We present an approach to control a semi-autonomous robot team remotely under low bandwidth conditions with a single operator. Our approach utilises virtual reality and autonomous robots to create an immersive user in...We present an approach to control a semi-autonomous robot team remotely under low bandwidth conditions with a single operator. Our approach utilises virtual reality and autonomous robots to create an immersive user interface for multi-robot control. This saves a big amount of bandwidth, just because there is no need to transfer a constant steam of camera images. The virtual environment for control only has to be transferred once to the control station and only has to be updated when the map is out of date. Also, the camera position can easily be changed in virtual reality for more overview on the robots situation. The parts of this approach can easily be transferred to applications on earth e.g. for semi-autonomous robots in hazardous areas or under water applications.展开更多
A systematic methodology for solving the inverse dynamics of the Delta robot is presented.First,the inverse kinematics is solved based on the vector method.A new form of the Jacobi matrix formulized by the vectors is ...A systematic methodology for solving the inverse dynamics of the Delta robot is presented.First,the inverse kinematics is solved based on the vector method.A new form of the Jacobi matrix formulized by the vectors is obtained so the three types kinematics singularities namely inverse, direct and combined types, can be identified with the physical meaning.Then based on the principle of virtual work, a methodology for driving the dynamical equations of motion is developed.Meanwhile the whole actuating torques, the torques caused by the gravity, the velocity and the acceleration are computed respectively in the numerical example. Results show that torque caused by the acceleration term is much bigger than the other two terms.This approach leads to efficient algorithms since the constraint forces and moments of the robot system have been eliminated from the equations of motion and there is no differential equation for the whole procedure when the principle of virtual work is applied to solving the inverse dynamical problem.展开更多
A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation.Through ap...A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation.Through appointing appropriately some virtual local targets on the journey, it can be solved effectively. The key concept employed in this algorithm are the rules that govern when and how to appoint these virtual local targets. When the robot finds itself in danger of local minimum, a virtual local target is appointed to replace the global goal temporarily according to the rules. After the virtual target is reached, the robot continues on its journey by heading towards the global goal. The algorithm prevents the robot from running into local minima anymore. Simulation results showed that it is very effective in complex obstacle environments.展开更多
For the virtual environment (VE) to control remote robots through Internet, this paper proposes an operational idea based on virtual guides (VGs). The VGs consist of three types, line VG, plane VG, and body VG, which ...For the virtual environment (VE) to control remote robots through Internet, this paper proposes an operational idea based on virtual guides (VGs). The VGs consist of three types, line VG, plane VG, and body VG, which can greatly enhance the safety and flexibility of the man-machine system. Through the analysis of several common cases, the idea of the VGs are first introduced and described. Second, detailed descriptions of the three VGs are given, and then a uniform representation of all VGs is given. Finally, a typical experiment is designed and implemented according to the modes of video feedback, video&VE feedback, and video&VE&VG feedback. Experimental results show that the operation based on VEs and VGs have significant advantages over that based on video feedback, and VGs can greatly improve the ability of the VE to control remote robots, thus obtaining high and efficient man-machine cooperation.展开更多
The adoption of applicable artificial intelligence technologies to library real-time virtual reference services is an innovative experimentation in one of the key areas of library services. Based on the open source so...The adoption of applicable artificial intelligence technologies to library real-time virtual reference services is an innovative experimentation in one of the key areas of library services. Based on the open source software Artificial Linguistic Internet Computer Entity(A.L.I.C.E.) and a combined application of several other relevant supporting technologies for facilitating the use of the current existing library resources, Tsinghua University Library has recently developed a real-time smart talking robot, named Xiaotu,for the enhancement of its various service functions, such as reference services, book searching, Baidu Baike searching, self-directed learning, etc. The operation of Xiaotu is programmed into Renren website(a social networking website), which adds significantly an innovative feature to the modus operandi of the real-time virtual reference service at Tsinghua University Library.展开更多
A method of 3 D kinematics simulation of robot fighting platform （RFP） in virtual environment is proposed with the aim of enhancing vision telepresence. Based on the theory of space coordinate transformation, kinema...A method of 3 D kinematics simulation of robot fighting platform （RFP） in virtual environment is proposed with the aim of enhancing vision telepresence. Based on the theory of space coordinate transformation, kinematics equat!ons of RFP are formulated; followed by applying a method of modeling using 3DMAX software to build an RFP＇s 3D geometric model before a 3D kinematics simulation system of RFP is completed based on virtual reality technology and Open Inventor VC ＋ ＋. Test results have indicated that this system can perform RFP＇s kinematics simulation in virtual environment. It can also imitate RFP＇s motion states and environmental features well. Moreover, not only can better real-time performances and interactions be achieved but also operator＇s vision telepresence be enhanced, therefore this approach may help lay the foundation for the realization of RFP＇s teleoperation with vision telepresence.展开更多
