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Generating human-like movements on an anthropomorphic robot using an interior p...
Silva, Eliana Costa e; Araújo, José Pedro Ferreira; Machado, Dario; Costa, M. Fernanda P.; Erlhagen, Wolfram; Bicho, E.In previous work we have presented a model for generating human-like arm and hand movements on an anthropomorphic robot involved in human-robot collaboration tasks. This model was inspired by the Posture-Based Motion-Planning Model of human movements. Numerical results and simulations for reach-to-grasp movements with two different grip types have been presented previously. In this paper we extend our mode...
Autonomous robot systems and competitions : proceedings of the 12th Internation...
Bicho, E., ed. lit.; Ribeiro, Fernando, ed. lit.; Louro, Luis, ed. lit.This is the 2012’s edition of the scientific meeting of the Portuguese Robotics Open (ROBOTICA’ 2012). It aims to disseminate scientific contributions and to promote discussion of theories, methods and experiences in areas of relevance to Autonomous Robotics and Robotic Competitions. All accepted contributions are included in this proceedings book. The conference program has also included an invited talk by Dr....
Object transportation by a human and a mobile manipulator : a dynamical systems...
Malheiro, Tiago; Machado, Toni Daniel Neto; Monteiro, Sérgio; Erlhagen, Wolfram; Bicho, E.In this paper we address the problem of humanrobot joint transportation of large payloads. The human brings to the task knowledge on the goal destination and global path planning. The robot has no prior knowledge of the environment and must autonomously help the human, while simultaneously avoiding static and/or dynamic obstacles that it encounters. For this purpose a dynamic control architecture, formalized as...
CoopDynSim : a 3D robotics simulator
Machado, Toni Daniel Neto; Sousa, Miguel; Monteiro, Sérgio; Bicho, E.This paper presents CoopDynSim, a multi-robot 3D simulator. The main motivations for the development of a new simulation software lie in the need to emulate specific, custom made sensors, combined with the desire to smoothly transfer controller code from simulation to real implementation. The latter is achieved through the use of the same middleware layer already implemented in the real platforms. The high modu...
Multi-robot cognitive formations
Sousa, Miguel; Monteiro, Sérgio; Machado, Toni Daniel Neto; Erlhagen, Wolfram; Bicho, E.In this paper, we show how a team of autonomous mobile robots, which drive in formation, can be endowed with basic cognitive capabilities. The formation control relies on the leader-follower strategy, with three main pair-wise con-figurations: column, line and oblique. Furthermore, non-linear attractor dynamics are used to generate basic robotic behaviors (i.e. follow-the-leader and avoid obstacles). The contro...
The power of prediction : robots that read intentions
Bicho, E.; Erlhagen, Wolfram; Sousa, Emanuel; Louro, Luís; Meulenbroek, Ruud; Bekkering, Harold; Hipólito, Nzoji; Silva, Eliana Costa eHumans are experts in cooperating in a smooth and proactive manner. Action and intention understanding are critical components of efficient joint action. In the context of the EU Integrated Project JAST [16] we have developed an anthropomorphic robot endowed with these cognitive capacities. This project and respective robot (ARoS) is the focus of the video. More specifically, the results illustrate crucial cogn...
Nonlinear optimization for human-like movements of a high degree of freedom rob...
Silva, Eliana Costa e; Costa, M. Fernanda P.; Bicho, E.; Erlhagen, WolframThe design of autonomous robots, able to closely cooperate with human users in shared tasks, provides many new challenges for robotics research. Compared to industrial applications, robots working in human environments will need to have human-like abilities in their cognitive and motor behaviors. Here we present a model for generating trajectories of a high degree of freedom robotics arm-hand system that reflec...
Dynamic field model of ordinal and timing properties of sequential events
Ferreira, Flora; Erlhagen, Wolfram; Bicho, E.Recent evidence suggests that the neural mechanisms underlying memory for serial order and interval timing of sequential events are closely linked. We present a dynamic neural field model which exploits the existence and stability of multi-bump solutions with a gradient of activation to store serial order. The activation gradient is achieved by applying a state-dependent threshold accommodation process to the f...
A dynamic field approach to goal inference, error detection and anticipatory ac...
Bicho, E.; Erlhagen, Wolfram; Louro, Luís; Silva, Eliana Costa e; Silva, Rui Manuel Gomes; Hipólito, NzojiIn this chapter we present results of our ongoing research on efficient and fluent human-robot collaboration that is heavily inspired by recent experimental findings about the neurocognitive mechanisms supporting joint action in humans. The robot control architecture implements the joint coordination of actions and goals as a dynamic process that integrates contextual cues, shared task knowledge and the predict...
Neuro-cognitive mechanisms of decision making in joint : a human–robot interact...
Bicho, E.; Erlhagen, Wolfram; Louro, Luís; Silva, Eliana Costa eIn this paper we present a model for action preparation and decision making in cooperative tasks that is inspired by recent experimental findings about the neurocognitive mechanisms supporting joint action in humans. It implements the coordination of actions and goals among the partners as a dynamic process that integrates contextual cues, shared task knowledge and predicted outcome of others’ motor behavior. T...
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