scholarly journals Real-Time Whole-Body Imitation by Humanoid Robots and Task-Oriented Teleoperation Using an Analytical Mapping Method and Quantitative Evaluation

2018 ◽  
Vol 8 (10) ◽  
pp. 2005 ◽  
Author(s):  
Zhijun Zhang ◽  
Yaru Niu ◽  
Ziyi Yan ◽  
Shuyang Lin
Keyword(s):  
Real Time ◽  
Humanoid Robots ◽  
Mapping Method ◽  
Whole Body ◽  
Mode Switching ◽  
Natural Mode ◽  
And Performance ◽  
Virtual Joints ◽  
Task Oriented ◽  
And Task

Due to the limitations on the capabilities of current robots regarding task learning and performance, imitation is an efficient social learning approach that endows a robot with the ability to transmit and reproduce human postures, actions, behaviors, etc., as a human does. Stable whole-body imitation and task-oriented teleoperation via imitation are challenging issues. In this paper, a novel comprehensive and unrestricted real-time whole-body imitation system for humanoid robots is designed and developed. To map human motions to a robot, an analytical method called geometrical analysis based on link vectors and virtual joints (GA-LVVJ) is proposed. In addition, a real-time locomotion method is employed to realize a natural mode of operation. To achieve safe mode switching, a filter strategy is proposed. Then, two quantitative vector-set-based methods of similarity evaluation focusing on the whole body and local links, called the Whole-Body-Focused (WBF) method and the Local-Link-Focused (LLF) method, respectively, are proposed and compared. Two experiments conducted to verify the effectiveness of the proposed methods and system are reported. Specifically, the first experiment validates the good stability and similarity features of our system, and the second experiment verifies the effectiveness with which complicated tasks can be executed. At last, an imitation learning mechanism in which the joint angles of demonstrators are mapped by GA-LVVJ is presented and developed to extend the proposed system.

scholarly journals Real-Time Whole-Body Imitation by Humanoid Robots and Task-Oriented Teleoperation Using an Analytical Mapping Method and Quantitative Evaluation

2018 ◽  
Author(s):  
Zhijun Zhang ◽  
Yaru Niu ◽  
Ziyi Yan ◽  
Shuyang Lin
Keyword(s):  
Real Time ◽  
Humanoid Robots ◽  
Mapping Method ◽  
Whole Body ◽  
Mode Switching ◽  
Natural Mode ◽  
And Performance ◽  
Virtual Joints ◽  
Task Oriented ◽  
And Task

Due to the limitations on the capabilities of current robots regarding task learning and performance, imitation is an efficient social learning approach that endows a robot with the ability to transmit and reproduce human postures, actions, behaviors, etc., as a human does. Stable whole-body imitation and task-oriented teleoperation via imitation are challenging issues. In this paper, a novel comprehensive and unrestricted real-time whole-body imitation system for humanoid robots is designed and developed. To map human motions to a robot, an analytical method called geometrical analysis based on link vectors and virtual joints (GA-LVVJ) is proposed. In addition, a real-time locomotion method is employed to realize a natural mode of operation. To achieve safe mode switching, a filter strategy is proposed. Then, two quantitative vector-set-based methods of similarity evaluation focusing on the whole body and local links, called the Whole-Body-Focused (WBF) method and the Local-Link-Focused (LLF) method, respectively, are proposed and compared. Two experiments conducted to verify the effectiveness of the proposed methods and system are reported. Specifically, the first experiment validates the good stability and similarity features of our system, and the second experiment verifies the effectiveness with which complicated tasks can be executed. At last, an imitation learning mechanism in which the joint angles of demonstrators are mapped by GA-LVVJ is presented and developed to extend the proposed system.

scholarly journals Dynamic locomotion for passive-ankle biped robots and humanoids using whole-body locomotion control

2020 ◽  
Vol 39 (8) ◽  
pp. 936-956
Author(s):  
Donghyun Kim ◽  
Steven Jens Jorgensen ◽  
Jaemin Lee ◽  
Junhyeok Ahn ◽  
Jianwen Luo ◽  
...  
Keyword(s):  
Control Method ◽  
Humanoid Robots ◽  
Whole Body ◽  
Dynamic Walking ◽  
Biped Robots ◽  
Mechanical Structure ◽  
Velocity Reversal ◽  
Depth Analysis ◽  
Six Degree Of Freedom ◽  
Task Oriented

Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. The combination of WBC and model-based walking controllers has been widely utilized in various humanoid robots. However, to date, the WBC method has not been employed for unsupported passive-ankle dynamic locomotion. As such, in this article, we devise a new WBC, dubbed the whole-body locomotion controller (WBLC), that can achieve experimental dynamic walking on unsupported passive-ankle biped robots. A key aspect of WBLC is the relaxation of contact constraints such that the control commands produce reduced jerk when switching foot contacts. To achieve robust dynamic locomotion, we conduct an in-depth analysis of uncertainty for our dynamic walking algorithm called the time-to-velocity-reversal (TVR) planner. The uncertainty study is fundamental as it allows us to improve the control algorithms and mechanical structure of our robot to fulfill the tolerated uncertainty. In addition, we conduct extensive experimentation for: (1) unsupported dynamic balancing (i.e., in-place stepping) with a six-degree-of-freedom biped, Mercury; (2) unsupported directional walking with Mercury; (3) walking over an irregular and slippery terrain with Mercury; and 4) in-place walking with our newly designed ten-DoF viscoelastic liquid-cooled biped, DRACO. Overall, the main contributions of this work are on: (a) achieving various modalities of unsupported dynamic locomotion of passive-ankle bipeds using a WBLC controller and a TVR planner; (b) conducting an uncertainty analysis to improve the mechanical structure and the controllers of Mercury; and (c) devising a whole-body control strategy that reduces movement jerk during walking.

scholarly journals Relations and Effects of Transformational Leadership: A Comparative Analysis with Traditional Leadership Styles

2007 ◽  
Vol 10 (2) ◽  
pp. 358-368 ◽  
Author(s):  
Fernando Molero ◽  
Isabel Cuadrado ◽  
Marisol Navas ◽  
J. Francisco Morales
Keyword(s):  
Transformational Leadership ◽  
Leadership Styles ◽  
Organizational Outcomes ◽  
The Other ◽  
Organizational Outcome ◽  
Extra Effort ◽  
And Performance ◽  
Performance Satisfaction ◽  
Task Oriented ◽  
And Task

This study has two main goals: (a) to compare the relationship between transformational leadership and other important leadership styles (i.e., democratic versus autocratic or relations- and task-oriented leadership) and (b) to compare the effects of transformational leadership and the other styles on some important organizational outcomes such as employees' satisfaction and performance. For this purpose, a sample of 147 participants, working in 35 various work-teams, was used. Results show high correlations between transformational leadership, relations-oriented, democratic, and task-oriented leadership. On the other hand, according to the literature, transformational leadership, especially high levels, significantly increases the percentage of variance accounted for by other leadership styles in relevant organizational outcome variables (subordinates' performance, satisfaction and extra effort).

scholarly journals Investigation of Ego and Task Orientation among International Wrestling Referees

2016 ◽  
Vol 20 (6) ◽  
pp. 49-54
Author(s):  
I. Barbas ◽  
E. Bebetsos ◽  
K. Christos ◽  
D. Curby ◽  
B. Mirzaei
Keyword(s):  
Decision Making ◽  
Task Orientation ◽  
Factors Affecting ◽  
Specific Questionnaire ◽  
Effective Selection ◽  
And Performance ◽  
High Level ◽  
Task Oriented ◽  
Active Membership ◽  
And Task

