Search results for " robot"
showing 10 items of 408 documents
A cognitive architecture for robot self-consciousness
2008
Objective: One of the major topics towards robot consciousness is to give a robot the capabilities of self-consciousness. We propose that robot self-consciousness is based on higher order perception of the robot, in the sense that first-order robot perception is the immediate perception of the outer world, while higher order perception is the perception of the inner world of the robot. Methods and material: We refer to a robot cognitive architecture that has been developed during almost 10 years at the RoboticsLab of the University of Palermo. The architecture is organized in three computational areas. The subconceptual area is concerned with the low level processing of perceptual data comi…
An Emphatic Humanoid Robot with Emotional Latent Semantic Behavior
2008
In this paper we propose an Entertainment Humanoid Robot model based on Latent Semantic Analysis, that tries to exhibit an emotional behavior in the interaction with human. Latent Semantic Analysis (LSA), based on vector space allows the coding of the words semantics by specific statistical computations applied to a large corpus of text. We illustrate how the creation and the use of this emotional conceptual space can provide a framework upon which to build “Latent Semantic Behavior” because it simulates the emotionalassociative capabilities of human beings. This approach integrates traditional knowledge representation with intuitive capabilities provided by geometric and sub-symbolic infor…
The perception loop in CiceRobot, a museum guide robot
2009
The paper discusses a model of robot perception based on a comparison loop process between the actual and the expected robot input sensory data generated by a 3D robot/environment simulator. The perception loop process is operating in CiceRobot, a functional robot architecture implemented on an autonomous robot RWI B21 offering guided tours at the Archaeological Museum of Agrigento, Italy.
An Artificial Soft Somatosensory System for a Cognitive Robot
2020
The paper proposes an artificial somatosensory system loosely inspired by human beings' biology and embedded in a cognitive architecture (CA). It enables a robot to receive the stimulation from its embodiment, and use these sensations, we called roboceptions, to behave according to both the external environment and the internal robot status. In such a way, the robot is aware of its body and able to interpret physical sensations can be more effective in the task while maintaining its well being. The robot's physiological urges are tightly bound to the specific physical state of the robot. Positive and negative physical information can, therefore, be processed and let the robot behave in a mo…
Incremental forming using KUKA KR210-2 industrial robot - research regarding design rules and process modelling
2021
Incremental sheet forming (ISF) process show a great potential in the manufacturing of small series production or prototype development parts. One of the sheet metal forming process, where the contact between punch and metal sheet is in a single point, is known as single point incremental forming (SPIF). The part is manufacture with a simple tool, known as punch, that performs a series of combined movements on the vertically and horizontally directions. The paper introduces a study regarding the design rules and process modelling of this unconventional process, by means of a KUKA KR210-2 industrial robot as technological equipment able to control the correlated movement of the punch. Supple…
The Acquisition of Computational Thinking through Mentoring: An Exploratory Study
2020
Educational robotics are commonly present in kindergarten and primary school classrooms, particularly Bee-bot. Its ease of use allows the introduction of computer programming to young children in educational contexts from a science, technology, engineering, arts, and mathematics (STEAM) perspective. Despite this rise, there are still few investigations that collect evidence on the effectiveness of robotic interventions. Although mentoring experiences with robotics had been carried out in educational contexts, this work explores their effect on the acquisition of computational thinking skills through mentoring. Participants from the second grade, aged seven through eight years, were exposed …
Social robots and therapeutic adherence: a new challenge in pediatric asthma?
2020
Social Robots are used in different contexts and, in healthcare, they are better known as Socially Assistive Robots. In the context of asthma, the use of Socially Assistive Robots has the potential to increase motivation and engagement to treatment. Other positive roles proposed for Socially Assistive Robots are to provide education, training regarding treatments, and feedback to patients. This review evaluates emerging interventions for improving treatment adherence in pediatric asthma, focusing on the possible future role of social robots in the clinical practice.
Wind gust estimation for precise quasi-hovering control of quadrotor aircraft
2021
Abstract This paper focuses on the control of quadrotor vehicles without wind sensors that are required to accurately track low-speed trajectories in the presence of moderate yet unknown wind gusts. By modeling the wind disturbance as exogenous inputs, and assuming that compensation of its effects can be achieved through quasi-static vehicle motions, this paper proposes an innovative estimation and control scheme comprising a linear dynamic filter for the estimation of such unknown inputs and requiring only position and attitude information. The filter is built upon results from Unknown Input Observer theory and allows estimation of wind and vehicle state without measurement of the wind its…
Robust Longitudinal Control of Self-Driving Racecar Models
2022
This paper focuses on the control of longitudinal self-driving racecar models with model uncertainty and pro- poses a robust solution that comprises an online disturbance estimator and a nonlinear compensation control feedback law. By modeling all uncertainty with respect to a nominal model as suitably disturbance signals and afterward exploiting unknown- input state observer theory, a lean and fast estimator is derived for the racecar model. The estimator does not require a priori knowledge of the uncertainty. Closed-loop stability of the proposed controller ensuring the asymptotic reconstruction of the system state and disturbance inputs as well as asymptotic tracking of desired longitudi…
Exploring the development of mental rotation and computational skills in elementary students through educational robotics
2022
Abstract Interest in educational robotics has increased over the last decade. Through various approaches, robots are being used in the teaching and learning of different subjects at distinct education levels. The present study investigates the effects of an educational robotic intervention on the mental rotation and computational thinking assessment in a 3rd grade classroom. To this end, we carried out a quasi-experimental study involving 24 third-grade students. From an embodied approach, we have designed a two-hour intervention providing students with a physical environment to perform tangible programming on Bee-bot. The results revealed that this educational robotic proposal aimed at map…