Papers by Jeffrey Too Chuan Tan
Cornering stability improvement by gyro moment for narrow tilting vehicle
Journal of Mechanical Science and Technology, 2015
Development of RoboCup@Home Simulation towards Long-term Large Scale HRI
Triple Stereo Vision System for Safety Monitoring in Human-Robot Collaboration
精密工学会学術講演会講演論文集, 2010
ABSTRACT In a close proximity of a human-robot collaboration production system, safety monitoring... more ABSTRACT In a close proximity of a human-robot collaboration production system, safety monitoring has a paramount importance to ensure the human operator is being well protected throughout the collaborative operation with the robot manipulator. Due to the requirement to allow overlapping of working envelopes between these two parties, physical separation or two-dimensional sensory system is not effective as the safety measure for the production system. In the early development, safety monitoring by stereo vision system with two cameras was introduced to track the human operator's motion throughout the operation. Camera is used to capture images for tracking of color areas on the human operator. The image coordinates by particle filter and human body model are combined to estimate the 3D positions for the human motion monitoring. However, several weaknesses were observed in this development. For instance, due to the fixed camera viewing direction, occlusion of the detecting areas can severely affect the effectiveness of the safety monitoring. Therefore, one additional camera is added into the system to produce three pairs of stereo vision to improve the robustness towards lost tracking and occlusion tolerance. Hand position tracking experiment is conducted to evaluate the performance of the 3D position estimation.
Design of a state-action map for an omni-directional mobile walking support robot
2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013
ABSTRACT This paper design of a state-action map for an omni-directional mobile walking support r... more ABSTRACT This paper design of a state-action map for an omni-directional mobile walking support robot. The robot realizes the omni-directional movement through a differential drive control mode. The moving direction of the robot is according to the intention of the elderly. We define a state-action map to improve the control efficiency. We defined state space, action space and state transition matrix of the robot. The algorithm of state-action map is selected by dynamic programming algorithm so as to minimize actions of the robot from the current state to the goal state. We construct a simulation environment with Open Dynamics Engine (ODE) to verify the effect of the state-action map. The simulation results show that the robot moves along the predefined line, and the success rate of state transition is 100% in five trials.
Development of RoboCup @Home simulator-simulation platform that enables long-term large scale HRI
2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2013
A new cell production assembly system with twin manipulators on mobile base
2009 IEEE International Symposium on Assembly and Manufacturing, 2009
Abstract Since cell production system meets the frequent change of products, it has excluded auto... more Abstract Since cell production system meets the frequent change of products, it has excluded automatic assembly systems. However, its benefits mainly depend on the operators' ability. As wage level of the operators stays high and availability of expertise turns difficult in Japan, a new assembly system has been developed since 2006 so as to combine both the competitiveness of human workers and automatic machinery. The characteristics consist of three key technologies: collaboration between a human operator and twin ...
Long-term large scale human-robot interaction platform through immersive VR system - Development of RoboCup @Home Simulator
2012 IEEE/SICE International Symposium on System Integration (SII), 2012
ABSTRACT Research on high level human-robot interaction systems that aims skill acquisition, conc... more ABSTRACT Research on high level human-robot interaction systems that aims skill acquisition, concept learning, modification of dialogue strategy and so on requires large-scaled experience database based on social and embodied interaction experiments. However, if we use real robot systems, costs for development of robots and performing many experiments will be too huge. If we choose virtual robot simulator, limitation arises on embodied interaction between virtual robots and real users. We thus propose an enhanced robot simulator that enables multiuser to connect to central simulation world, and enables users to join the virtual world through immersive user interface. As an example task, we propose an application to RoboCup @Home tasks. In this paper we explain configuration of our simulator platform and feasibility of the system in RoboCup @Home.
Human-Robot Interaction between Virtual and Real Worlds: Motivation from RoboCup @Home
Lecture Notes in Computer Science, 2013
Integration of work sequence and embodied interaction for collaborative work based human-robot interaction
2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2013
ABSTRACT In order to develop intelligent robots that are able to cooperate well with human in a c... more ABSTRACT In order to develop intelligent robots that are able to cooperate well with human in a collaborative work, this work aims to integrate work sequence and embodied interaction capabilities into an integrated intelligence system for collaborative robot development. A task modeling approach is proposed to build a hierarchical task model of the entire work sequence to generate state transition table, and grounding with the actual condition (state) of the objects and the action (transition) of work in the embodied dimension. The system is implemented in a simulation environment with human interaction to materialize human-robot collaboration by robot work support in work sequence (what, when and how), assist on parallel task, and error correction.
Embodied and multimodal human-robot interaction between virtual and real worlds
2013 IEEE RO-MAN, 2013
ABSTRACT The high cost and complexity to maintain a robot, and the impracticability for long term... more ABSTRACT The high cost and complexity to maintain a robot, and the impracticability for long term large scale HRI with real robots, have induced constraints in HRI studies. The purpose of this paper is to demonstrate the feasibility of our proposal to realize embodied and multimodal HRI between virtual robot and real world human in response to the above constraints. Based on our SIGVerse simulator, a 3D virtual environment is established for the virtual robot to interact with real world human via immersive interface. The realizations of embodiment and multimodal interaction are illustrated in several HRI research scenarios, where verbal action instruction and spatial information from the body gesture are simulated.
