual cells rather than averaged properties over a population is a major step towards understanding the fundamental elements of biological systems. Recent advances in microbiology such as cloning demonstrate that increasingly complex micromanipulation strategies for manipulating individual biological cells are required. In this paper, a microrobotic system capable of conducting automatic embryo pronuclei DNA injection is presented. Both embryo pronuclei DNA injection and intracytoplasmic injection (cell injection) are methods of introducing foreign genetic material into cells. Conventionally, cell injection has been conducted manually, however, long training, disappointingly low success rates from poor reproducibility in manual operations, and contamination all call for the elimination of direct human involvement. The system presented is capable of performing automatic embryo pronuclei DNA injection autonomously and semi-autonomously through a hybrid visual servoing control scheme. MEMS-based cell holders were designed and fabricated to aid in injection. Upon the completion of injection, the DNA injected embryos were transferred into a pseudopregnant foster female mouse to reproduce transgenic mice for cancer studies. Experiment result shows that the injection success rate is 100%. [ABSTRACT FROM AUTHOR]

In this paper, we propose a concept of distributed robot helpers referred to as DR Helpers, and a decentralized control algorithm for them to transport a single object in cooperation with a human/humans. The proposed control algorithm could be applied to Dr Helpers more than three, even if each Dr Helper has a slippage between its wheels and the ground. The proposed decentralized control algorithm is experimentally applied to three Dr Helpers for illustrating the validity of the proposed algorithm. [ABSTRACT FROM AUTHOR]

This paper reports the real time vision algorithm ELS, designed for obstacle detection and ground identification for AGV navigation using multi-baseline stereo. Our major contributions are (1) the Disparity Gradient Filter for noise reduction, (2) ground orientation detection using extended Hough Transform, and (3) the establishment of error model for obstacle detection. Experiments show that the algorithm works effectively in unstructured terrain. [ABSTRACT FROM AUTHOR]

This paper describes a virtual collaborative world simulator, DVECS (Distributed Virtual Environment Collaborative Simulator), for underwater robots and its underwater vehicle, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). DVECS is used for testing unmanned underwater vehicles (UUVs) of both real and simulated worlds where interaction and cooperation of other real and simulated vehicles, obstacles, situations, conditions and disturbances in a hybrid, synthetic, virtual environment can be observed without physical intervention. This virtual system can be used to determine: (1) the optimal performance and criteria for the cooperating vehicles and its relative application; (2) the determination of the advantages and disadvantages of collaborative application tasks between multiple UUVs; and (3) the optimal communication links between the cooperating vehicles and its remote control stations. DVECS is used as a monitoring system. [ABSTRACT FROM AUTHOR]

This paper concerns the instrumenting of a small watercraft to support a hybrid navigation strategy which combines remote human supervisory guidance with reaction based obstacle avoidance. This style of control is called ‘tele-autonomous'. Potential applications include search and rescue operations, coastal surveillance, water pollution source tracing and surface support for a submersible. Details are provided, the concept promoted and future plans sketched. [ABSTRACT FROM AUTHOR]

This paper presents a technique for incorporating delayed decision making into stochastic mapping algorithms for concurrent mapping and localization. The approach explicitly tracks the error correlations between current and previous vehicle states, enabling the initialization of map features using data from multiple time steps and improved data association decision-making. The method is illustrated using data from a ring of Polaroid sonar sensors from a B21 mobile robot, demonstrating the ability to perform CML with sparse and ambiguous data. [ABSTRACT FROM AUTHOR]

A framework for underwater navigation by combining raw information from different sensors into a single scene description is presented. It is shown that features extracted from such a description are more robust than those extracted from an individual sensor. These descriptions are then combined from many consecutive scenes to form the basis of a new method of map building and representation as a multilevel feature space using probability theory. Comparison of maps previously created and stored in this format against newly acquired scene descriptions are then used for vehicle localization. Experimental results from offshore trials, as well as simulation results, are presented. [ABSTRACT FROM AUTHOR]

We present a hybrid technique for constructing geometrically accurate, visually realistic planar environments from stereo vision information. The technique is unique in estimating camera motion from two sources: range information from stereo, and visual alignment of images. [ABSTRACT FROM AUTHOR]

