According to the principles of embodied cognition, intelligent behavior must arise out of the coupled dynamics of an agent’s brain, body, and environment. This suggests that the morphological complexity of a robot should scale in relation to the complexity of its task environment. This idea is supported by recent work, which demonstrated that when evolving robot morphologies in simple and compl...

The developers of this robot intend to simplify the complex task of making a robot intelligent by classifying the types of problems faced by the robot. In that way, the robot can determine the best course of action depending upon the task required. Obviously, a lot of time will be spent determining the key factors necessary to identify each type of problem. To simplify the task of classifying t...

In this paper, we present a paradigm for allowing subjects to configure a user interface for multi-robot manipulation tasks. Multi-robot manipulation tasks can be complicated, due to the need for tight temporal coupling between the robots. However, this is an ideal scenario for human-agent-robot teams, since performing all of the manipulation aspects of the task autonomously is not feasible wit...

Based on the RHHex hexapod robot, the AQUA robot is an aquatic robot that swims via the motion of its legs, rather than using thrusters and control surfaces for propulsion. Through an appropriate set of gaits, the AQUA vehicle is capable of five-degree-of-freedom motion in the open water, it can swim along the surface and it can walk along the seabed. The vehicle itself is augmented with a vari...

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A new method for a simplification of a teaching in robotic assembly is presented. Generally, an assembly task is a process that a constraint condition between two workpieces changes. There are many researches for teaching an assembly task to a robot system by a modelbased approach. However, it takes a lot of time to revise information of models that depends on a task environment when every new ...

This paper deals with programming-bydemonstration of robot manipulators, where a robot program is created automatically from human demonstrations despite morphological differences in the hand/arm structure. To find a correspondence between observed human motions and desired robot hand motions, we represent the task in hand state space. The hand state definition is perception-invariant and valid...

Autonomous robots hold the possibility of performing a variety of assistive tasks in intelligent environments. However, widespread use of robot assistants in these environments requires ease of use by individuals who are generally not skilled robot operators. In this paper we present a method of training robots that bridges the gap between user programming of a robot and autonomous learning of ...

At the AAAI 2005 Robot Exhibition, the robot GRACE (Graduate Robot Attending a ConferencE, Fig. 1) will be playing a game that involves human-robot social interaction, navigation, and interface design. The task is for Grace to locate and rendezvous with one of our team members, who will be wearing a pink hat. The game can be seen as a social version of “tag” or “Marco Polo,” where the the robot...

The implementation of high-performance robot controllers for complex control tasks such as playing autonomous robot soccer is tedious, errorprone, and a never ending programming task. In this paper we propose programmers to write autonomous controllers that optimize and automatically adapt themselves to changing circumstances of task execution using explicit perception, dynamics and action mode...