This paper describes a probabilistic mechanism for the interpretation of sentence sequences developed for a spoken dialogue system mounted on a robotic agent. The mechanism receives as input a sequence of sentences, and produces an interpretation which integrates the interpretations of individual sentences. For our evaluation, we collected a corpus of hypothetical requests to a robot. Our mecha...

This letter proposes a novel pneumatic soft robotic hand that incorporates mechanism can switch the airflow path using single control. The developed control finger motion and operate surface friction variable mechanism. In mechanism, lubricant is injected onto high-friction to reduce friction. To inject lubrication positive-pressure airflow, Venturi effect applied. design evaluation of airflow-...

This thesis identifies operational uncertainty as a significant problem affecting reliable robot performance in real environments. Operational uncertainty represents ambiguity in a robot’s self-perceived state during the execution of a task. This ambiguity is introduced into a robotic system through events such as unanticipated environmental disturbances, failing hardware and software built upo...

Abstract Variable Stiffness Actuator (VSA) is the core mechanism to achieve physical human–robot interaction, which an inevitable development trend in robotic. The existing variable stiffness actuators are basically single degree-of-freedom (DOF) rotating joints, achieving multi-DOF motion by cascades and resulting complex robot body structures. In this paper, integrated 2-DOF actuator with pro...

Optimization using results of dynamical and mechanical simulation of a robotic nurse unit to assist paraplegic patients, on a virtual path similar to actual hospital environment, is addressed in this paper. Force-Angle tipover stability margin measurement was employed in Genetic Algorithm optimization in order to find optimum driving and locomotion mechanism for the robot. By running the ADAMS ...

for Multiple Robotic Mechanisms Martin Buss G unther Schmidt Department of Automatic Control Engineering Technical University of Munich D-80290 M unchen, Germany E-mail: martin/[email protected] This paper is published in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, pp. 140-147, Osaka, Japan, 1996. Abstract In this paper we pro...

In comparison with robot manipulators, primate limbs excel robots in facile movements requiring compliance control. Based on this fact, this paper will extend our findings in modeling the muscle-reflex mechanism of primate limbs to robotic control. After some salient properties of the neuromuscular system were identified, a neuromuscular-like model that can accurately emulate different involunt...

Miniaturized surgical devices are promising for the future development of minimally invasive and endoluminal surgery. However, the dexterity and therapeutic functions of these devices are limited. In this paper, a reconfigurable modular robotic system is proposed to perform screening and interventions in the gastrointestinal tract. In the proposed system, millimeter-sized robotic modules are in...

This paper describes the design and development of a new wire-driven laparoscopic surgical robotic system, “MU-LapaRobot.” The aim of our design is to develop a robotic system to work with traditional surgical tools to reduce the surgeon’s learning curve in using our robotic system. The overall design is strictly based on surgical requirements and superior improvements from available research a...

In this paper we present a new type of simple, pneumatically actuated, soft modular robotic system that can reproduce fundamental cell behaviors observed during morphogenesis; the initial shaping stage of the living embryo. The fabrication method uses soft lithography for producing composite elastomeric hollow cubes and permanent magnets as passive docking mechanism. Actuation is achieved by co...