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Interaction strategy for robotic apology based on human orientation toward service Adv. Robot. (IF 2.0) Pub Date : 2024-03-15 Shun Oono, Hitoshi Ishii, Ryoko Kihara, Daisuke Katagami, Masaki Shuzo, Eisaku Maeda
In a human–robot symbiotic society, it is crucial to have seamless communication between human and robot. However, there are still numerous obstacles to overcome to develop a interaction system tha...
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A multimodal dialogue system for customer service based on user personality adaptation and dialogue strategies Adv. Robot. (IF 2.0) Pub Date : 2024-03-14 Tamotsu Miyama, Shogo Okada
This paper presents a multimodal dialogue system with user personality adaptation and multiple nonverbal behavior generation for a conversational android robot that plays a customer service role in...
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Route design in sheepdog system–traveling salesman problem formulation and evolutionary computation solution– Adv. Robot. (IF 2.0) Pub Date : 2024-03-12 Wataru Imahayashi, Yusuke Tsunoda, Masaki Ogura
In this study, we consider the guidance control problem of the sheepdog system, which involves the guidance of a flock using the characteristics of the sheepdog and sheep. Sheepdog systems require ...
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Graph-based meta-learning for context-aware sensor management in nonlinear safety-critical environments Adv. Robot. (IF 2.0) Pub Date : 2024-03-12 Christopher Aaron O'Hara, Takehisa Yairi
This study introduces a novel framework for optimizing energy efficiency and computational load in safety-critical robotic systems operating in nonlinear domains. Leveraging Graph Attention Network...
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Multiparty conversation via multirobot system: incorporation of nonverbal user responses for continued conversation Adv. Robot. (IF 2.0) Pub Date : 2024-03-09 Kazuki Sakai, TingHao Hsieh, Yuichiro Yoshikawa, Hiroshi Ishiguro
Recent years have seen the advent of conversational humanoid robots. Implementing multiple robots is a promising approach for continuing human–robot conversations when a robot encounters speech-rec...
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An image processing mechanism for aerial inspection robots to detect submillimeter-width concrete cracks in social infrastructures Adv. Robot. (IF 2.0) Pub Date : 2024-03-07 Ankur Dixit, Wataru Oshiumi, Manu Shrivastava, Hiroaki Wagatsuma
Inspection robots for early detection of potential risks in severe environments require a high accuracy like human experts. A fine mechanism is crucial for extracting target components from noisy s...
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Latent regression based model predictive control for tissue triangulation Adv. Robot. (IF 2.0) Pub Date : 2024-03-05 Songtao Liu, Jacinto Colan, Yaonan Zhu, Taisuke Kobayashi, Kazunari Misawa, Masaru Takeuchi, Yasuhisa Hasegawa
Tissue triangulation is a fundamental surgical skill in laparoscopic surgery that requires the simultaneous control of multiple surgical tools to create tension and enable tissue visualization. Rob...
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Pseudo-eating behavior of service robot to improve the trustworthiness of product recommendations Adv. Robot. (IF 2.0) Pub Date : 2024-03-05 Yuki Okafuji, Takumi Ishikawa, Kohei Matsumura, Jun Baba, Junya Nakanishi
Service robots are used in a range of service situations, including those where they are required to recommend products. However, when robots use subjective statements for product recommendations, ...
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Speed effects in touching behaviours: impact on perceived relationships in robot-robot interactions Adv. Robot. (IF 2.0) Pub Date : 2024-03-05 Taichi Hirayama, Yuka Okada, Mitsuhiko Kimoto, Takamasa Iio, Katsunori Shimohara, Masahiro Shiomi
As a form of multiple-robot interaction, robot-robot interactions effectively provide indirect information, unlike direct interactions between people and robots. Even though numerous studies have a...
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A novel methodology for vision-based path planning and obstacle avoidance in mobile robot applications Adv. Robot. (IF 2.0) Pub Date : 2024-03-05 Mostafa A. Shoeib, Jacek Lewandowski, Ahmed M. Omara
The availability of overhead views of the environments around mobile robots always present useful information provided that these views are correctly perceived. In this paper, a novel approach for ...