Autonomous long range navigation in partially known planetary-like terrain is an open challenge for robotics. Navigating several hundreds of meters without any human intervention requires the robot to be able to build various representations of its environment, to plan and execute trajectories according to the kind of terrain traversed, to localize itself as it moves, and to schedule, start, control and interrupt these various activities. In this paper, we briefly describe some functionalities that are currently running on board the Marsokhod model robot Lama at LAAS/CNRS. We then focus on the necessity to integrate various instances of the perception and decision functionalities, and on the difficulties raised by this integration. [ABSTRACT FROM AUTHOR]

A solution to the singularity problem is presented from the approach of the operational space formulation which involves both motion and force control. A brief summary of the Operational Space Formulation and how singularity presents a problem is explained. The inverse of the Jacobian at singular configuration is handled by removing the degenerate components of the motion, therefore manipulator is made redundant to the task. Khatib's [3] dynamically consistent inverse was then used to invert the Jacobian and to create a null space motion to escape from the singular configuration in the case that the desired path lies in the degenerate direction. The algorithm was implemented on the PUMA 560 manipulator, and the results are presented. [ABSTRACT FROM AUTHOR]

This paper presents a comprehensive comparative study of several nonlinear controllers for stabilisation of the under actuated unstable nonlinear object known as the Acrobot in the literature. The object is a two DOF robot arm only actuated at the elbow. The study compares several control algorithms from the literature and a new algorithm developed during the study. The comparison is based on both simulation and real experiments for all controllers. [ABSTRACT FROM AUTHOR]

The manipulation of biological objects is a key technology necessary for many new applications in Bio-MEMS. In this paper, we will report on our preliminary experimental work in using an Ionic Conducting Polymer Film (ICPF) to develop a biological cell robotic gripper. The ability of ICPF actuators to give large deflection with small input voltage (∼5V) will allow many new applications to be developed, spanning from biology to underwater MEMS and artificial muscles. A laser micromachining process is introduced to fabricate arrays of ICPF griping devices, which can be potentially integrated onto a PCB board to develop a micro manipulation system. Individual multi-finger grippers with dimensions of 200μm × 200μm × 3000μm for each finger were realized. We will report on the design, fabrication procedures, and operating performance of these micro-grippers. Further development in the reduction of size of these actuators will enable effective control of underwater micro objects and lead to new frontiers in cellular manipulation. [ABSTRACT FROM AUTHOR]

Brake-actuated haptic devices, a subset of passive haptic devices, are not yet common, so their capabilities and limitations are only superficially understood. In this paper, we identify an optimal kinematics, and introduce a prototype of a life-size brake-actuated haptic device. With the new device, we conducted experiments with human subjects to evaluate the efficacy of passively created virtual environments. We identified key performance drawbacks that modern robotics theories fail to anticipate and overcome, and investigated design methods that can avoid such drawbacks. [ABSTRACT FROM AUTHOR]

This paper addresses whether whole-body force feedback on treadmill-style locomotion interfaces can simulate the gravity forces experienced when walking on smooth inclines. By applying horizontal force feedback possible with the active mechanical tether of the Sarcos Treadport, it is shown that the biomechanics of walking are similar under conditions of real slope walking versus tether force walking. These biomechanical results complement previous psychophysical studies which yielded the same result, to conclude definitively that whole-body force feedback can realistically substitute for treadmill tilt. [ABSTRACT FROM AUTHOR]

Novel stable adaptive nonlinear controllers are proposed for position tracking control of hydraulic manipulators. The controllers were developed by using the backstepping approach and are based on realistic models that include rigid body dynamics, friction, and hydraulic actuator dynamics with valve orifice and spool displacement nonlinearities. Using Lyapunov analysis, it is shown that tracking errors are bounded and converge to zero in the absence of Coulomb friction and are bounded when Coulomb friction is present. The proposed techniques were used to control a hydraulic Stewart platform. Their effectiveness were confirmed by simulations and experiments. [ABSTRACT FROM AUTHOR]

In the aim of building a surgical simulator we have developed a model of the human liver. The model respects both the heterogeneous (different material properties depending on the tissue) and non-linear nature of the organ, using binary connectors. We validate that the local behavior of the connector is accurately reproduced on a global scale. Interaction, including collision detection and response, is possible in real-time using a haptic device. For smoother force feedback we introduce a local modeling technique that approximates forces at high frequency. Further we describe a fast method that allows real-time changes of the topology by avoiding subdivision. Finally we illustrate all these techniques by several experimental results. [ABSTRACT FROM AUTHOR]

Although sensor-based coverage is a skill which is applicable to a variety of robot tasks, its implementation has so far been limited, mostly by the physical limitations of traditional mobile robots. This paper presents sensor-based coverage algorithms both for a single robot and for a team of independent robots which have been designed to allow for easy integration on to real robots. The specific robots in question are planar robots called couriers, components of the minifactory, an automated assembly system. The couriers have excellent position sensing, which enables them to perform coverage, but have no explicit range or contact sensors to detect boundaries, which adds to the complexity of the coverage algorithm. A set of experiments from simulation is presented to show the overall efficiency of the single-robot and cooperative coverage processes in a variety of environments. A second set of experiments performed on a real robot demonstrates the ability to reliably perform sensor-based coverage and also illuminates the effects of specific choices in the type of control used. [ABSTRACT FROM AUTHOR]

Automatic model construction is a core problem in mobile robotics. To solve this task efficiently, we need a motion strategy to guide a robot equipped with a range sensor through a sequence of "good" observations. Such a strategy is generated by an algorithm that repeatedly computes locations where the robot must perform the next sensing operation. This is called the next-best view problem. In practice, however, several other considerations must be taken into account. Of these, two stand out as decisive. One is the problem of safe navigation given incomplete knowledge about the robot surroundings. The second one is the issue of guaranteeing the alignment of multiple views, closely related to the problem of robot self-localization. The concept of safe region proposed in this paper makes it possible to simultaneously address both problems. [ABSTRACT FROM AUTHOR]

We present a comparison of an extended Kalman filter and an adaptation of bundle adjustment from computer vision for mobile robot localization and mapping using a bearing-only sensor. We show results on synthetic and real examples and discuss some advantages and disadvantages of the techniques. The comparison leads to a novel combination of the two techniques which results in computational complexity near Kalman filters and performance near bundle adjustment on the examples shown. [ABSTRACT FROM AUTHOR]

This paper addresses motion planning of a homogeneous modular robotic system. The modules have self-reconfiguration capability so that a group of the modules can construct a robotic structure generating dynamic motion. Motion planning for self-reconfiguration is not straightforward because the modular structure allows many combinatorial configurations, and also the proposed module has only two degrees of freedom. We will show a motion planning method for a particular class of multi-module structure, based on global planning and local motion scheme selection. The fundamental module motion will also be demonstrated through hardware experiments. [ABSTRACT FROM AUTHOR]

In addition to researchers in AI and robotics, RoboCup attracts ordinary people, especially kids, high school and university students. Over 3000 people from 35 nations around the world have participated in RoboCup since the great success of the First Robot World Cup Soccer Games and Conferences, RoboCup-97 [1] held in conjunction with the Fifteenth International Joint Conference on Artificial Intelligence (IJCAI-97). Every year, the number of participating teams is increasing about 50%, that is, 35 teams in RoboCup- 97, 64 teams in RoboCup-98 [2], and 90 teams in RoboCup-99 [3], and almost same number of teams in RoboCup-2000. Attendance in 2000 was impacted by the application of a new qualification process, difficulties for some of the European teams to travel to Australia, and by the addition of a European RoboCup competition, EURO-2000. This paper focuses on a discussion of the challenging research problems present in RoboCup and how they have been concretely addressed in RoboCup competitions in 2000. [ABSTRACT FROM AUTHOR]

We present an implemented sensor-based planner for motion planning and exploration for eye-in-hand systems. A model-based motion planner is used to plan paths within the known part of the environment to further sense the unknown part of the environment. Each sensing action is viewed as gaining information about the status of configuration space. We introduce the notion of C-space entropy as a measure of ignorance or lack of information of C-space. The next view is planned so as to maximize expected entropy reduction (MER), or equivalently, expected information increase. Experimental results demonstrate that MER criterion results in efficient exploration of unknown environments and that the planner can make a robot arm move around safely (without collisions) while carrying out exploratory and purposive tasks in unknown environments. [ABSTRACT FROM AUTHOR]

In the pursuit of an efficient cooperative multi-robot system, the researcher must eventually answer the question "how should robots communicate?"; a natural way to attack this question is to decompose it into three simpler corollaries: "what should robots communicate?", "when should they communicate?" and "with whom should they communicate?". In this paper, we propose answers to these questions in the form of a general framework for inter-robot communication and, more specifically, advocate its use in dynamic task allocation for teams of cooperative mobile robots. We base our communication model on publish/subscribe messaging and validate our system by using it in a tightly-coupled multi-robot manipulaion task and a loosely-coupled long-term experiment involving many robots concurrently executing different tasks. [ABSTRACT FROM AUTHOR]

We present a method for representing, communicating, and fusing distributed, noisy, and uncertain observations of an object by multiple robots. The approach relies on re-parameterization the two-dimensional Gaussian distribution to correspond more naturally to a robots' observation space. The approach enables two or more observers to achieve greater effective sensor coverage of the environment and improved accuracy in object position estimation. We demonstrate empirically that, using our approach, more observers achieve more accurate object position estimates. The method is tested in three application areas: object location, object tracking, and ball position estimation for robot soccer. We provide quantitative evaluation of the technique on mobile robots. [ABSTRACT FROM AUTHOR]

In the future, we propose that there will be largely self-sufficient robot colonies operating on distant planets and in harsh environments here on earth. A highly desirable quality of such a colony would be the capability of the robots to repair each other. Towards the goal of autonomous repair, we designed a robot that can replace the modules composing a similar robot. In this paper we highlight a visual docking system for the repairable robot design that allows the robots to autonomously replace their teammate's modules. The primary contribution of this work lies in the application of known techniques to the more constraining platforms of very small robots. This forces the use of very simple hardware and algorithms that perform robustly. The results obtained consist of initial configurations from which the robots could successfully complete the docking operation and the average time required to dock. [ABSTRACT FROM AUTHOR]

While many multi-robot systems rely on fortuitous cooperation between agents, some tasks, such as the assembly of large structures, require tighter coordination. We present a general software architecture for coordinating heterogeneous robots that allows for both autonomy of the individual agents as well as explicit coordination. This paper presents recent results with three robots with very different configurations. Working as a team, these robots are able to perform a high-precision docking task that none could achieve individually. [ABSTRACT FROM AUTHOR]

In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment with applications ranging from scouting and reconnaissance, to search and rescue and manipulation tasks. Our software framework provides the methodology and the tools that enable robots to exhibit deliberative and reactive behaviors in autonomous operation, to be reprogrammed by a human operator at run-time, and to learn and adapt to unstructured, dynamic environments and new tasks, while providing performance guarantees. We demonstrate the algorithms and software on an experimental testbed that involves a team of car-like robots using a single omnidirectional camera as a sensor without explicit use of odometry. [ABSTRACT FROM AUTHOR]

Scout II, an autonomous four-legged robot with only one actuator per compliant leg is described. We demonstrate the need to model the actuators and the power source of the robot system carefully in order to obtain experimentally valid models for simulation and analysis. We describe a new, simple running controller that requires minimal task level feedback, yet achieves reliable and fast running up to 1.2 m/s. These results contribute to the increasing evidence that apparently complex dynamically dexterous tasks may be controlled via simple control laws. An energetics analysis reveals a highly efficient system with a specific resistance of 0.32 when based on mechanical power dissipation and of 1.0 when based on total electrical power dissipation. [ABSTRACT FROM AUTHOR]

This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be "anchored" in our recently designed compliant leg hexapod robot, RHex. Experimentally measured RHex center of mass trajectories are fit to the SLIP model and an analysis of the fitting error is performed. The fitting results are corroborated by numerical simulations. The "anchoring" of SLIP dynamics in RHex offers exciting possibilities for hierarchical control of hexapod robots. [ABSTRACT FROM AUTHOR]

In this paper, we perform experimental verification of open-loop motion planning for a biomimetic robotic system using our underwater eel-like robot. Our results from past work provide theoretical justification for proposed gaits for forward/backward swimming, circular swimming, sideways swimming and turning in place. We have developed a five-link, underwater eel-like robot focusing on modularity, reliability and rapid prototyping, to verify our theoretical predictions. Results from experiments performed with this robot using visual position sensing in an aquatic environment show good agreement with theory. [ABSTRACT FROM AUTHOR]

We describe the locomotion dynamics of a biomimetic robot and compare them with those of its exemplar: the cockroach. The robot is a small (0.275kg) hexapod created using a layered manufacturing technique that allows us to tailor the compliance and damping of the limbs to achieve passive stabilization similar to that observed in insects. The robot runs at over 3 body-lengths per second (55 cm/s) and easily traverses hip-height obstacles. However, high-speed video and force data reveal differences between the robot's locomotion dynamics and the inverted spring-pendulum model that characterizes most running animals, including cockroaches. Closer examination of the individual leg forces shows that these differences stem from the behavior of the middle and rear legs and points to suggestions for future designs and further experimentation. [ABSTRACT FROM AUTHOR]

