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A Musculoskeletal Flexible-Spine Humanoid Kotaro Aiming at the Future in 15 Years Time InTech
Ikuo Mizuuchi.
This research has been supported by NEDO as a part of "Project for the Practical Application of Next-Generation Robots," and also partly supported by the Ministry of Education, Culture, Sports, Science and Technology, Grant-in-Aid for Scientific Research for Young Scientists (A) (#17680015).
Tipo: 3 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/a_musculoskeletal_flexible-spine_humanoid_kotaro_aiming_at_the_future_in_15_years_time
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A New Approach to Implicit Human-Robot Interaction Using Affective Cues InTech
Pramila Rani; Nilanjan Sarkar.
An approach to human-robot interaction that can utilize implicit affective communication along with explicit communication is presented. In this work we focus on the state of anxiety as the target affective state. A set of physiological indices have been presented that showed good correlation with anxiety. The affect recognition technique infers the underlying affective state of the human from peripheral physiological signals using regression theoretic methodology. A control architecture is presented that can integrate the affective information with the operator's explicit information to achieve a versatile and natural human-robot interaction. An experiment was conducted where human-robot communication was enhanced by enabling the robot to sense human...
Tipo: 12 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/a_new_approach_to_implicit_human-robot_interaction_using_affective_cues
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A Novel Autonomous Climbing Robot for Cleaning an Elliptic Half-Shell InTech
Houxiang Zhang; Rong Liu; Guanghua Zong; Jianwei Zhang.
In contrast to conventional theoretical research, this project finishes the following innovative work: 1. This paper described a new kind of auto-climbing robot used for cleaning the complex curved surface of the National Grand Theatre in China. A special movement mechanism was developed and designed to satisfy weight and dexterity requirements. The robot has been tested on a demo wall which was built based on real building design. Figure 24 shows the robot climbing up in the same process as Figure 16. The robot can climb up and down walls reliably with an average climbing speed of 200mm/s, a sideways moving speed of 100mm/s, and has a cleaning efficiency of 150m2/hour. These tests have proven the feasibility of the mechanical design and control system of...
Tipo: 30 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/a_novel_autonomous_climbing_robot_for_cleaning_an_elliptic_half-shell
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An Active Contour and Kalman Filter for Underwater Target Tracking and Navigation InTech
Muhammad Asif; Mohd Rizal Arshad.
Tipo: 18 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/an_active_contour_and_kalman_filter_for_underwater_target_tracking_and_navigation
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Attitude Compensation of Space Robots for Capturing Operation InTech
Panfeng Huang; Yangsheng Xu.
In this chapter, we studied the dynamic balance control of multi-arm free-floating space robot. According to unique characteristics of free-floating space robot, we presented the dynamics coupling representing the robot arm and base motion and force dependency. Based on the dynamics coupling and measurement method, we proposed the concept of dynamic balance control, the use of the proposed concept is of significance in planing the balance arm's motion for compensate the attitude disturbance of space base. Based on the dynamic balance control concept, we proposed the coordinated control algorithm for the mission arm and the balance arm. During the operation of mission arm, the balance arm can easily compensate the disturbance due to motion of the mission...
Tipo: 25 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/attitude_compensation_of_space_robots_for_capturing_operation
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Biped without Feet in Single Support: Stabilization of the Vertical Posture with Internal Torques InTech
Formalsky Alexander; Aoustin Yannick.
We defined here control strategies to stabilize the equilibrium vertical posture of a two-link, a three-link and a five-link biped, explicitly taking into account the limits imposed on the amplitudes of the control torques. For each biped we use the Jordan form of its linear model to extract the unstable modes that we want to suppress with the feedback control. For the two-link biped, the control law is optimal. This means that the basin of attraction for its linear system is as large as possible, i.e., it coincides with the controllability domain. For the five-link biped several choices of torques are allowable because we have four torques and three unstable modes. Therefore, we define a criteria to compute these torques. All the numerical results in this...
Tipo: 2 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/biped_without_feet_in_single_support__stabilization_of_the_vertical_posture_with_internal_torques
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Cognitive Robotics: Robot Soccer Coaching Using Spoken Language InTech
Alfredo Weitzenfeld; Peter Ford Dominey.
The stated objective of the current research is to develop a generalized approach for humanmachine interaction via spoken language that exploits recent developments in cognitive science particularly notions of grammatical constructions as form-meaning mappings in language, and notions of shared intentions as distributed plans for interaction and collaboration. In order to do this, we tested human-robot interaction initially with the Event Perceiver system and later on with the Sony AIBOs under soccer related behaviors. We have presented the system architecture for the Eagle Knights Four-Legged team as a testbed for this work. With respect to social cognition, shared intentions represent distributed plans in which two or more collaborators have a common...