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Enhancing upper-limb rehabilitation robot: autonomous self-adaptive resistance generation using EMG-based Fuzzy-PI control Adv. Robot. (IF 2.0) Pub Date : 2024-03-02 Prawee Pongsing, Paramin Neranon, Pornchai Phukpattaranont, Arisara Romyen
Upper-limb rehabilitation is a technique for improving muscle development and nervous function in stroke patients through repetitive rhythmic hand movements. However, conventional robot-assisted th...
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Dynamic modeling and crawling gait control of six-strut spherical tensegrity robot Adv. Robot. (IF 2.0) Pub Date : 2024-03-01 Yunlong Yao, Xiaocheng Bao, Guangying Ma, Haibing Zhang, Guangen Zhou
In this paper, the crawling gait control of a six-strut spherical tensegrity robot is studied. The dynamic model of the robot is established by Newton-Euler equations, and the numerical simulations...
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Lyapunov-based approach to event-triggered control with self-triggered sampling Adv. Robot. (IF 2.0) Pub Date : 2024-02-28 Shota Nakayama, Koichi Kobayashi, Yuh Yamashita
In this paper, a Lyapunov-based design method for event-triggered control with self-triggered sampling is proposed. In the proposed method, update of the control input and sampling of the state are...
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One step back, two steps forward: learning moves to recover from SLAM tracking failures Adv. Robot. (IF 2.0) Pub Date : 2024-02-28 Ans Hussain Qureshi, Muhammmad Latif Anjum, Wajahat Hussain, Usama Muddassar, Sohail Abbasi
Tracking failure in state-of-the-art visual SLAM has been reported to be frequent and hampers real-world deployment of SLAM solutions. Very recently, efforts have been made to avoid tracking failur...
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Safe robust adaptive control under both parametric and nonparametric uncertainty Adv. Robot. (IF 2.0) Pub Date : 2024-02-19 Yitaek Kim, Iñigo Iturrate, Jeppe Langaa, Christoffer Sloth
This article presents a method for guaranteeing the safety of a system with both parametric and nonparametric uncertainties, while at the same time decreasing the conservatism compared to existing ...
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Autonomous scanning motion generation adapted to individual differences in abdominal shape for robotic fetal ultrasound Adv. Robot. (IF 2.0) Pub Date : 2024-02-19 Namiko Saito, Kiyoshi Yoshinaka, Shigeki Sugano, Ryosuke Tsumura
The shortage of obstetricians and gynecologists is increasing in developed countries; therefore, there is a need to improve prenatal care procedures. To automate fetal ultrasound (US) imaging, this...
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On reward distribution in reinforcement learning of multi-agent surveillance systems with temporal logic specifications Adv. Robot. (IF 2.0) Pub Date : 2024-02-14 Keita Terashima, Koichi Kobayashi, Yuh Yamashita
In multi-agent systems, it is important to design a reward based on the contribution of each agent for efficient learning. In this paper, we propose a reward distribution method for a surveillance ...
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Density estimation based soft actor-critic: deep reinforcement learning for static output feedback control with measurement noise Adv. Robot. (IF 2.0) Pub Date : 2024-02-07 Ran Wang, Ye Tian, Kenji Kashima
The state-of-the-art deep reinforcement learning (DRL) methods, including Deep Deterministic Policy Gradient (DDPG), Twin Delayed DDPG (TD3), Proximal Policy Optimization (PPO), Soft Actor-Critic (...
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A heterogeneous robots collaboration for safety, security, and rescue robotics: e-ASIA joint research program for disaster risk and reduction management Adv. Robot. (IF 2.0) Pub Date : 2024-02-06 Branesh M. Pillai, Jackrit Suthakorn, Dileep Sivaraman, Sakol Nakdhamabhorn, Nantida Nillahoot, Songpol Ongwattanakul, Fumitoshi Matsuno, Mikhail Svinin, Evgeni Magid
In the face of humanitarian crises such as torrential rainfall, resulting floods, and landslides, rapid rescue operations are often imperative. However, owing to the inherent dangers and unpredicta...
