Integrating the components described in the previous articles of this chapter, we introduce the Bielefeld "Curious Robot", which is able to acquire new knowledge and skills in direct human-robot interaction. This paper focuses on the cognitive architecture of the overall system. We propose to combine (i) a communication layer based on a generic, human-accessible XML data format, (ii) multiple low-level sensor and control processes publishing their sensor information into the system and receiving commands or parameterizations from higher-level deliberative processes, and (iii) high-level coordination processes based on hierarchical state machines. The efficiency of the proposed approach is shown in an interactive tutoring scenario, where the Bielefeld "Curious Robot", a bimanual robot system, should learn to identify, grasp, and clean various everyday objects from a table. The capability of the system to interact with lay persons is proven in a user study.

关键词：机器人；交互式；辅导；混合

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Unmanned ground and air vehicles (UGVs and UAVs) embody a critical capability of future U.S. Army systems and will be used for force projection and as force multipliers. They are expected to operate in a semiautonomous fashion, in which an operator will lay out a mission plan for the vehicle to execute with little or no operator interaction; the operator s function will be to monitor the progress of the unmanned systems. If the situational demands exceed the capabilities of the vehicle, the operator will need to intervene to complete the mission by either changing the mission plan or by assuming direct control of the vehicle by teleoperation until the vehicle can resume semiautonomous operation.

关键词：机器人；控制系统；任务；遥控车

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A test plan to measure the amount of time a small robot remains powered and functional using two standard Li-Ion batteries, under a variety of operating conditions.

关键词：机器人；蓄电池；测试方法；锂离子电池

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It will be discussed whether a theory specific for human-robot and human-agent interaction is needed or whether theories from human-human interactions can be adapted. First, theories from human-human interaction will be presented. Then, empirical evidence from human-robot- and human-agent interaction is presented. Research suggests that, from the perspective of the user, interaction with an artificial entity is similar to interaction with fellow humans. Explanations for this treatment of agents/robots in a social way (such as the ethopoeia approach, Nass& Moon, 2000) assume that due to our social nature humans will use their interaction routines also when confronted with artificial entities. Based on this it will be discussed whether theories from human-human-interaction will be a helpful framework also for human-agent/robot interaction, whether amendments will be beneficial or whether, alternatively, a totally new approach is needed.

关键词：机器人；人机代理；人机交互；互动

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A talking and singing robot which adaptively learns the vocalization skill by an auditory feedback learning is being developed. The fundamental frequency and the spectrum envelope determine the principal characteristics of a sound. The former is the characteristics of a source sound generated by a vibrating object, and the latter is operated by the work of the resonance effects. In vocalization, the vibration of vocal cords generates a source sound, and then the sound wave is led to a vocal tract, which works as a resonance filter to determine the spectrum envelope. The paper describes the construction of vocal cords and a vocal tract for the realization of a talking and singing robot, together with the control algorithm for the acquisition of singing performance by mimicking human vocalization and singing voices. Generated voices were evaluated by listening experiments.

关键词：机器人；性能模仿；说话唱歌

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Vertical external cavity surface emitting lasers (VECSELs) have proven themselves to be a suitable semiconductor answer to many solid-state lasers. Their simplicity makes them a very versatile platform for accessing wavelengths from the UV through the THz through direct and frequency-converted emission. This wavelength flexibility, combined with an optical cavity accommodating additional tuning or nonlinear elements, make the VECSEL a uniquely suited solution to a variety of applications. We will present recent Air Force Research Laboratory progress in VECSELs and potential applications for these lasers.

关键词：传感器；激光器

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The work described in this report outlines the design and testing of a low-cost, single frequency, carrier phase positioning system. Furthermore, aiding sensor accuracy requirements are analyzed to improve the robustness of the carrier phase system after emerging from signal outages. The applications of interest are ones with safety-of-life implications such as driver assist systems for enhancing lane keeping performance in narrow lanes or during inclement weather when lane markings are obscured. In these applications, frequent GPS outages due to obstructions from buildings and highway overpasses often require solving for the integer ambiguities. The single frequency GPS receiver used for this work was the Hemisphere Crescent. Processing carrier phase data from this receiver was only intermittently successful. Even for data sets collected under ideal static and open-sky conditions, the integer ambiguity estimation process was often unsuccessful. Much effort was made to identify the source of the problem, but no conclusive reason was identified. Despite this setback, sensor accuracy requirements were studied analytically. and it was determined that aiding sensors capable of providing baseline vector position estimates with a standard deviation of less than 0:8 m have potential to improve the integer ambiguity resolution time. This requirement, especially for signal outages lasting longer than several seconds, limits the candidate aiding sensors to higher-cost systems. Therefore low-cost, carrier phase based driver assist systems, using currently available receivers and sensors, continues to be a challenging problem. However, this may be overcome in the next decade as the second and third GPS civilian signal, L2C and L5, become fully avialable by 2019.

关键词：传感器；GPS

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This paper provides an approach to integrating geometric motion planning with logical task planning for long-horizon tasks in domains with many objects. We propose a tight integration between the logical and geometric aspects of planning. We use a logical representation which includes entities that refer to poses, grasps, paths and regions, without the need for a priori discretization. Given this representation and some simple mechanisms for geometric inference,we characterize the pre-conditions and effects of robot actions in terms of these logical entities. We then reason about the interaction of the geometric and non-geometric aspects of our domains using the general-purpose mechanism of goal regression (also known as pre-image backchaining). We propose an aggressive mechanism for temporal hierarchical decomposition, which postpones the pre-conditions of actions to create an abstraction hierarchy that both limits the lengths of plans that need to be generated and limits the set of objects relevant to each plan. We describe an implementation of this planning method and demonstrate it in a simulated kitchen environment in which it solves problems that require approximately 100 individual pick or place operations for moving multiple objects in a complex domain.

关键词：机器人；几何；运动；规划

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A mascot robot system based on fuzzy inference is developed for casual information recommendation in a home environment. The system is an Internet-based intelligent robotic environment that assists human by information retrieval and presenting recommendation with casual communication. It consists of five eye robots that present friendly mentality expression, speech recognition modules, an information recommendation engine that recommends information to human by taking into account the current situation, and a server that supervises the whole system. In addition, a fuzzy logic based multi-modal gesture recognition system is added based on, where both web camera images and hand motion data (given by a 3D acceleration sensor put on human wrists) are used to notify the emotion of humans to robots in real time. These components are networked and integrated hierarchically based on RT (Robot Technology) middleware. The subjective estimation using psychological scale has been conducted for 11 subjects. Since the results of the subjective estimation shows 3.08 and 2.62, the validity of the fuzzy interpersonal motions expression has been confirmed. The proposed mascot robot system provides informative support to human through casual communication in a home environment.

关键词：机器人；模糊控制技术

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In this chapter, three types of Gorilla Robots developed as the Multi-Locomotion Robot were described. Gorilla Robot was designed to be able to perform biped locomotion, quadruped locomotion, and brachiation etc. The hardware configuration of each Gorilla Robot and control system architecture were presented. In the subsequent chapters, Gorilla Robot is employed in some experiments.

关键词：机器人；硬件；复杂移动

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