Search results for "robotics"
showing 10 items of 484 documents
Sensor Calibration and Registration for Mobile Manipulators
2016
International audience; —This paper describes the methods used to register a mobile manipulator to a workstation to perform assembly tasks. The nonlinear, least square model of the system is formulated and Ceres Solver is used to compute the position of the robot arm relative to the mobile base. The use of non-contact fiducials to test the accuracy and repeatability of the mobile manipulator positioning in the context of an assembly operation is also discussed. Using mathematical methods and indirect measurements it is possible to compute the offset between physical components of the system where direct measurement is not feasible.
A cognitive architecture for artificial vision
1997
Abstract A new cognitive architecture for artificial vision is proposed. The architecture, aimed at an autonomous intelligent system, is cognitive in the sense that several cognitive hypotheses have been postulated as guidelines for its design. The first one is the existence of a conceptual representation level between the subsymbolic level, that processes sensory data, and the linguistic level, that describes scenes by means of a high level language. The conceptual level plays the role of the interpretation domain for the symbols at the linguistic levels. A second cognitive hypothesis concerns the active role of a focus of attention mechanism in the link between the conceptual and the ling…
Artificial organisms as tools for the development of psychological theory: Tolman's lesson
2007
In the 1930s and 1940s, Edward Tolman developed a psychological theory of spatial orientation in rats and humans. He expressed his theory as an automaton (the ‘‘schematic sowbug’’) or what today we would call an ‘‘artificial organism.’’ With the technology of the day, he could not implement his model. Nonetheless, he used it to develop empirical predictions which tested with animals in the laboratory. This way of proceeding was in line with scientific practice dating back to Galileo. The way psychologists use artificial organisms in their work today breaks with this tradition. Modern ‘‘artificial organisms’’ are constructed a posteriori, working from experimental or ethological observations…
Social Practices based characters in a Robotic Storytelling System
2020
In this work, we present a robotic storytelling system, where the characters have been modelled as cognitive agents embodied in Pepper and NAO robots. The characters have been designed by exploiting the ACT-R architecture, taking into account knowledge, behaviours, norms, and expectations typical of social practices and desires resulting from their personality. The characters explain their reasoning processes during the narration, through a sort of internal dialogue that generate a high level of credibility experienced over the audience.
Decision Making in Evolving Artificial Systems
2001
The theme of this workshop is artificial perception. In this chapter we will argue that the ecological function of perception is to serve decision-making. If this is so the mechanisms chosen to implement perception, in natural or artificial systems, will be constrained by the requirements of decision-making and theories of decision-making will inevitably influence theories of perception. In what follows we will look at decision-making from what we hope is a new perspective, applying concepts and techniques developed by what we will call “new artificial intelligence”. We will begin, in the second part of the chapter, with a review of traditional, “normative” theories of decision-making and o…
Imitation Learning and Anchoring through Conceptual Spaces
2007
In order to have a robotic system able to effectively learn by imitation and not merely reproduce the movements of a human teacher, the system should have the capability to deeply understand the perceived actions to be imitated. This paper deals with the development of a cognitive architecture for learning by imitation in which a rich conceptual representation of the observed actions is built. The purpose of the following discussion is to show how the same conceptual representation can be used both in a bottom-up approach, in order to learn sequences of actions by imitation learning paradigm, and in a top-down approach, in order to anchor the symbolical representations to the perceptual act…
Artificial Pleasure and Pain Antagonism Mechanism in a Social Robot
2017
The goal of the work is to build some Python modules that allow the Nao robot to emulate a somatosensorial system similar to the human one. Assuming it can perceive some feelings similar to the ones recognized by the human system, it will be possible to make it react appropriately to the external stimuli. The idea is to have a group of software sensors working simultaneously, providing some feedback to show how the robot is feeling at a particular time. It will be able to feel articular pain and stress, to perceive people in his surroundings (and in a future work to react according to the knowledge of them with face recognition), feel pleasure by recognizing caresses on his head and respond…
Computation of Yvon-Villarceau circles on Dupin cyclides and construction of circular edge right triangles on tori and Dupin cyclides
2014
Ring Dupin cyclides are non-spherical algebraic surfaces of degree four that can be defined as the image by inversion of a ring torus. They are interesting in geometric modeling because: (1) they have several families of circles embedded on them: parallel, meridian, and Yvon-Villarceau circles, and (2) they are characterized by one parametric equation and two equivalent implicit ones, allowing for better flexibility and easiness of use by adopting one representation or the other, according to the best suitability for a particular application. These facts motivate the construction of circular edge triangles lying on Dupin cyclides and exhibiting the aforementioned properties. Our first contr…
Creation and cognition for humanoid live dancing
2016
Abstract Computational creativity in dancing is a recent and challenging research field in Artificial Intelligence and Robotics. We present a cognitive architecture embodied in a humanoid robot capable to create and perform dances driven by the perception of music. The humanoid robot is able to suitably move, to react to human mate dancers and to generate novel and appropriate sequences of movements. The approach is based on a cognitive architecture that integrates Hidden Markov Models and Genetic Algorithms. The system has been implemented on a NAO robot and tested in public setting-up live performances, obtaining positive feedbacks from the audience.
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…