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Human-guided motion planner with perception awareness for assistive aerial teleoperation Adv. Robot. (IF 2.0) Pub Date : 2024-02-03 Hang Shi, Lingkun Luo, Shiqi Gao, Qiuyu Yu, Shiqiang Hu
Assistive aerial teleoperation in unknown environments can be challenging due to the limited sensing range of cameras and the insufficient human–computer interaction. Obstacles occluding the field ...
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Single-shot global localization via graph-theoretic correspondence matching Adv. Robot. (IF 2.0) Pub Date : 2024-02-03 Shigemichi Matsuzaki, Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
This paper describes a method of single-shot global localization based on graph-theoretic matching of instances between a query and a prior map. The proposed framework employs correspondence matchi...
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Bilateral vs unilateral motor imagery training: effects on motor execution performance and ERD Adv. Robot. (IF 2.0) Pub Date : 2024-01-30 Kazuya Umeno, Yoshihiro Itaguchi
Bilateral movement has been reported to enhance actual motor performance more than unilateral movement and increase motor cortex activation more than unilateral movement. We hypothesized that bilat...
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A lifting approach to learning-based self-triggered control with Gaussian processes Adv. Robot. (IF 2.0) Pub Date : 2024-01-16 Wang Zhijun, Kazumune Hashimoto, Wataru Hashimoto, Shigemasa Takai
This paper investigates the design of self-triggered control for networked control systems (NCS), where the dynamics of the plant are initially unknown. Given the nature of the self-triggered contr...
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Optimal action selection to estimate the aperture of bag by force-torque sensor Adv. Robot. (IF 2.0) Pub Date : 2024-01-19 Noritsugu Miyazawa, Daisuke Kato, Yuichi Kobayashi, Kosuke Hara, Dotaro Usui
In this study, we applied Particle Filter to the state estimation of deformable object based on force-torque sensor observations, and proposed information gain-based optimal action selection method...
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Actuator fault-tolerant control allocation for cooperative transportation of multiple omnidirectional mobile robots Adv. Robot. (IF 2.0) Pub Date : 2024-01-19 Van-Tam Ngo, Cheng-Tzung Tsai, Yen-Chen Liu
In this paper, we propose a fault detection, fault isolation, and control reconfiguration (FDIR) for multiple automated guided vehicles (AGVs) to accomplish object transportation under actuator fai...
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Feedback control of a pipe cleaning snake robot with two helixes connected Adv. Robot. (IF 2.0) Pub Date : 2024-01-19 Haruki Tanihira, Mizuki Nakajima, Motoyasu Tanaka
In this study, we present a method for moving a snake robot in a pipe while generating slips between the robot and the pipe wall. This method is intended to be applied to pipe cleaning. The structu...
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Vision-aided precise positioning for long-reach robotic manipulators using local calibration Adv. Robot. (IF 2.0) Pub Date : 2024-01-19 Petri Mäkinen, Pauli Mustalahti, Sirpa Launis, Jouni Mattila
A vision-based guidance methodology is proposed for precise positioning of the tool center point (TCP) of heavy-duty, long-reach (HDLR) manipulators. HDLR manipulators are non-rigid structures with...
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Agreebot introduction dialogue in human–robot interaction: improving the acceptability of robot statements on incapable robotic experiences Adv. Robot. (IF 2.0) Pub Date : 2024-01-11 Seiya Mitsuno, Yuichiro Yoshikawa, Midori Ban, Hiroshi Ishiguro
Dialogue robots have gained widespread use in various domains. However, their ability to engage in conversations about actions that robots cannot perform, such as eating and traveling, remains a ch...
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Distributed control for flock navigation using nonlinear model predictive control Adv. Robot. (IF 2.0) Pub Date : 2024-01-09 Aneek Nag, Kaoru Yamamoto
We present a novel approach that employs nonlinear model predictive control (NMPC) to address flock control while incorporating obstacle avoidance within a leader-follower framework. This strategy ...
