In this chapter, we argue that it is already possible, with existing technologies, to go beyond fictional scenarios of virtual butlers or assistive robot companions, and that realistic, long-term studies of their use contribute much needed knowledge about user styles and hence design requirements. Such a study, undertaken by the EU project SERA (Social Engagement with Robots and Agents) is reported, and the data collected are presented, compared, and discussed. The striking difference between idealized personae (such as "Tina") and real users motivated a detailed case study about the frequently observed issue of initiative and floor management. The case study shows the considerable degree to which users shape human-robot interaction with their individual styles. In conclusion, a few such user styles, together with design consequences, are outlined on the basis of the data analysis, with the aim of enriching future scenario descriptions with more realistic personae.

关键词：超越虚拟管家；辅助机器人；数据分析

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This paper presents a novel approach to the problem of managing mobile robots. It is presupposing the existence of the virtual space in which the calculations are made and the real space containing registered mobile robots. Developed and implemented system combines the best features of agent systems and mobile robot management systems based on a central server. Required system computations were distributed on a separate pieces of software responsible for controlling, called controllers, and monitoring, called monitors. A central communication system that allows to log the state of the system and authorization of connections was used. The solution has been tested using real mobile robots and preceded by an analysis of existing solutions.

关键词：管理系统;移动机器人;分布式控制

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The paper presents the concept of path planning of unmanned flight the helicopter type of flying object. The presented method is based on probabilistic robot motion planning method called B-PPT. Method B-PPT is built upon the known methods of PRM (Probabilistic Roadmap) and RRT (Rapidly-exploring Random Trees). Using the method of B-PPT can plan the path of mobile robots and manipulation. Planning the path of a flying object was carried out in Cartesian space, taking into account only the position and altitude. The speed of the method depends on two input variables, ie the configuration space discretization step and set number of randomly generated configurations. Effect of size on the results obtained was presented in this work.

关键词：无人机对象;路径规划; B PPT的方法

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This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application.

关键词：机器人；模糊逻辑理论；仿真；动力学

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This is a non-technical personal view paper describing how I arrived to the field of fuzzy sets and systems, getting around on the roads opened by Professor Zadeh. Then it is followed by some comments on fuzziness and on the future. The first time I heard of fuzzy sets was during a seminar of Arnold Kaufmann (later on I also read an interview of L.A. Zadeh, called "Les ensembles Flous - un concept precis", in l'lnformatique, 1970) while he was presenting Zadeh's theory and his own research. He was carrying with him the manuscript of his first book on the subject.

关键词：模糊集；机器人；系统

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This paper presents the development of a behavior-based AGV using fuzzy logic. A robot platform and a fuzzy logic controller (FLC) are developed for the embodiment of different behaviors.

关键词：模糊逻辑；机器人；AGV

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In automotive industry, industrial robots are widely used in production lines for many tasks such as welding, painting or assembly. Their use requires, from users, both a good manipulation and robot control. Recently, new tools have been developed to realize fast and accurate trajectories in many production sectors by using the real prototype of vehicle or a generalized design within a virtual simulation platform. However, many issues could be considered in these cases: the" delay between the design of the vehicle and its production is often important, moreover, the virtual modeling presents a non realistic aspect of the real robot and vehicle, so this factor could introduce localization inacurracies in performing trajectories. Our work is registered as a part of TRI project (Teleteaching Industrial Robots) which aims to realize a demonstrator showing the interaction of industrial robots with virtual components and allowing to train users to perform successfully their tasks on a virtual representation of a production entity. In this project we make use of Augmented Reality (AR) techniques to overlay virtual objects onto the real world in order to enhance the user's perception and interaction while performing a specific industrial task. The idea is to allow the real robot to teach trajectories of an automotive task thanks to vehicle virtual model. The pose accuracy is prerequisite of our application since it allows a reliable teaching of the real trajectory. Therefore, we survey some vision-based pose computation algorithms and present a method that offers increased robustness and accuracy in the context of real-time AR tracking. Our aim is to determine the performance of these pose estimation methods in term of errors and distance evaluation. The evaluation of the pose estimation methods was obtained using a series of tests and an experimental protocol. The analysis of results shows the performance of algorithms in term of accuracy, stability and convergence.

关键词：增强现实;姿态估计;工业机器人;计算机视觉;实时跟踪

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For surveying operations with a low-cost robot limited to a down-looking camera and a sonar altimeter, it is common practice to ensure that there is enough overlap between time-consecutive images as this is the only source of navigation data. When the robot revisits a previously surveyed area, it is essential to detect and match the non time-consecutive images to close a loop and, thus improve the trajectory estimate. While creating the mosaic, most of the existing algorithms try to match all image pairs to detect the non time-consecutive overlapping images when there is no additional navigation information.

关键词：机器人；重叠图像；模拟信息

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Robot teleoperation via haptic interface has been increasingly studied in recent years. In fact, the capacity to remotely feel the forces being exerted on a robot end-effector is a major advantage for many modern robot applications. This study aims to explore the capabilities of a low-cost haptic device, a force/torque sensor and a commercially available industrial robot, both together for haptic-based robot teleoperation purposes. A ballistic approach is implemented to make the mapping between the motion produced on the haptic device by the operator and the resulting robot motion. Inspired by some studies in the field of robot haptics, the robot and haptic device are connected by a virtual spring, which allows the operator to feel the sensation of pull and push the robot at the same time that teleoperates it. Results related to the process of robot teleoperation and contact with different objects are analyzed and discussed.

关键词：触觉界面；机器人；虚拟

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关键词：机器人；环境；交互；设计

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