Search results for "Robotics"
showing 10 items of 484 documents
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…
Subsequent Keyframe Generation for Visual Servoing
2021
International audience; In this paper, we study the problem of autonomous and reliable positioning of a camera w.r.t. an object when only this latter is known but not the rest of the scene. We propose to combine the advantages and efficiency of a visual servoing scheme and the generalization ability of a generative adversarial network. The paper describes how to efficiently create a synthetic dataset in order to train a network that predicts an intermediate visual keyframe between two images. Subsequent predictions are used as visual features to autonomously converge towards the desired pose even for large displacements. We show that the proposed method can be used without any prior knowled…
Agents and robots for collaborating and supporting physicians in healthcare scenarios
2020
Graphical abstract
Computer vision-based approach for rite decryption in old societies
2015
International audience; This paper presents an approach to determine the spatial arrangement of bones of horses in an excavation site and perform the 3D reconstruction of the scene. The relative 3D positioning of the bones was computed exploiting the information in images acquired at different levels, and used to relocate provided 3D models of the bones. A novel semi-supervised approach was proposed to generate dense point clouds of the bones from sparse features. The point clouds were later matched with the given models using Iterative Closest Point (ICP).
Introducing a new method for efficient visualization of complex shape 3D ultrasonic phased-array C-scans
2017
Automated robotic inspection systems allow the collection of large data volumes, compared to existing inspection systems. To maximize the throughput associated with the non-destructive evaluation phase, it is crucial that the reconstructed inspection data sets are generated and examined rapidly without a loss of detail. Data analysis often becomes the bottleneck of automated inspections. Therefore, new data visualization tools, suitable to screen the NDT information obtained through robotic systems, are urgently required. This paper presents a new approach, for the generation of three-dimensional ultrasonic C-scans of large and complex parts, suitable for application to high data throughput…
What robots want? Hearing the inner voice of a robot.
2021
Summary The inner speech is thoroughly studied in humans, and it represents an interdisciplinary research issue involving psychology, neuroscience, and pedagogy. A few papers only, mostly theoretical, analyze the role of inner speech in robots. The present study investigates the potential of the robot's inner speech while cooperating with human partners. A cognitive architecture is designed and integrated with standard robot routines into a complex framework. Two threads of interaction are discussed by setting the robot operations with and without inner speech. Thanks to the robotic self-dialog, the partner can easily trace the robot's processes. Moreover, the robot can better solve conflic…
HR1 Robot: An Assistant for Healthcare Applications
2022
According to the World Health Organization1,2 the percentage of healthcare dependent population, such as elderly and people with disabilities, among others, will increase over the next years. This trend will put a strain on the health and social systems of most countries. The adoption of robots could assist these health systems in responding to this increased demand, particularly in high intensity and repetitive tasks. In a previous work, we compared a Socially Assistive Robot (SAR) with a Virtual Agent (VA) during the execution of a rehabilitation task. The SAR consisted of a humanoid R1 robot, while the Virtual Agent represented its simulated counter-part. In both cases, the agents evalua…