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Correction Adv. Robot. (IF 2.0) Pub Date : 2024-01-08
Published in Advanced Robotics (Vol. 38, No. 3, 2024)
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An emotion-driven and topic-aware dialogue framework for human–robot interaction Adv. Robot. (IF 2.0) Pub Date : 2023-12-30 I.-Chun Lu, Jhih-Yuan Huang, Wei-Po Lee
Developing dialogue services for robots has been promoted nowadays for providing natural human–robot interactions to enhance user experiences as conversation is a key instrument for creating and ma...
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A systematic survey of multiple social robots as a passive- and interactive-social medium Adv. Robot. (IF 2.0) Pub Date : 2023-12-30 Masahiro Shiomi
This paper presents a systematic survey of the existing research in the literature on multiple social robots, which are a social medium whose behaviours are designed to interact with people in both...
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A cooperative strategy for snake robots to overcome the extreme terrain Adv. Robot. (IF 2.0) Pub Date : 2023-12-29 Shihao Ma, Jianming Wang, Longchuan Li, Fatao Qin, Shuai Li, Zengzeng Wang, Xiangyu Wang, Xuan Xiao
The mobility of a snake robot is limited by factors such as its length, mass distribution, and torque output. To overcome these limitations, the cooperation between two snake robots can be an effec...
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Power-assist on slope with velocity compensation for attendant-propelled electric wheelchairs Adv. Robot. (IF 2.0) Pub Date : 2023-12-29 Peirang Li, Naoya Ueda, Chi Zhu
Up to now, numerous electric-powered wheelchairs (EPWs) have been developed for the disabled and the elderly. Among these EPWs, the traditional attendant-propelled power-assist wheelchairs (APAWs) ...
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Individual axis control for industrial robots by posture-variant dynamic compensation and feedback control using the FDTD method Adv. Robot. (IF 2.0) Pub Date : 2023-12-29 Juan Padron, Kenta Tatsuda, Kiyoshi Ohishi, Yuki Yokokura, Toshimasa Miyazaki
Industrial robots experience posture-dependent inertial variation and interference forces between joints, which in turn generates undesired vibrations due to the inherent elasticity of the reductio...
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Stable posture tracking for modular spatial hyper-redundant serial arms using selective control points Adv. Robot. (IF 2.0) Pub Date : 2023-12-29 Aime Charles Alfred Dione, Shoichi Hasegawa
Robotic arms with redundant degrees of freedom are known to exhibit characteristics that make them more suitable than their non-redundant counterparts in many manipulation tasks. These redundant de...
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Multi-robot cooperative behavior for reducing unnaturalness of starting a conversation Adv. Robot. (IF 2.0) Pub Date : 2023-12-26 Takamasa Iio, Yuichiro Yoshikawa, Hiroshi Ishiguro
In a human–robot conversation, it is difficult for the robot to start the conversation just when the addressee is ready to listen to the robot, due to recognition technology issues. This paper prop...
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Special issue on robot and human interactive communication 2023 (selected papers from RO-MAN 2022) Adv. Robot. (IF 2.0) Pub Date : 2023-12-21 Gentiane Venture, Kenji Tahara, Natsuki Yamanobe, Shingo Shimoda, Masahiro Shiomi
Published in Advanced Robotics (Vol. 37, No. 24, 2023)
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A kinematic model generates non-circular human proxemics zones Adv. Robot. (IF 2.0) Pub Date : 2023-12-21 Fanta Camara, Charles Fox
Hall's theory of proxemics established distinct spatial zones around humans where they experience comfort or discomfort when interacting with others. Our previous work proposed a new model of proxe...
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Improving user's sense of participation in robot-driven dialogue Adv. Robot. (IF 2.0) Pub Date : 2023-12-21 Makoto Kawamoto, Masaki Shuzo, Eisaku Maeda
In this study, we aimed to enhance the sense of dialogue participation (SDP), which reflects an individual's conscious engagement in dialogues, and investigated the multimodal dialogue elements tha...
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Human-robot interactions with an autonomous health screening robot in long-term care settings Adv. Robot. (IF 2.0) Pub Date : 2023-12-21 Cristina Getson, Goldie Nejat
Socially assistive robots are increasingly being considered to help address the shortage of care workers in long-term care, which has been further exacerbated by the COVID-19 pandemic. In this pape...
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It takes two, not one: context-aware nonverbal behaviour generation in dyadic interactions Adv. Robot. (IF 2.0) Pub Date : 2023-12-21 Nguyen Tan Viet Tuyen, Oya Celiktutan
Nonverbal behaviours are integral parts of human social interaction. Equipping social robots with human nonverbal communication skills has been an active research area for decades, where data-drive...
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A 3-DOF coupled tendon-driven humanoid waist Adv. Robot. (IF 2.0) Pub Date : 2023-12-08 Yiwei Wang, Wenyang Li, Shunta Togo, Hiroshi Yokoi, Yinlai Jiang
This study proposes a 3-degree-of-freedom (3-DOF) coupled tendon-driven humanoid waist featuring motion characteristics similar to those of the human waist. The tendon routing form of the waist was...
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Development of a method for attaching thin films to curved surfaces using a bipolar electrostatic chuck with a collective beam structure Adv. Robot. (IF 2.0) Pub Date : 2023-12-08 Yuki Taoka, Terumichi Hayashi, Sanchuan Xu, Shigeki Saito
A bipolar electrostatic chuck (ESC) having a collective beam structure is getting attention as an effective device for handling thin, soft dielectric objects such as polymer film or paper. It has b...
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Early-stage modeling and analysis of continuum compliant structure for multi-DOF endoluminal forceps using pseudo-rigid-body model Adv. Robot. (IF 2.0) Pub Date : 2023-12-08 Keisuke Osawa, D. S. V. Bandara, Ryu Nakadate, Eiichiro Tanaka, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata
Early detection and treatment of intraluminal diseases enable minimally invasive surgery and can lead to a high cure rate. Advanced devices with multiple degrees of freedom (DOFs) make narrow intra...
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A load-adaptive hoisting mechanism based on spring-loaded rope and variable radius reel Adv. Robot. (IF 2.0) Pub Date : 2023-12-08 Zhiguo Lu, Ruchao Wang, Yinhe Xiao, Tao Liu, Chong Liu, Haibin Zhao
This paper proposes a new type of the load-adaptive hoisting mechanism (LAHM), which can automatically adjust transmission ratio based on the payload. The load-adaptive hoisting mechanism can perfo...
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Character expression of a conversational robot for adapting to user personality Adv. Robot. (IF 2.0) Pub Date : 2023-12-02 Kenta Yamamoto, Koji Inoue, Tatsuya Kawahara
User adaptation is important in conversational robots to enhance the user experience and engagement. One way of user adaptation is to change the dialogue behavior. A character (e.g. extrovert or ag...
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Distributed online primal-dual subgradient method on unbalanced directed networks Adv. Robot. (IF 2.0) Pub Date : 2023-11-23 Keishin Tada, Naoki Hayashi, Shigemasa Takai
In this paper, we investigate a distributed online optimization method on multiagent communication networks. We consider a distributed prime-dual subgradient algorithm for an online convex optimiza...
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Development of compact revolute electro-hydrostatic actuator module and evaluation of its backdrivability and internal leakage Adv. Robot. (IF 2.0) Pub Date : 2023-11-16 Mitsuo Komagata, Takahiro Nakanishi, Ko Yamamoto, Yoshihiko Nakamura
Actuators of a robot that physically interacts with objects or human require backdrivability to obtain force controllability, impact resistance and compactness. An electro-hydrostatic actuator (EHA...
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Detecting cultural identity via robotic sensor data to understand differences during human-robot interaction Adv. Robot. (IF 2.0) Pub Date : 2023-11-16 Jinjae Lee, Casey C. Bennett, Cedomir Stanojevic, Seongcheol Kim, Zachary Henkel, Kenna Baugus, Jennifer A. Piatt, Cindy Bethel, Selma Sabanovic
Socially-assistive robots (SARs) have significant potential to help manage chronic diseases (e.g. dementia, depression, diabetes) in spaces where people live, averse to clinic-based care. However, ...
