Abstract-Service robots which directly interact with humans in highly unstructured, unpredictable and dynamic environments must be able to flexibly adapt their motion in reaction to unforeseen events or obstacles and they must provide a new feasible trajectory in real-time. Hence, algorithms come into focus which replan the motion path and its time evolution from arbitrary initial conditions within milliseconds. We present a real-time algorithm to generate synchronised and time-optimal third-order manipulator trajectories complying maximal motion limits on velocity, acceleration and jerk. Experimental results carried out on a Mitsubishi PA10-7C arm are presented.

Formal mathematical reasoning provides an illuminating test case for understanding how humans can think about things that they did not evolve to comprehend. People engage in algebraic reasoning by (1) creating new assemblies of perception and action routines that evolved originally for other purposes (reuse), (2) adapting those routines to better fit the formal requirements of mathematics (adaptation), and (3) designing cultural tools that mesh well with our perception-action routines to create cognitive systems capable of mathematical reasoning (invention). We describe evidence that a major component of proficiency at algebraic reasoning is Rigged Up Perception-Action Systems (RUPAS), via which originally demanding, strategically controlled cognitive tasks are converted into learned, automatically executed perception and action routines. Informed by RUPAS, we have designed, implemented, and partially assessed a computer-based algebra tutoring system called Graspable Math with an aim toward training learners to develop perception-action routines that are intuitive, efficient, and mathematically valid.

When developing cognitive agents capable of interacting with humans, it is often challenging to provide a suitable environment in which agent and user are really co-situated. This paper presents a straightforward approach to use Second Life as a persistent, "near natural", and socially rich environment for research on autonomous agents in complex surroundings, learning social skills, and how they are perceived by humans. We describe an integration of our conversational agent Max, and his underlying cognitive architecture, with the Second Life environment. As a result, Max is able to autonomously navigate and multimodally communicate with other avatars inside the Second Life world. Observations from a first trial and reactions of human residents to the virtual agent are presented.

No abstract

Abstract. Physics engines have been used in robotics research for a long time. Beside their traditional application as a substitute for real world interactions due to their higher speed, safety and flexibility, they have recently also been used for motion planning and high level action planning. We propose to further explore the idea of using a physics engine as means to give a robot a basic physical understanding of its environment. In this paper, as a preliminary step, we study, how accurately the process of pushing flat objects across a table with a robot arm can be predicted in a physics engine. We also present an approach to adapt the engines parameters to enhance the simulation accuracy.