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It is necessary to naturally avoid singular configurations of each slave robot in order to achieve an ideal telexistence master-slave system. We propose a method for the avoidance of singular configurations by using intervening impedance. In this method, the parameters of the intervening impedance are adjusted by the manipulability ellipsoid. This method is applied to a master-slave robot. As a result,...
Home-service robots are expected to perform a wide range of tasks commonly encountered in a household environment. For autonomous operations robots should be able to plan their actions to carry out these tasks in advance and they should at least have the ability to plan for additional tasks during their operation. Because of the variability and uncertainty in the environment, it is best to endow robots...
The characteristics of the behaviors of home- service robots are different from those of other intelligent systems. Based on these characteristics, we developed a task model that can both support meaningful interactions and improve task performance. The task model is able to generate the robot's diverse actions and aid its interaction management. A decision/interaction model was established to decide...
This paper presents human-robot interaction using pointing movements for a home robot. Pointing movement is an important communication tool in interpersonal communication. However, pointing has different means depending on a situation. We research that recognizes users' intentions by using their pointing in particular situations. Our aim is not to calculate accurately the point indicated by a user...
For a robot to understand a scene, we have to infer and extract meaningful information from vision sensor data. