Progress in Robotics - FIRA RoboWorld Congress 2009, Incheon, Korea, August 16-20, 2009.

Title Page

Preface

Organization

Table of Contents

Humanoid Robotics

Time-Varying Affective Response for Humanoid Robots

Introduction

Related Work

Cognitive Basis of TAME

Overview

Psychological and Mathematical Foundations

Architectural Design and Implementation

References

The Co-simulation of Humanoid Robot Based on Solidworks, ADAMS and Simulink

Introduction

The Control System Model of Humanoid Robot

Humanoid Robot Model

Robot Reality

Entironment of Robot

Controller of Robot

The Motion Trajectory Planning of Humanoid Robot

The Design of Adaptive Controller of Humanoid Robot

The Simulation Example of Adaptive Controller

Conclusions

References

From RoboNova to HUBO: Platforms for Robot Dance

Introduction

Prior Work

Beat Predictor

Robot Platforms

Experiment

Future Work

Conclusion

References

BunnyBot: Humanoid Platform for Research and Teaching

Introduction

Purpose

Overview of BunnyBot

Distributed Processing

Mainboard Cluster

Sensors and Actuators

Novel Foot Pressure Sensor

Inertial Measurement Unit with Complementary Filter

Robust Gripper Design

Kinematic Model

Conclusion

References

Teen Sized Humanoid Robot: Archie

Introduction

Hardware Description

Modular Joint Design

Brush-Less Motor Controller

DC Motor Controller

Decentralized Controller

Spinal Processing Unit (SPU)

Communication Protocol

Position Encoders on Start Up

Contact-Free Position Encoders for Brushless Motors

Conclusion

References

Interdisciplinary Construction and Implementation of a Human Sized Humanoid Robot by Master Students

Introduction

Management

Mechanical Construction

Kinematic and Inverse Dynamic Analyses

Force Torque Sensor (FTS)

Constructions

Electrical Instrumentation and Modeling

Data Infrastructure

Program Structure

Modeling and Verification

Verification, Planning and Control

Educational Findings

Conclusion

References

Human Robot Interaction

Safety Aspects in a Human-Robot Interaction Scenario: A Human Worker Is Co-operating with an Industrial Robot

Introduction

Initial Situation, Objectives and Approach

Motivation

Setup Description

Hardware Setup

Assembly Product Description

Assembly Process

Safety Aspects

Conclusion and Outlook

References

Integration of a RFID System in a Social Robot

Introduction

Maggie: The Social Robot

Software Architecture

RFID Skills in a Social Robot

Hardware Requirements

Software Requirements

Software Architecture of RFID Skills

Reading Skill {\tt CRFID_ReadSkill}

Writing {\tt Skill CRFID WriteSkill}

Experimental Results

Tags Detection and Data Reception

Application of RFID Skills in the Social Robot Maggie: Medicines Recognition

Conclusions

References

A Practical Study on the Design of a User-Interface Robot Application

Introduction

Designing an RUI

Natural Interaction

Balancing Framework

Balance the Dimensions for an RUI

Case Stidies

Conversation Bot

Waiter Application

Discussion

Conclusion

References

Infrared Remote Control with a Social Robot

Introduction

Related Previous Works

Goals

Frame of the Work

Automatic-Deliberative Architecture

System Implementation

Human-Robot Interface

Robot-Appliance Interface

Integration in AD Architecture

Testing the System

Conclusions

References

BlogRobot: Mobile Terminal for Blog Browse Using Physical Representation

Introduction

Playback the Blog by a Robot

Effectiveness of a Robot and Gestures

Design Consideration of BlogRobot

Dynamic Content Generating by TENORI

System Configuration of TENORI

Implementation of BlogRobot

Add-Up

Future Work

References

An Exploratory Investigation into the Effects of Adaptation in Child-Robot Interaction

Introduction

Roball - The Robot

Distinguishing a Child’s Interaction

Interaction Modes

Experimental Approach and Settings

Analysis and Results

Conclusions

References

Devious Chatbots - Interactive Malware with a Plot

Introduction

A New Online Infection

Interactive Malware

Future Research

Conclusion

References

Towards Better Human Robot Interaction: Understand Human Computer Interaction in Social Gaming Using a Video-Enhanced Diary Method

Introduction

Video-Enhanced Diary Method

Experimental Results

Human Behavior Analysis

Gamer’s Decision Making Process

Future Directions and Conclusion

References

Promotion of Efficient Cooperation by Sharing Environment with an Agent Having a Body in Real World

Introduction

Real-World Based Interaction

Experiment

Participants and Task

Conditions

Hypothesis

Results

Consideration

Conclusion

References

Interaction Design for a Pet-Like Remote Control

Introduction

Pet-Like Remote Control Agent

Familiarity

Stroke Operation

TV Remote Agent

Stroke Operation

Discussions

Conclusion

References

Experiences with a Barista Robot, FusionBot

Introduction

FusionBot the Barista Robot

Software Architecture

Speech Recognition

Vision Understanding

Navigation Control

Smart Device Gateway

Experiment Setup

Results

Respondent Characteristics

Robot Experience

Satisfaction on Tasks

Suggestion/Comments on the FusionBot

Discussion and Conclusions

References

Mutually Augmented Cognition

Introduction

Challenge Scenarios

Mutually Augmented Cognition

Presentation of Cognitive Systems’ State

Online Analysis and Optimization of Human-Machine Interaction

Derivation of Knowledge and Learning from the Experience

Perception-Cognition-Action Loop

State of the Art

Computer Science / Plan-Based Control

Human Factors and Ergonomics

Preliminary Results

Conclusion and Outlook

References

How Humans Optimize Their Interaction with the Environment: The Impact of Action Context on Human Perception

Introduction

Experimental Paradigm

Participants

Stimuli and Apparatus

Procedure

Data Analysis

Results

Discussion

Implication for Robotics

Conclusions

References

Development of a Virtual Presence Sharing System Using a Telework Chair

Introduction

Avatar-Mediated Interaction

Presence Sharing System for a Telework: Ghatcha

Concept of the System

Development of the Prototype System Using CG

Evaluation of the Experiment

Experimental Setup

Sensory Evaluation

Consideration

Conclusion

References

PLEXIL-DL: Language and Runtime for Context-Aware Robot Behaviour

Introduction

Description Logic

PLEXIL

Semantics

PLEXIL-DL

Semantics

Runtime

Conclusions

References

Ambient Intelligence in a Smart Home for Energy Efficiency and Eldercare

Introduction

Energy Efficient Smart Home Technologies

Experiment Setup

Video Sensor Based Event Recognition

Audio Sensor Based Event Detection

Results

Conclusions

References

Education and Entertainment

Intelligent Technologies for Edutainment Using Multiple Robots

Introduction

Multiple Robots for Edutainment

Robot Edutainment

Mobile Robots

Human Interface

Intelligent Control of Mobile Robots

Experimental Results

Tele-operation of Soccer Robots

Tele-operation of Human-Like Robots

Summary

Reference

Remote Education Based on Robot Edutainment

Introduction

Robots Used for Edutainment

Android Receptionist Robot: SAYA

Partner Robots: MOBiMac

Remote Education System

Remote Control System

Lecture Mode for the Remote Education

Interaction Mode in the Remote Education

Experimental Results

Summary

References

Not Just “Teaching Robotics” but “Teaching through Robotics”

Introduction

Robots and Robotics - A Brief History

The UK National Curriculum - An Example Curriculum

Cross-Curriculum Teaching - Valuable Opportunity or Yet Another Set of Good Intentions ?

Attempts and Developments to Make Robotics, Computing, Modelling and Computer Game Programming and AI More Accessible - Cricket Logo, Arduino, Scratch

Examples and Suggestions for Teaching through Robotics Opportunities in a Range of Subjects

Robots and Teaching Those with Special Needs - Using Autism as an Example

References

A Proposal of Autonomous Robotic Systems Educative Environment

Introduction

Robots, Languages and Tools

Autonomous Toys, Programming Languages and Tools

An Application Case between Robots and Autonomous Toys

Autonomous Robot System Development Laboratory

Conclusions and Future Research Lines

References

Mechatronics Education: From Paper Design to Product Prototype Using LEGO NXT Parts

Introduction

Proposed Course Model

Design

Simulation

Control

Prototype

Testing and Evaluation

Case Study

Method/Theory

Experiment Setup

Results and Discussion

Conclusions

References

Fostering Development of Students’ Collective and Self-efficacy in Robotics Projects

Introduction

Collective and Self-efficacy

Pilot Study, 2006-2007

Primary Study, 2007-2008

Collective Efficacy

Conclusion

References

From an Idea to a Working Robot Prototype: Distributing Knowledge of Robotics through Science Museum Workshops

Introduction

Robotics Education in Science Museums

Learning Activities

Educational Study

Findings

Commitment to Team Success in Achieving the Common Goal

Collective Responsibility for Performing the Team Assignment

Inclination to Partnership within the Same Gender and Cultural Background

Pleasable Experience in the Museum Environment

Wish to Work Together and Make Collective Decisions

Conclusions

References

Teaching Electronics through Constructing Sensors and Operating Robots

Introduction

Didactical Principles of Teaching Mechatronics

Course Syllabus and Activities

Educational Study

Findings

Conclusion

References

Learning from Analogies between Robotic World and Natural Phenomena

Introduction

The Construction Kit

Modeling Natural Phenomena with PicoCricket

Heliotropism: A Sunflower Functional Model

Homeostasis of the Eye: An Iris Functional Model

Educational Study

Findings

Conclusion

References

Integrating Robot Design Competitions into the Curriculum and K-12 Outreach Activities

