Robot audition system can greatly improve the adaptability of mobile robots especially in the case of robot vision system can’t work effectively. So an acoustic localization system using microphone array for mobile robot is proposed in this paper. In order to localize the sound source target, the microphone array used in the system consists of four microphones which were placed respectively on ...

The paper describes a tele-operated mobile robot system which can perform multiple sound source localization and separation using a 32-channel tri-concentric microphone array. Tele-operated mobile robots require two main capabilities: 1) audio/visual presentation of the robot’s environment to the operator, and 2) autonomy for mobility. This paper focuses on the auditory system of a tele-operate...

This paper presents a motivational system for an autonomous robot which is designed to regulate humanrobot interaction. The mode of social interaction is that of a caretaker-infant dyad where a human acts as the caretaker for the robot. The robot’s motivational system is designed to generate an analogous interaction for a robot-human dyad as for an infantcaretaker dyad. An infant’s emotions and...

This paper describes the design of the RoboRoos, a fully autonomous robot soccer team. A soccer robot has similar needs to a human soccer player; fast and agile motion, good control of the ball, strong kicking ability, robust navigation and coordination of actions with other members of the team. Each robot is mechanically designed to meet these needs of a competitive soccer player. Mechanically...

This paper describes a reduced version of the general motion planning problem in the presence of uncertainty and a complete polynomial algorithm solving it. This algorithm computes a guaranteed plan by backchaining non-directional preimages of the goal until one fully contains the set of possible initial positions of the robot. It assumes that landmarks are scattered across the workspace, that ...

It is shown how a holonomic and omni‐directional mobile robot is designed towards indoor public services. Dual offset steerable wheels with orthogonal velocity components are proposed. The proposed wheel provides precise positioning and reliable navigation performance as well as durability. A fabricated prototype is introduced, then, an experiment is carried out.

Abstract Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, however, mobile robots should generate an environment map by themselves. We propose a method for 3D environment modeling by a mobile robot. A 3D environment model can be generaterd from the result of 3D measurement using image data. To realize a ...

Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, however, mobile robots should generate an environment map by themselves. We propose a method for 3D environment modeling by a mobile robot. A 3D environment model can be generaterd from the result of 3D measurement using image data. To realize a 3D measur...

Competitive bipedal soccer playing robots need to move fast and react quickly to changes in direction while staying upright. This paper describes the application of reinforcement learning to stabilise a flat-footed humanoid robot. An optimal control policy is learned using a physics simulator. The learned policy is supported theoretically and interpreted on a real robot as a linearised continuo...

In this paper we present a Path-Planning Algorithm for a non-holonomic mobile robot with a generic shape. The robot we considered has to move using smoothed trajectories respecting a minimum steering radius constraint. We have developed an algorithm based on a directional (anisotropic) propagation of attracting potential values on a Multilayered Cellular Automata Model. The algorithm finds all ...