We discuss the applications of modular self-reconfigurable robots to navigation. We show that greedy algorithms are complete for motion planning over a class of modular reconfigurable robots. We illustrate the application of this result on two self-reconfigurable robot systems we designed and built in our lab: the robotic molecule and the atom. We describe the modules and our locomotion experiments. [ABSTRACT FROM AUTHOR]

This paper discusses the general concept of the Super Mechano-System, or SMS and its anticipated applications. The SMS is a new type of robot system, which can transform its shape and also its internal control system in accordance with the given tasks. Snake robots, running and walking robot with manipulation function, group robots, and unified and reconfigurable robots are the three main examples of the SMS. Demining task, rescue operations, and planetary exploration are the expected applications of the projects. Design and new features of constructed robot systems, such as 3D snake-like robots, demining quadruped walking robots, and group type robots named as Super Mechano-Colony will be explained. [ABSTRACT FROM AUTHOR]

The aim of this research is the realization of an autonomous mobile robot which can perform many kind of tasks in a real environment for a long duration without supports by human operators. We call such autonomy long term activity. A robot, which works for long term autonomously should be able to get re-charging the battery without failure, at least. As the first-step of long term activity, we made a basic experiment in which our mobile robot are presented in this paper. In the experiment, our robot "Yamabico-Liv" survived over a week while it had repetitively performed going in and out of the battery charge station every 10 minutes. In this paper, the implementation and result of this experiment, and next one which is now undergoing are presented. [ABSTRACT FROM AUTHOR]

This work presents the first experimental results of an ongoing cooperation between medical, robotics and computer science teams aimed at optimizing the use of robotic systems in minimally invasive surgical interventions. The targeted intervention is the totally endoscopic coronary artery bypass graft (TECAB), performed using the daVinci™ system (by Intuitive Surgical, Inc.). An integrated and formalized planning and simulation tool for medical robotics is proposed, and experimental validation results on an artificial skeleton and heart are presented. [ABSTRACT FROM AUTHOR]

This paper presents a study to experimentally evaluate a new design paradigm for robotic components, with emphasis on space robotics applications. In this design paradigm, robotic components are made from embedded binary actuators and compliant mechanisms in order to reduce weight and complexity. This paper presents a series of five experiments that demonstrate the concept. These studies include a reconfigurable rocker suspension for rocker-bogie rovers, a sample acquisition gripper, a pantograph mechanism for robotic legs, an articulated binary limb, and a hyper-degree-of-freedom mechanism building block. [ABSTRACT FROM AUTHOR]

The Engineering Test Satellite VII (ETS-VII), developed and launched by National Space Development Agency of Japan (NASDA) has been successfully flown and carried out significant experiments on orbital robotics with a 2 meter-long, 6 DOF manipulator arm mounted on this un-manned spacecraft. The ETS-VII should be noted as one of remarkable outcomes of the research effort on space robots, particularly characterized as an orbital free-flying robot. This paper highlights a story how the theories have been developed mathematically, studied with laboratory test bed, then demonstrated in orbit. [ABSTRACT FROM AUTHOR]

This paper shows ongoing research results on the development of automatic control modes for robotized laparoscopic surgery. We show how both force feedback and visual feedback can be used in an hybrid control scheme to autonomously perform basic surgical subtasks. Preliminary experimental results on an example clamping tasks are given. [ABSTRACT FROM AUTHOR]

This paper describes an original active steering device for endoscopes and boroscopes. Its mechanical structure is based on a tubular hyper-redundant mechanism. Distributed SMA actuators with their own local controller are integrated in this structure for producing bending forces in reaction to the interaction detected between the instrument and its environment. The SMA actuators are two thin NiTi springs in an antagonist configuration. Joint actuation relies on martensite/austenite phase transformation in NiTi alloys. The global behavior of the endoscope is controlled through a multi-agent approach. [ABSTRACT FROM AUTHOR]

An "ideal" upper limb prosthesis should be perceived as part of the natural body by the amputee and should replicate sensory-motor capabilities of the amputated limb. However, such an ideal "cybernetic" prosthesis is still far from reality: current prosthetic hands are simple grippers with one or two degrees of freedom, which barely restore the capability of the thumb-index pinch. This paper describes the design and fabrication of a novel prosthetic hand based on a "biomechatronic" and cybernetic approach. Our approach is aimed at providing "natural" sensory-motor co-ordination to the amputee, by integrating biomimetic mechanisms, sensors, actuators and control, and by interfacing the hand with the peripheral nervous system. [ABSTRACT FROM AUTHOR]