This paper discusses how joint clearance influences robot end effectorpositioning accuracy and a robot accuracy analysis approach based on a virtual prototype isproposed. First, a 5-DOF(Degree of freedom) neurosurgery...This paper discusses how joint clearance influences robot end effectorpositioning accuracy and a robot accuracy analysis approach based on a virtual prototype isproposed. First, a 5-DOF(Degree of freedom) neurosurgery robot was introduced. Then we built itsvirtual prototype, made movement planning and measured the manipulator tip accuracy, through whichthis robot accuracy portrait was obtained. Finally, in order to validate the robot accuracyanalysis approach which is based on a virtual prototype, the result was compared with that from amodel built by robot forward kinematics and robot differential kinematics. The robot accuracyanalysis approach presented in this paper gives a new way to enhance robot design quality , and helpto optimize the control and programming of the robot.展开更多
Studies the design of distributed virtual environments (DVEs) for tele-multi-robotics. The proposed design, incorporating two models (distribution-supported model and VE-supported model), attempts to represent common ...Studies the design of distributed virtual environments (DVEs) for tele-multi-robotics. The proposed design, incorporating two models (distribution-supported model and VE-supported model), attempts to represent common functionality, communication issues, and requirements found in multi-operator DVEs. The distribution-supported model concentrates on the introduction of computer-supported collaborative work (CSCW) to realize the coordination of multi-operators, while the VE-supported model concentrates on the utilization of an object-oriented approach to strengthen the expandability and robustness of the system. Finally, the configuration and running environments of the system are given.展开更多
Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physica...Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physical-social system(CPSS) through a shared communication platform to create a social ecology. In the ecology, the agents collaborate(assist each other) to perform a real-world task(search for a hidden object)for the benefits of humans. A robot-virtual human bilateral trust model is derived and a real-time trust measurement method is developed. The role of taking initiative in the collaboration is switched between the agents following a finite state machine model triggered by bilateral trust, which results in a mixedinitiative collaboration. A scheme is developed to evaluate the performance of the agents in the ecology through the CPSS.The results show that the robot and the virtual human perform satisfactorily in the collaboration through the CPSS. The results thus prove the effectiveness of the real-world ecology between artificial agents of heterogeneous realities through a shared platform based on trust-triggered mixed-initiatives. The results can help develop adaptive social ecology comprising intelligent agents of heterogeneous realities to assist humans in various tasks through collaboration between the agents in the form of a CPSS.展开更多
文摘We present an approach to control a semi-autonomous robot team remotely under low bandwidth conditions with a single operator. Our approach utilises virtual reality and autonomous robots to create an immersive user interface for multi-robot control. This saves a big amount of bandwidth, just because there is no need to transfer a constant steam of camera images. The virtual environment for control only has to be transferred once to the control station and only has to be updated when the map is out of date. Also, the camera position can easily be changed in virtual reality for more overview on the robots situation. The parts of this approach can easily be transferred to applications on earth e.g. for semi-autonomous robots in hazardous areas or under water applications.
基金Supported by National Natural Science Foundation of China (No. 50375106) andKey Laboratory of Intelligent Manufacturing at Shantou University Grant (No. Imstu-2002-11).
文摘A systematic methodology for solving the inverse dynamics of the Delta robot is presented.First,the inverse kinematics is solved based on the vector method.A new form of the Jacobi matrix formulized by the vectors is obtained so the three types kinematics singularities namely inverse, direct and combined types, can be identified with the physical meaning.Then based on the principle of virtual work, a methodology for driving the dynamical equations of motion is developed.Meanwhile the whole actuating torques, the torques caused by the gravity, the velocity and the acceleration are computed respectively in the numerical example. Results show that torque caused by the acceleration term is much bigger than the other two terms.This approach leads to efficient algorithms since the constraint forces and moments of the robot system have been eliminated from the equations of motion and there is no differential equation for the whole procedure when the principle of virtual work is applied to solving the inverse dynamical problem.
文摘A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation.Through appointing appropriately some virtual local targets on the journey, it can be solved effectively. The key concept employed in this algorithm are the rules that govern when and how to appoint these virtual local targets. When the robot finds itself in danger of local minimum, a virtual local target is appointed to replace the global goal temporarily according to the rules. After the virtual target is reached, the robot continues on its journey by heading towards the global goal. The algorithm prevents the robot from running into local minima anymore. Simulation results showed that it is very effective in complex obstacle environments.
