Virtual reality （VR） is a scientific method and technology created during the exploration of the nature by human beings to understand, simulate, and better adapt and use the nature. Based on the analysis on the whol...Virtual reality （VR） is a scientific method and technology created during the exploration of the nature by human beings to understand, simulate, and better adapt and use the nature. Based on the analysis on the whole process of VR, this paper presents different categories of VR problems and a type of theoretical expression, and abstracts three kinds of scientific and technical problems in VR field. On the basis of foresaid content, this paper also studies current major research objectives, research results and development trend of VR in the aspects of VR modeling method, VR representation technology, human-machine interaction and devices, VR development suites and supporting infrastructure, as well as VR applications. Finally, several theoretical and technical problems that need to be further studied and solved are addressed.展开更多
A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In thi...A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields.As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure.Finally, with the best fictitious force and its identified impedance,an impedance control is designed for a mobile robot Pioneer 3AT,which is programmed to follow a human in a structured scenario.According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.展开更多
基金Supported by the National Basic Research Program of China (Grant No. 2009CB320805)the National Natural Science Foundation of China(Grant Nos. 60533070, 60503066)the National High-Tech Research & Development Program of China (Grant Nos. 2006AA01Z333,2006AA01Z311)
文摘Virtual reality （VR） is a scientific method and technology created during the exploration of the nature by human beings to understand, simulate, and better adapt and use the nature. Based on the analysis on the whole process of VR, this paper presents different categories of VR problems and a type of theoretical expression, and abstracts three kinds of scientific and technical problems in VR field. On the basis of foresaid content, this paper also studies current major research objectives, research results and development trend of VR in the aspects of VR modeling method, VR representation technology, human-machine interaction and devices, VR development suites and supporting infrastructure, as well as VR applications. Finally, several theoretical and technical problems that need to be further studied and solved are addressed.
文摘A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields.As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure.Finally, with the best fictitious force and its identified impedance,an impedance control is designed for a mobile robot Pioneer 3AT,which is programmed to follow a human in a structured scenario.According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.