Aim: study was to investigate any possible effect(s) of experiences from active membership and participation in task or ego orientations among referees in the sport of wrestling. Material: The sample consisted of 213 international referees from 30 countries (Greece, Turkey, Bulgaria, France, Italy, Germany, Sweden, Finland, Switzerland, Russia, Poland, Hungary, U.S.A, Ukraine, Armenia, Azerbaijan, Iran, Japan, Korea, Mongolia, Kazakhstan, Egypt, Canada, Georgia, Croatia, Uzbekistan, Norway, Cuba, Belarus, & Tunisia). Their age ranged from 26 to 60 yrs. old ( M =43, SD =8.6). During the procedure, the participants were asked to fill a specific questionnaire, the «Task and Ego Orientation in Sport Questionnaire» (Duda & Nicholls, 1992). Results: Results showed that the referees from elite wrestling level’ countries (Russia, Azerbaijan, Iran, Turkey, Georgia, Armenia, Bulgaria, Ukraine, U.S.A., Korea, Japan, Kazakhstan, & Cuba) are more task oriented than those from the non-elite wrestling level’ countries. Researchers believe that this occurred because referees from non-elite wrestling level’ countries might have less game-sport experience and more specifically in high level games. At the same time, the Olympic experience referees were more task oriented than the non-Olympic experienced. Conclusion: Referee’s decisions are an important issue in the sport milieu. The investigations in decision-making by referees and factors that affect it are rather scarce and research should focus on such topics. Improvement of decision-making by referees, would lead to safer and better performance. Thus, better understanding of referees’ behavior, through identification and operationalization of the factors affecting it, might lead to more effective selection, training and performance.

The Effects of Task Partitioning and Computer Skill on Engagement and Performance with an Adaptive, Biocybernetic System

1998 ◽  
Vol 42 (1) ◽  
pp. 133-137 ◽  
Author(s):  
Todd M. Eischeid ◽  
Mark W. Scerbo ◽  
Fredrick G. Freeman
Keyword(s):  
Real Time ◽  
Adaptive System ◽  
Tracking Task ◽  
System Behavior ◽  
Computer Skill ◽  
Task Partitioning ◽  
Clear Advantage ◽  
And Performance ◽  
And Task

The present study examined the effects of computer skill and task partitioning on a tracking task using a biocybernetic, adaptive system. The tracking task was partitioned into horizontal and vertical axes, and the adaptive system allocated control of the axes between the human and the system in real time. Results showed that sharing a task with a computer with expert-level skill elicits performance comparable to performing the task manually. However, sharing a task with a computer with novice-level skill degrades performance compared to performing the task manually. Thus, although no clear advantage was found for being paired with an expert-level computer, there was a definite disadvantage to being paired with a novice-level computer. In addition, the present study also showed the potential improvements in system behavior by manipulating the automation switching criteria, namely increasing the range around the baseline EEG engagement mean.

THE ROLE OF SELF-CONSTRUAL ON PREFERRED COMMUNICATION STYLES WITH HUMANOID ROBOTS

2011 ◽  
Vol 08 (02) ◽  
pp. 359-374 ◽  
Author(s):  
MIN-SUN KIM ◽  
LI GONG ◽  
NICOLE SAITO ◽  
KIMBERLY NISHIGAYA ◽  
MARJORIE CABICO ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Communication Styles ◽  
Communication Constraints ◽  
Human Communication ◽  
Individual Level ◽  
Self Construal ◽  
The Individual ◽  
Task Oriented ◽  
And Task

Research on human–human communication has identified that people apply different constraints in communication with each other. Application of such constraints as social concerns over feeling, imposition, and disapproval and task concerns over clarity and effectiveness has also been found to be influenced by people's self-construal, being independent or interdependent. Do these constraints and individual difference in self-construal matter in communication with humanoid robots? This study uses the theoretical framework of communication constraints to compare whether or not people of different self-construals apply social-oriented and task-oriented constraints differently to humanoid social robot targets. A total of 161 students from the University of Hawaii at Manoa participated in the study. The participants completed a questionnaire that determined their concern for the five communication constraints (feelings, nonimposition, disapproval, clarity, and effectiveness) in situations involving robots, as well as scales measuring self-construal. The results show interdependent self-construal related significantly with the concerns over avoiding hurting the humanoid's feelings, avoiding inconveniencing the humanoid robot, and avoiding being disliked by the humanoid robot. On the other hand, independent self-construal related significantly with the concern over clarity in communicating with the humanoid robot. However, self-construal did not influence one's concern of effectiveness (a task-oriented constraint) in interaction with humanoid robots. The results of the research offer new insight into the linkage between self-construal, a cultural concept at the individual level, and how human–robot communication is psychologically structured and constrained.

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