Introduction

Robot Design Competitions

Robo-Hoops Robot Competition

Firefighting Robot Competition

Mini Grand Challenge

Integration into Curriculum and K-12 Outreach Activities

Assessment of Robot Contests

Summary and Conclusions

References

Teamwork and Robot Competitions in the Undergraduate Program at the Copenhagen University College of Engineering

Introduction

Objectives of the Robot-Project

The Compulsory Task

Some Design Details

An Example of the Free Task Design

The Evaluations and the Competition

Conclusions

References

Cooperative Robotics

Multiagents System with Dynamic Box Change for MiroSot

Introduction

The Structure of the MAS for MiroSot

Dynamic Box Change of Identities of Agents and Their Existence

Action - "Total Defensive"

Action - "Attack"

Conclusion

References

Multi Block Localization of Multiple Robots

Introduction

Indoor Global-Localizaiton(IGS)

iGS Basic Principle

Position Measurement

Localization of Multiple Robots

Localization of Multiple Robots

Master and Slave Method

Master and Slave Method

Simulation

Conclusion

References

Soty-Segment: Robust Color Patch Design to Lighting Condition Variation

Introduction

Previous Color Patch Designs

Soty-Segment Color Patch Design

Preprocessing

Algorithm of Color Patch Recognition

Color Demarcation

Experiments

Revision of Distortion

Color Patch Recognition

Conclusion

References

Task-Based Flocking Algorithm for Mobile Robot Cooperation

Introduction

Task-Based Flocking Algorithm

Task-Based Flocking Algorithm

Flocking Model

Task and Switching Criteria

Performance Feedback Criterion

Algorithm Analysis and Implement

Stability Analysis

Rule of Task

Algorithm Implement

Experiment

Experiment Setup

Experiment Results

Conclusion

References

Analysis of Spatially Limited Local Communication for Multi-Robot Foraging

Introduction

Concepts

Hardware Robots

Simulation

Landmark-Based Navigation

Communication

Program Concept

Evaluation Scenarios

Results

Conclusion

References

AMiRESot – A New Robot Soccer League with Autonomous Miniature Robots

Introduction

AMiRESot Rules

The Field of Play and the Ball

The Players

The Player’s Equipment

The Referee

Duration of the Match

Start and Restart of Play

The Ball In and Out of Play

Method of Scoring

Offside

Fouls and Misconduct

Free Kicks

Robot Platform

Robot Chassis

Robot Drive

Robot Sensors

Robot Information Processing

Software: Operating System and Simulation

Tournaments

Conclusion

References

Robotic System Design

BeBot: A Modular Mobile Miniature Robot Platform Supporting Hardware Reconfiguration and Multi-standard Communication

Introduction

Platform

Software Environment

Special Features

Wireless Communication

Dynamic Reconfiguration

Applications

Mechatronic Seminar

Image Processing Project

Research Project Guardians

Conclusion

References

System Design for Semi-automatic AndroSot

Introduction

Computer Vision

Strategy

Communication

Humanoid Robot

Computer Vision Subsystem

Strategy Subsystem

Communication Subsystem

PC Side Communication Module

Humanoid Robot Side Communication Module

Humanoid Robot

Main Feature of Humanoid Robot in the Market

Sensor for the Robot

Conclusion and Future Development

References

Learning, Optimization, Communication

Extended TA Algorithm for Adapting a Situation Ontology

Introduction

Ontology Based Situation Recognition

Definition of Situation Recognition Process

Situation-Aggregation-Tree (SAT)

Basic Principle of TAA

Improvement

Conclusion

References

An Integer-Coded Chaotic Particle Swarm Optimization for Traveling Salesman Problem

Introduction

The Mathematical Model of TSP

General Mathematical Model

TSP Model Based on Permutation and Combination

ICPSO Algorithm for Solving TSP

Particle Encoding

Velocity-Position Model

The Definition of Fitness Function

The Solving Process of TSP Based on ICPSO

Simulation Experiment and Analysis

Conclusion

References

USAR Robot Communication Using ZigBee Technology

Introduction

Attenuation of RF Signal in Rubble

Link Margin for ZigBee Device

Link Margin for WiFi Access Point

WIFI versus ZIGBEE

Experiment Equipments

Soil Environment

Attenuation of Materials

Construction of Artificial Rubble

Data Routing Experiments

Experiment Setup

Monitoring Program

Experiment Description and Results

Routing Reconnection Tests

Conclusions

References

Author Index