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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...
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...
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...
Geração de trajectórias em tempo real : um estudo comparativo
Silva, Eliana Costa eTese de mestrado em Matemática e Aplicações à Mecânica. ; Nesta dissertação é feito o estudo comparativo de duas abordagens para o controlo de robôs móveis autónomos: (i) o método de campos de potencial artificiais, e (ii) a abordagem baseada em atractores móveis de sistemas dinâmicos não lineares. Este estudo é feito tanto a nível teórico como experimental, em simulação e implementação em robôs móveis autónom...
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