tailieunhanh - Humanoid Robots - New Developments Part 7

Tham khảo tài liệu 'humanoid robots - new developments part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 202 Humanoid Robots New Developments controls the closing and opening of the gripper to grasp and release an object were then identified. Finally a neutral position to which the arm could be returned in between movements was defined. The system was thus equipped with a set of primitives that could be combined to position the robot at any of the 6 grasping locations grasp the corresponding object move to a new position and place the object there. Cooperation Control Architecture The spoken language control architecture illustrated in Fig is implemented with the CSLU Rapid Application Development toolkit http toolkit . This system provides a state-based dialog management system that allows interaction with the robot via the serial port controller and with the vision processing system via file i o . It also provides the spoken language interface that allows the user to determine what mode of operation he and the robot will work in and to manage the interaction via spoken words and sentences. Figure illustrates the flow of control of the interaction management. In the Start state the system first visually observes where all of the objects are currently located. From the start state the system allows the user to specify if he wants to ask the robot to perform actions Act to imitate the user or to play Imitate Play . In the Act state the user can specify actions of the form Put the dog next to the rose and a grammatical construction template is used to extract the action that the robot then performs. In the Imitate state the robot first verifies the current state Update World and then invites the user to demonstrate an action Invite Action . The user shows the robot one action. The robot re-observes the world and detects the action based on changes detected Detect Action . This action is then saved and transmitted via Play the Plan with Robot as Agent to execution Execute action . A predicate argument representation of the form Move object .