ix Chapter 1: Introduction 1 1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1.1 Human-Robot Task Collaboration . . . . . . . . . . . . . . . . . 1 1.1.2 Approach to Coordinating Social Communication . . . . . . . . . 3 1.2 Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.3 Outline . . . . . . . . . . . . . . . . . . . . ...

Being able to sort one’s own medications is a critical selfmanagement task for people with Parkinson’s disease. We analyzed the medication sorting task and gathered design considerations. Then we developed an autonomous robot to assist in the task. We used guidelines provided by occupational therapists to determine the level of assistance provided by the robot. Finally, an evaluation of the eff...

— We have been developing a paradigm, which we refer to as Learning-from-observation, for a robot to automatically acquire what-to-do through observation of human performance. Since a simple mimicking method to repeat exact joint angles does not work due to the kinematic and dynamic difference between a human and a robot, the method introduces an intermediate symbolic representation, task model...

This paper presents the development of a software application for Off-line robot task programming and simulation. Such application is designed to assist in robot task planning and to direct manipulator motion on sensor based programmed motion. The concept of the designed programming application is to use the power of the knowledge base for task accumulation. In support of the programming means,...

Robot learning from demonstration has been successfully used, in industrial environments, to increase the speed and reduce the complexity of the programming phase. A major challenge, however, consists in enabling a robot to generalize task demonstrations to a complex dynamic environment. To tackle this problem, an approach has been proposed in [1], combining GMM/GMR and DMPs with optimal contro...

This paper presents a set of formal descriptions to the multi-robot task allocation problem mainly focusing on the capability category aspect. Both robot and task capability vectors are defined. Based upon the these, both single and multi-robot cooperative task accomplishment conditions are discussed. Based upon the capability category and task accomplishment condition, a novel combinatorial bi...

This paper deals with the design and the implementation of an automatic task planner for a robot, irrespective of whether it is a stationary robot or a mobile robot. The aim of the task planner nothing but, they are planning systems which are used to plan a particular task and do the robotic manipulation. This planning system is embedded into the system software in the computer, which is interf...

Robot technology has recently been applied to many applications help human activities. Mobile is one of the most flexible robot technology. This research uses a mobile designed using an omnidirectional wheel for movement mechanism. Coordination and control multi-robots can be assigned perform any task from different kind field. Therefore, this paper aims develop multi-robot system form formatio...