Human-robot collaboration in cellular manufacturing: Design and development
The challenge of this work is to study the design and development of human-robot collaboration (H... more The challenge of this work is to study the design and development of human-robot collaboration (HRC) in cellular manufacturing. Based on the concept of human collaborative design, four main design factors are being identified and developed in an active HRC prototype production cell for cable harness assembly. Human collaborative design aims to optimize the system design for the advantage of collaboration between human and robots based on human considerations. Task modeling approach is developed to study and analyze the task in order to identify the collaboration tasks to develop the collaboration planning. In the collaboration safety development, five safety designs, cover both hardware and control design, are proposed and developed in the prototype system. Risk assessment is conducted to verify the safety design. Two main experiments were conducted as preliminary study to investigate mental workload in HRC. A multimodal information support system is developed in the study of man-machine interface in this work to provide a comprehensive human-robot interface to facilitate human operator. The system performance evaluation had proven the improvement of prototype production cell with HRC design for cellular manufacturing.
SIGVerse - A cloud computing architecture simulation platform for social human-robot interaction
The aim of this work is to propose a cloud computing architecture simulation platform for social ... more The aim of this work is to propose a cloud computing architecture simulation platform for social human-robot interaction. This paper explains the design and development of this system named SIGVerse in four main components, namely (1) SIGServer as the central server, (2) Agent Controller for user applications, (3) Service Provider, and (4) SIGViewer as the client terminal, and web based development interface, in addressing the two main “human” issues in human-robot interaction with cloud computing architecture, (a) Distributed development platform, and (b) Large scale of human-robot simulation. Three current applications are discussed for the validation of the cloud computing architecture in social human-robot interaction simulations.
Extending chatterbot system into multimodal interaction framework with embodied contextual understanding
Abstract This work aims to realize multimodal interaction with embodied contextual understanding ... more Abstract This work aims to realize multimodal interaction with embodied contextual understanding based on the simple chatterbot system. A system framework is proposed to integrate the dialogue system into a 3D simulation platform, SIGVerse to attain multimodal interaction. The chatterbot AIML implementations are described in the achievement of the conversations with embodied contextual understanding in HRI simulations.
What are required to simulate interaction with robot? SIGVerse — A simulation platform for human-robot interaction
Abstract This work involves a development of a robotics simulation platform called SIGVerse. In o... more Abstract This work involves a development of a robotics simulation platform called SIGVerse. In order to address the motivation and novelty of the development, this paper aims to illustrate the features specially designed to address the needs in human-robot interaction (HRI) development. This paper has responded to five main factors that define a HRI problem to illustrate the SIGVerse capabilities in facilitating HRI simulation development. Three applications are discussed for verification evaluation.
During the human-robot cooperation assembly process, detecting an operator's position not only pr... more During the human-robot cooperation assembly process, detecting an operator's position not only protects the operator, but can also predict the operator's intention according to his position. This paper describes an image-based operator monitoring system based on the direct linear transformation (DLT) method. To overcome the changing light conditions in actual factories, a special color filter method was used to detect color marks attached to the operator's body. However, it is impossible to determine whether the detected data is correct based only on the detected 3D position data of the color marks. Hence, a kinematic human body simulator was built to regenerate human operator's motions in real time. According to the experimental results, the operator monitoring system meets the measurement accuracy requirement. Furthermore, this system can easily be adjusted to satisfy the changing light conditions. Thus, human operator's motions can be conveniently regenerated in real time by importing the detected joint angle data into the kinematic human body simulator. This system provides a solid foundation to protect an operator during the human-robot cooperation assembly process.
Task modeling approach to enhance man-machine collaboration in cell production
Abstract The objective of this work is to enhance man-machine collaboration in cell production by... more Abstract The objective of this work is to enhance man-machine collaboration in cell production by task modeling approach. Task modeling provides a method to define and study the collaboration between man and machine. Six requirements have been derived as basis of development. In this work, the task modeling has extended classical HTA method to represent collaborative operation in a hierarchical structure with the classification of operation task levels and extended operation details as task properties. A modeling tool is ...
Safety Strategy for Human–Robot Collaboration: Design and Development in Cellular Manufacturing
Advanced Robotics, 2012
Our research aims to design and develop a safety strategy for a human–robot collaboration system.... more Our research aims to design and develop a safety strategy for a human–robot collaboration system. Although robotic assistance in a cellular manufacturing system is promising, safety is the uppermost consideration before it can be materialized. Five main safety designs are developed in this work.(i) Safe working areas for humans and robots.(ii) To control the behavior of the robot based on the collaboration requirements, light curtains defined safe collaborative working zones.(iii) Additionally, the robot system was developed using safe ...
Abstract—The purpose of this study is to develop a potential method to quantify the effect of fun... more Abstract—The purpose of this study is to develop a potential method to quantify the effect of functional electrical stimulation (FES) on hemiplegic drop-foot (HDF) patients' movements. This method evaluates the effect of FES by comparing the ankle-angles of movements with and without FES. The change of the ankle-angles is one of the significant characteristics of the recovery of drop-foot. Therefore, this measurement method evaluates FES-assisted walking quantitatively through biomechanical properties of human gait.
The growing trend of robotics and automation beyond the boundary of industrial applications has r... more The growing trend of robotics and automation beyond the boundary of industrial applications has resulted the emerging of mobile robotics study. Due to the multidisciplinary nature and complexity of robotics system, the design and development of mobile robotics system is generally depends upon cutting edge technologies and hence it is relatively time consuming and costly. One effective solution is to develop a platform to simulate the system design before hardware implementation.
The various geographical topographies in Malaysia have urged the study of multi-terrain platform ... more The various geographical topographies in Malaysia have urged the study of multi-terrain platform for remote operating vehicle development. Numerous products have been introduced by western countries but lack in performance due to the natural geographical differences in design specifications. Apart from cost consideration, the need of local study is essential in order to produce an efficient platform to meet the local requirements. An effective all-terrain design will serve as a platform for further remote operating vehicle.
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Papers by Jeffrey Too Chuan Tan