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Social navigation framework for autonomous vehicle with hierarchical cyber-physical system architecture Adv. Robot. (IF 2.0) Pub Date : 2023-11-16 Yuto Imanishi, Hiroyuki Yamada
An autonomous vehicle operating alongside humans should ideally have a high social capability, such as being able to communicate with humans, negotiate space, predict reactions, etc. This can be ac...
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Trajectory tracking of robot manipulator with adaptive fuzzy second-order super-twisting sliding mode control Adv. Robot. (IF 2.0) Pub Date : 2023-11-16 Dachang Zhu, Puchen Zhu, Yonglong He
To solve the influence of uncertainties such as unmodeled errors and external disturbances on the trajectory tracking accuracy of the end-effector of a robot manipulator, a novel fuzzy super-twisti...
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Stochastic approach for modeling soft fingers with creep behavior Adv. Robot. (IF 2.0) Pub Date : 2023-11-16 Sumitaka Honji, Hikaru Arita, Kenji Tahara
Soft robots have high adaptability and safety due to their softness and are therefore widely used in human society. However, the controllability of soft robots to perform dexterous behaviors is ins...
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Analysis of the relationship between user response to dialog breakdown and personality traits Adv. Robot. (IF 2.0) Pub Date : 2023-11-13 Kazuya Tsubokura, Yurie Iribe, Norihide Kitaoka
Although automated dialog systems are now being used in various applications, it is difficult to say whether they will ever be able to acquire the ability to converse as naturally as people do. As ...
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Special Issue on Multimodal processing and robotics for dialogue systems (Part 1) Adv. Robot. (IF 2.0) Pub Date : 2023-11-03 David Traum, Gabriel Skantze, Hiromitsu Nishizaki, Ryuichiro Higashinaka, Takashi Minato, Takayuki Nagai
Published in Advanced Robotics (Vol. 37, No. 21, 2023)
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Dual variational generative model and auxiliary retrieval for empathetic response generation by conversational robot Adv. Robot. (IF 2.0) Pub Date : 2023-11-03 Yahui Fu, Koji Inoue, Divesh Lala, Kenta Yamamoto, Chenhui Chu, Tatsuya Kawahara
Empathy in human-robot conversations aims to endow the robot with the ability to comprehend user emotion and experience, and then respond to it appropriately. Generally, empathy is embodied in the ...
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Effect of attentive listening robot on pleasure and arousal change in psychiatric daycare Adv. Robot. (IF 2.0) Pub Date : 2023-11-03 Keiko Ochi, Koji Inoue, Divesh Lala, Tatsuya Kawahara, Hirokazu Kumazaki
In this paper, we investigate the usefulness of an attentive-listening robot in psychiatric daycare, an outpatient treatment program for the rehabilitation of psychiatric disorders. The robot was d...
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Analysis of the performance of robotic assembly systems considering the usage of tools or jigs for the task-board task in the WRS 2018 Adv. Robot. (IF 2.0) Pub Date : 2023-10-23 Hiroki Dobashi, Koki Ogawa, Mizuho Shibata, Wataru Uemura, Yasuyoshi Yokokohji
A task-board task is a task in which robots perform a set of fundamental assembly operations related to the assembly of a specific product such as inserting a part into another part, tightening bol...
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Configuration of drive mechanisms with fewer wires in a surgical robot considering operation trajectory and delay Adv. Robot. (IF 2.0) Pub Date : 2023-10-23 Satoshi Miura, Ryo Sekine
Surgical robots have contributed greatly to the development of minimally invasive surgery. Surgical robots mostly use a wire cable drive mechanism because wire has high responsiveness, however, the...
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Multi-view dreaming: multi-view world model with contrastive learning Adv. Robot. (IF 2.0) Pub Date : 2023-10-17 Akira Kinose, Ryo Okumura, Masashi Okada, Tadahiro Taniguchi
In this paper, we propose Multi-View Dreaming, a novel reinforcement learning agent for integrated recognition and control from multi-view observations by extending Dreaming. Most current reinforce...