Tipo: 13 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/cognitive_robotics__robot_soccer_coaching_using_spoken_language
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Command, Goal Disambiguation, Introspection, and Instruction in Gesture-Free Spoken Dialogue with a Robotic Office Assistant InTech
Vladimir A. Kulyukin.
Our investigation has several limitations, each of which, in and of itself, suggests a future research venue. First, the experimental results should be taken with care due to the small number of operators. Furthermore, since both operators are CS graduate students, their performance is unlikely to generalize over people with disabilities. Second, our system cannot handle deictic references expressed with pronouns like “here,” “there,” “that,” etc. These references are meaningless unless tied to concrete situations in which they are used. As Perzanowski et al. (1998) point out, phrases like “Go over there” are meaningless if taken outside of the context in which they are spoken. Typically, resolving deictic references is done through gesture recognition...
Tipo: 9 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/command__goal_disambiguation__introspection__and_instruction_in_gesture-free_spoken_dialogue_with_a_
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Compliant Actuation of Exoskeletons InTech
H. van der Kooij; J.F. Veneman; R. Ekkelenkamp.
Tipo: 7 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/compliant_actuation_of_exoskeletons
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Develop Human Safety Mechanism for Human-Symbiotic Mobile Manipulators: Compliant Hybrid Joints InTech
Zhijun Li; Jun Luo; Shaorong Xie; Jiangong Gu.
Tipo: 10 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/develop_human_safety_mechanism_for_human-symbiotic_mobile_manipulators__compliant_hybrid_joints
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Experimental Robot Musician InTech
Tarek Sobh; Kurt Coble; Bei Wang.
In conclusion, the research directions described above should make the experience of designing robot musicians a breath-taking experiment. We envision that a fully functional robot orchestra can be established in the near future, which will play not only simple tunes, but also masterpieces. Several instruments of the P.A.M. band have been exhibited publicly, including the 2002 Westchester Biennial at the Castle Gallery of the College of New Rochelle and the Silvermines Art Gallery in New Canaan CT. During the fall of 2002, the entire P.A.M Band was on exhibit in the Walter Austin Theatre at the University of Bridgeport, and was reported in the Connecticut Post, Stamford Advocate, and the Greenwich Times. In the spring of 2003, the instruments were be on...
Tipo: 28 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/experimental_robot_musician
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Exploratory Investigation into Influence of Negative Attitudes toward Robots on Human-Robot Interaction InTech
Tatsuya Nomura; Takayuki Kanda; Tomohiro Suzuki; Kensuke Kato.
This chapter provided the concept of negative attitudes toward robots and a measurement method for them, "Negative Attitudes toward Robots Scale (NARS)", as a psychological index in research on human-robot interaction. Then, it showed the results of some experiments and social research by using this psychological scale. The results implicated by the NARS show the efficiency of this scale in both human-robot interaction experiments and social research. They revealed that attitudes toward robots are related to behaviours toward them, these attitudes are different depending on situations and assumptions about robots, and there may be gender differences associated with them. These implications may contribute to design issues of communication robots and...
Tipo: 11 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/exploratory_investigation_into_influence_of_negative_attitudes_toward_robots_on_human-robot_interact
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Facial Caricaturing Robot COOPER with Laser Pen and Shrimp Rice Cracker in Hands Exhibited at EXPO2005 InTech
Takayuki Fujiwara; Takashi Watanabe; Takuma Funahashi.
This paper describes the outline of development of caricaturing robot and the knowledge acquired at the presentation in EXPO 2005. It was known that our system COOPER could perform successfully at EXPO as the grand field test site. As a result, it was fruitful and noteworthy for us that we could collect a large number of facial images from younger and middle ages of both male and female. However, we should investigate more the intensive evaluation of the caricatures. We try to improve the method for the analytical verification of the detailed shape features of facial parts. And COOPER is likely to suffer sometimes from the fatal degradations in the feature extraction caused by an irregular condition of the facial direction and illumination. We must develop...
Tipo: 21 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/facial_caricaturing_robot_cooper_with_laser_pen_and_shrimp_rice_cracker_in_hands_exhibited_at_expo20
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Feasibility Study on an Excavation-Type Demining Robot PEACE InTech
Yoshikazu Mori.
The author thanks Mr. Hachiroda TOKUNI of NOUKOU Co, Ltd., and Dr. Yoshio Kobayashi for providing a great deal of valuable advice and many suggestions. Kazuhiro Takayama, Takeshi Adachi and Shintaro Omote have been my lab members in Tokyo Metropolitan University. I would like to thank them for great efforts and lots of help.
