Search results for " robot"
showing 10 items of 408 documents
An automatic system for humanoid dance creation
2016
Abstract The paper describes a novel approach to allow a robot to dance following musical rhythm. The proposed system generates a dance for a humanoid robot through the combination of basic movements synchronized with the music. The system made up of three parts: the extraction of features from audio file, estimation of movements through the Hidden Markov Models and, finally, the generation of dance. Starting from a set of given movements, the robot choices sequence of movements a suitable Hidden Markov Model, and synchronize them processing musical input. The proposed approach has the advantage that movement execution probabilities could be changed according evaluation of the dance executi…
A Fly-Inspired Mushroom Bodies Model for Sensory-Motor Control Through Sequence and Subsequence Learning
2016
Classification and sequence learning are relevant capabilities used by living beings to extract complex information from the environment for behavioral control. The insect world is full of examples where the presentation time of specific stimuli shapes the behavioral response. On the basis of previously developed neural models, inspired by Drosophila melanogaster, a new architecture for classification and sequence learning is here presented under the perspective of the Neural Reuse theory. Classification of relevant input stimuli is performed through resonant neurons, activated by the complex dynamics generated in a lattice of recurrent spiking neurons modeling the insect Mushroom Bodies n…
Sequence Learning in a Single Trial: A Spiking Neurons Model Based on Hippocampal Circuitry.
2020
ABSTRACTIn contrast with our everyday experience using brain circuits, it can take a prohibitively long time to train a computational system to produce the correct sequence of outputs in the presence of a series of inputs. This suggests that something important is missing in the way in which models are trying to reproduce basic cognitive functions. In this work, we introduce a new neuronal network architecture that is able to learn, in a single trial, an arbitrary long sequence of any known objects. The key point of the model is the explicit use of mechanisms and circuitry observed in the hippocampus, which allow the model to reach a level of efficiency and accuracy that, to the best of our…
A Cognitive Model of Trust for Biological and Artificial Humanoid Robots
2018
This paper presents a model of trust for biological and artificial humanoid robots and agents as antecedent condition of interaction. We discuss the cognitive engines of social perception that accounts for the units on which agents operate and the rules they follow when they bestow trust and assess trustworthiness. We propose that this structural information is the domain of the model. The model represents it in terms of modular cognitive structures connected by a parallel architecture. Finally we give a preliminary formalization of the model in the mathematical framework of the I/O automata for future computational and human-humanoid application.
Categories, Quantum Computing, and Swarm Robotics: A Case Study
2022
The swarms of robots are examples of artificial collective intelligence, with simple individual autonomous behavior and emerging swarm effect to accomplish even complex tasks. Modeling approaches for robotic swarm development is one of the main challenges in this field of research. Here, we present a robot-instantiated theoretical framework and a quantitative worked-out example. Aiming to build up a general model, we first sketch a diagrammatic classification of swarms relating ideal swarms to existing implementations, inspired by category theory. Then, we propose a matrix representation to relate local and global behaviors in a swarm, with diagonal sub-matrices describing individual featur…
Acceptability Study of A3-K3 Robotic Architecture for a Neurorobotics Painting
2019
In this paper, authors present a novel architecture for controlling an industrial robot via Brain Computer Interface. The robot used is a Series 2000 KR 210-2. The robotic arm was fitted with DI drawing devices that clamp, hold and manipulate various artistic media like brushes, pencils, pens. User selected a high-level task, for instance a shape or movement, using a human machine interface and the translation in robot movement was entirely demanded to the Robot Control Architecture defining a plan to accomplish user's task. The architecture was composed by a Human Machine Interface based on P300 Brain Computer Interface and a robotic architecture composed by a deliberative layer and a reac…
Explainable Post-Occupancy Evaluation Using a Humanoid Robot
2020
The paper proposes a new methodological approach for evaluating the comfort condition using the concept of explainable post occupancy to make the user aware of the environmental state in which (s)he works. Such an approach was implemented on a humanoid robot with social capabilities that aims to enforce human engagement to follow recommendations. The humanoid robot helps the user to position the sensors correctly to acquire environmental measures corresponding to the temperature, humidity, noise level, and illuminance. The distribution of the last parameter due to its high variability is also retrieved by the simulation software Dialux. Using the post occupancy evaluation method, the robot …
UnipaBCI a novel general software framework for brain computer interface
2017
The increasing interest in Brain Computer Interface (BCI) requires new fast, reliable and scalable frameworks that can be used by researchers to develop BCI based high performance applications in efficient and fast ways. In this paper is presented "UnipaBCI", a general software framework for BCI applications based on electroencephalogra-phy (EEG) that can fulfill these new needs. A visual evoked potentials (VEP) application has also been developed using the proposed framework in order to test the modular architecture and the overall performance. Different types of users (beginners and experts in BCI) have been involved during the "UnipaBCI" experimental test and they have exhibited good and…
Automatic Calibration of an Industrial RGB-D Camera Network Using Retroreflective Fiducial Markers
2019
This paper describes a non-invasive, automatic, and robust method for calibrating a scalable RGB-D sensor network based on retroreflective ArUco markers and the iterative closest point (ICP) scheme. We demonstrate the system by calibrating a sensor network comprised of six sensor nodes positioned in a relatively large industrial robot cell with an approximate size of 10 m × 10 m × 4 m . Here, the automatic calibration achieved an average Euclidean error of 3 c m at distances up to 9.45 m . To achieve robustness, we apply several innovative techniques: Firstly, we mitigate the ambiguity problem that occurs when detecting a marker at long range or low resolution by comparing the…
Exploiting Cognitive Architectures to design Storytelling Activities for NarRob
2020
In this work, we exploited the potential of a cognitive architecture to model the characters of a story in an interactive storytelling system. The system is accessible through NarRob, a humanoid social robot, able to manage storytelling activities aimed at improving the emotional and social skills of children, also adding expressiveness to the narration by using proper associate gestures and emotional expressions. Our main goal was to implement the cognitive processes of the agents interpreted by the robot within an environment coinciding with a narrative context. The narrated story is largely inspired by the "FearNot!" game, where in our system, we modeled the cognitive processes elaborate…