文摘For the virtual environment (VE) to control remote robots through Internet, this paper proposes an operational idea based on virtual guides (VGs). The VGs consist of three types, line VG, plane VG, and body VG, which can greatly enhance the safety and flexibility of the man-machine system. Through the analysis of several common cases, the idea of the VGs are first introduced and described. Second, detailed descriptions of the three VGs are given, and then a uniform representation of all VGs is given. Finally, a typical experiment is designed and implemented according to the modes of video feedback, video&VE feedback, and video&VE&VG feedback. Experimental results show that the operation based on VEs and VGs have significant advantages over that based on video feedback, and VGs can greatly improve the ability of the VE to control remote robots, thus obtaining high and efficient man-machine cooperation.
基金supported by the Foundation for Humanities and Social Sciences of the Chinese Ministry of Education(Grant No.:11BTQ011)
文摘The adoption of applicable artificial intelligence technologies to library real-time virtual reference services is an innovative experimentation in one of the key areas of library services. Based on the open source software Artificial Linguistic Internet Computer Entity(A.L.I.C.E.) and a combined application of several other relevant supporting technologies for facilitating the use of the current existing library resources, Tsinghua University Library has recently developed a real-time smart talking robot, named Xiaotu,for the enhancement of its various service functions, such as reference services, book searching, Baidu Baike searching, self-directed learning, etc. The operation of Xiaotu is programmed into Renren website(a social networking website), which adds significantly an innovative feature to the modus operandi of the real-time virtual reference service at Tsinghua University Library.
基金Sponsored by Independent Research Projects of State Key Laboratory (ZDKT08-05)
文摘A method of 3 D kinematics simulation of robot fighting platform （RFP） in virtual environment is proposed with the aim of enhancing vision telepresence. Based on the theory of space coordinate transformation, kinematics equat!ons of RFP are formulated; followed by applying a method of modeling using 3DMAX software to build an RFP＇s 3D geometric model before a 3D kinematics simulation system of RFP is completed based on virtual reality technology and Open Inventor VC ＋ ＋. Test results have indicated that this system can perform RFP＇s kinematics simulation in virtual environment. It can also imitate RFP＇s motion states and environmental features well. Moreover, not only can better real-time performances and interactions be achieved but also operator＇s vision telepresence be enhanced, therefore this approach may help lay the foundation for the realization of RFP＇s teleoperation with vision telepresence.
文摘This paper discusses how joint clearance influences robot end effectorpositioning accuracy and a robot accuracy analysis approach based on a virtual prototype isproposed. First, a 5-DOF(Degree of freedom) neurosurgery robot was introduced. Then we built itsvirtual prototype, made movement planning and measured the manipulator tip accuracy, through whichthis robot accuracy portrait was obtained. Finally, in order to validate the robot accuracyanalysis approach which is based on a virtual prototype, the result was compared with that from amodel built by robot forward kinematics and robot differential kinematics. The robot accuracyanalysis approach presented in this paper gives a new way to enhance robot design quality , and helpto optimize the control and programming of the robot.
文摘Studies the design of distributed virtual environments (DVEs) for tele-multi-robotics. The proposed design, incorporating two models (distribution-supported model and VE-supported model), attempts to represent common functionality, communication issues, and requirements found in multi-operator DVEs. The distribution-supported model concentrates on the introduction of computer-supported collaborative work (CSCW) to realize the coordination of multi-operators, while the VE-supported model concentrates on the utilization of an object-oriented approach to strengthen the expandability and robustness of the system. Finally, the configuration and running environments of the system are given.
文摘Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physical-social system(CPSS) through a shared communication platform to create a social ecology. In the ecology, the agents collaborate(assist each other) to perform a real-world task(search for a hidden object)for the benefits of humans. A robot-virtual human bilateral trust model is derived and a real-time trust measurement method is developed. The role of taking initiative in the collaboration is switched between the agents following a finite state machine model triggered by bilateral trust, which results in a mixedinitiative collaboration. A scheme is developed to evaluate the performance of the agents in the ecology through the CPSS.The results show that the robot and the virtual human perform satisfactorily in the collaboration through the CPSS. The results thus prove the effectiveness of the real-world ecology between artificial agents of heterogeneous realities through a shared platform based on trust-triggered mixed-initiatives. The results can help develop adaptive social ecology comprising intelligent agents of heterogeneous realities to assist humans in various tasks through collaboration between the agents in the form of a CPSS.