Tipo: 24 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/feasibility_study_on_an_excavation-type_demining_robot_peace
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Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications InTech
Marko B. Popovic; Hugh Herr.
Tipo: 5 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/ground_reference_points_in_legged_locomotion__definitions__biological_trajectories_and_control_impli
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Humanoid Robot Navigation Based on Groping Locomotion Algorithm to Avoid an Obstacle InTech
Hanafiah Yussof; Mitsuhiro Yamano; Yasuo Nasu; Masahiro Ohka.
The development of autonomous navigation system for humanoid robot to solve the problem of "working coexistence" of humans and robots is an important issue. It is apparent that the common living and working environment to be shared by humanoid robots is presently adapted mainly to human, and it cannot be expected that this will be significantly changed to suit the needs of robots. Hence, the problem of human-humanoid robot interaction, and humanoid robot-surrounding environment interaction are become the research topics that are gaining more and more in importance. Furthermore, contact interaction-based navigation system is practically significant for humanoid robots to accurately structure and recognize their surrounding conditions (Ellery, 2005, Salter...
Tipo: 1 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/humanoid_robot_navigation_based_on_groping_locomotion_algorithm_to_avoid_an_obstacle
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Interactive Robots as Facilitators of Childrens Social Development InTech
Hideki Kozima; Cocoro Nakagawa.
6.1 Children's Understanding of the Robots We saw in Section 4 that children changed their ontological understanding of Infanoid as the interaction unfolded and of Keepon as they grew older: first as a "moving thing", then as an "autonomous system" to explore, and finally as a "social agent" to play with. Interestingly, children generally showed a great deal of anxiety and embarrassment towards Infanoid at first; however, with Keepon, they spontaneously approached it and started "tasting" its texture and motion, and gradually entered into an explorative and social interaction with the robot. What created this difference between Infanoid and Keepon? We assume that the children first recognize the motions of the arms, hands, eyes, etc., separately. Each part...
Tipo: 14 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/interactive_robots_as_facilitators_of_childrens_social_development
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Learning Features for Identifying Dolphins InTech
Luiz Goncalves; Adelardo Medeiros; Kaiser Magalde.
In this work, we have proposed a complete system for identification of dolphins. The system involves image acquisition, pre-processing, feature extraction, and identification. The novelties of the system are mainly in the proposed methodology for pre-processing the images based on KLT for extraction of the dorsal fin, the new feature set proposed for being used as input to the classifiers, and the self-growing mechanism itself. With that, the system does not need user intervention for training its memory, neither for identifying new subjects in the universe of animals. The system has proceeded as expected in all experiments. Of course, other alternatives for the classifier can be tested in the following, for example, Bayesian nets, self organizing maps, or...
Tipo: 22 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/learning_features_for_identifying_dolphins
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Modelling of Bipedal Robots Using Coupled Nonlinear Oscillators InTech
Armando Carlos de Pina Filho; Max Suell Dutra; Luciano Santos.
From presented results and their analysis and discussion, we come to the following conclusions about the modelling of a bipedal locomotor using mutually coupled oscillators: 1) The use of mutually coupled Rayleigh oscillators can represent an excellent way to signal generation, allowing their application for feedback control of a walking machine by synchronisation and coordination of the lower extremities. 2) The model is able to characterise three of the six most important determinants of human gait. 3) By changing a few parameters in the oscillators, modification of the step length and the frequency of the gait can be obtained. The gait frequency can be modified by means of the equations (23-25), by choosing a new value for . The step length can be...
Tipo: 4 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/modelling_of_bipedal_robots_using_coupled_nonlinear_oscillators
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Omni-directional Mobile Microrobots on a Millimeter Scale for a Microassembly System InTech
Zhenbo Li; Jiapin Chen.
This chapter has presented the construction of an omni-directional mobile microrobot system, with the microrobot less than one cubic centimeter in volume and its unique dualwheels driven by electromagnetic micromotors, two millimeters in diameter, for purpose of microassembly in narrow space. The results show that the microrobot can move continuously or in stages with high precision under the two novel micro step control approaches, which is necessary for the microassembly mission. This omni-directional mobility and the high precision movement show that the omni-directional mobile microrobot will have many potential applications in micro fields. Although this work shows a good performance of a microrobot, there is still some further work needed for this...
Tipo: 26 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/omni-directional_mobile_microrobots_on_a_millimeter_scale_for_a_microassembly_system
Registros recuperados: 30
Primeira ... 12 ... Última
 

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