Search results for "Robotics"

2018

Despite major progress in Robotics and AI, robots are still basically "zombies" repeatedly achieving actions and tasks without understanding what they are doing. Deep-Learning AI programs classify tremendous amounts of data without grasping the meaning of their inputs or outputs. We still lack a genuine theory of the underlying principles and methods that would enable robots to understand their environment, to be cognizant of what they do, to take appropriate and timely initiatives, to learn from their own experience and to show that they know that they have learned and how. The rationale of this paper is that the understanding of its environment by an agent (the agent itself and its effect…

Low-Cost Robotic Guide Based on a Motor Imagery Brain–Computer Interface for Arm Assisted Rehabilitation

2020

Motor imagery has been suggested as an efficient alternative to improve the rehabilitation process of affected limbs. In this study, a low-cost robotic guide is implemented so that linear position can be controlled via the user&rsquo

Branch-and-Cut for the Split Delivery Vehicle Routing Problem with Time Windows

2019

The split delivery vehicle routing problem with time windows (SDVRPTW) is a notoriously hard combinatorial optimization problem. First, it is hard to find a useful compact mixed-integer programming (MIP) formulation for the SDVRPTW. Standard modeling approaches either suffer from inherent symmetries (mixed-integer programs with a vehicle index) or cannot exactly capture all aspects of feasibility. Because of the possibility to visit customers more than once, the standard mechanisms to propagate load and time along the routes fail. Second, the lack of useful formulations has rendered any direct MIP-based approach impossible. Up to now, the most effective exact algorithms for the SDVRPTW hav…

Would a robot trust you? Developmental robotics model of trust and theory of mind

2019

Trust is a critical issue in human - robot interactions: as robotic systems gain complexity, it becomes crucial for them to be able to blend into our society by maximizing their acceptability and reliability. Various studies have examined how trust is attributed by people to robots, but fewer have investigated the opposite scenario, where a robot is the trustor and a human is the trustee. The ability for an agent to evaluate the trustworthiness of its sources of information is particularly useful in joint task situations where people and robots must collaborate to reach shared goals. We propose an artificial cognitive architecture based on the developmental robotics paradigm that can estima…

Real-time Multispectral Image Processing and Registration on 3D Point Cloud for Vineyard Analysis

2021

International audience; Nowadays, precision agriculture and precision viticulture are under strong development. In order to accomplish effective actions, robots require robust perception of the culture and the surrounding environment. Computer vision systems have to identify plant parts (branches, stems, leaves, flowers, fruits, vegetables, etc.) and their respective health status. Moreover, they must merge various plant information, to measure agronomic indices, to classify them and finally to extract data to enable the agriculturist or expert to make a relevant decision. We propose a real-time method to acquire, process and register multispectral images fused to 3D. The sensors system, co…

Inverse Kinematics for a 7 DOF Robotic Arm Using the Redundancy Circle and ANFIS Models

2014

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, ANFIS implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

Another Approach for Redundancy Resolution of a 7 DOF Robotic Arm

2015

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

The inverse kinematics solutions of a 7 DOF robotic arm using Fuzzy Logic

2012

This paper focuses on modeling resolving and simulations of the inverse kinematics of an anthropomorphic redundant robotic structure with seven degrees of freedom and a workspace similar to human arm. Also the kinematical model and the kinematics equations of the robotic arm are presented. A method of resolving the redundancy of seven degrees of freedom robotic arm is presented using Fuzzy Logic toolbox from MATLAB®.

3D models of humanoid soccer robot in USAR sim and robotics studio simulators

2008

This paper describes our experience in the simulation of humanoid soccer robots using two general purposes 3D simulators, namely USARSim and Microsoft Robotics Studio. We address the problem of the simulation of a soccer match among two teams of small humanoid robots in the RoboCup Soccer Kid-Size Humanoid competitions. The paper reports the implementation of the virtual models of the Robovie-M humanoid robot platform in the two simulators. Robovie-M was the robot used by our team "Artisti" in the RoboCup 2006 competitions. This paper focuses on the procedures needed to implement the virtual models of the robot and in the details of the models. We describe experiments assessing the feasibi…

Localization of 2D Cameras in a Known Environment Using Direct 2D-3D Registration

2014

International audience; In this paper we propose a robust and direct 2D-to- 3D registration method for localizing 2D cameras in a known 3D environment. Although the 3D environment is known, localizing the cameras remains a challenging problem that is particularly undermined by the unknown 2D-3D correspondences, outliers, scale ambiguities and occlusions. Once the cameras are localized, the Structure-from-Motion reconstruction obtained from image correspondences is refined by means of a constrained nonlinear optimization that benefits from the knowledge of the scene. We also propose a common optimization framework for both localization and refinement steps in which projection errors in one v…