This paper documents our efforts to instantiate force-guided cooperative behaviors between robotic agents in the minifactory environment. Minifactory incorporates high-precision 2-DOF robotic agents to perform micron-level precision 4-DOF assembly tasks. Here we utilize two mini-factory agents to perform compliant insertion. We present a custom force sensing device which has been developed as well as the control and communication systems used to coordinate the action of the agents. Finally, we conclude by presenting a set of experimental results which document the performance of the new force sensor as integrated in the minifactory system. These results document the first experimental confirmation of high-bandwidth (> 100Hz) coordination between agents within the minifactory system. [ABSTRACT FROM AUTHOR]

This paper presents a new 3-D design of a discretely-actuated robot manipulator powered by binary actuators. Binary actuators have two stable states, which are, for example, closed (0) and open (1). Major benefits of this kind of discretely-actuated manipulator are repeatability, relatively low cost, and no need for feedback control. In addition, hyper-redundancy allows tasks to be performed even when some actuators fail. A prototype of the new 3-D design is presented in this paper. [ABSTRACT FROM AUTHOR]

For a small object placed on a table, human easily captures it within the hand by changing the finger posture from upright to curved ones after each finger makes contact with the object. A series of this motion is called as Detaching Assist Motion (DAM). This paper discusses a generalized grasp strategy where a multi-fingered robot hand can approach an object and finally envelop it, irrespective of the size of object. [ABSTRACT FROM AUTHOR]

Height is a critical variable for helicopter hover control. In this paper we discuss, and present experimental results for, two different height sensing techniques: ultrasonic and stereo imaging, which have complementary characteristics. Feature-based stereo is used which provides a basis for visual odometry and attitude estimation in the future. [ABSTRACT FROM AUTHOR]

We describe the current state of ACME, the UBC Active Measurement facility, a telerobotic facility designed for building computational models of everyday physical objects. We show how ACME is being used to acquire models of contact texture (including friction and roughness), contact sounds, and contact deformation. [ABSTRACT FROM AUTHOR]

Autonomous navigation in vegetated terrain requires the ability to discriminate obstacles from grass, a non-trivial problem when the sensorial world of the robot is based only on range information as provided, for example, by a laser rangefinder (ladar). We present a statistical analysis of the range data produced by a single-axis ladar in different situations, including the case of an obstacle partially occluded by grass. Such analysis inspired a simple classification algorithm, which has been tested on real range data acquired by JPL's urban robot. [ABSTRACT FROM AUTHOR]

Six DOF offset sensing between two plates is important for automatic docking mechanisms. This paper presents an easy and inexpensive implementation of such a system using four commercial-off-the-shelf (COTS) infrared (IR) light emitting diode (LED) emitters and two COTS IR receivers on each of two docking plates. The angular intensity distribution of an emitter and the sensitivity distribution of a receiver allow for estimation of the angle and distance between them. Simple experiments have been conducted indicating that such a setup is able to give positional offset in any of 6 degrees of error (x, y, z, pitch, roll, and yaw) within a range. A theoretical framework is also established using least squares minimization. The theoretical framework is general and applies to other configurations of emitter and receiver parts and positioning. [ABSTRACT FROM AUTHOR]

Newly emerging robotics applications for domestic or entertainment purposes are slowly introducing autonomous robots into society at large. A critical capability of such robots is their ability to interact with humans, and in particular, untrained users. This paper explores the hypothesis that people will intuitively interact with robots in a natural social manner provided the robot can perceive, interpret, and appropriately respond with familiar human social cues. Two experiments are presented where naive human subjects interact with an anthropomorphic robot. Evidence for mutual regulation and entrainment of the interaction is presented, and how this benefits the interaction as a whole is discussed. [ABSTRACT FROM AUTHOR]

This paper presents the mechanical hardware and control software of a novel high-performance active vision system. It is the latest in an ongoing research effort to develop real-world vision systems based on cable-drive transmissions. The head presented in this paper is the laboratory's first fully cable-driven binocular rig, and builds on several successful aspects of previous monocular prototypes. Namely, an increased payload capacity, a more compact transmission, and a design optimised for rigidity. In addition, we have developed a simple and compact controller for real-time tracking applications. It consists of two behavioural subgroups, saccade and smooth pursuit. By using a single trapezoidal profile motion (TPM) algorithm, we show that saccade time and motion smoothness can be optimised. [ABSTRACT FROM AUTHOR]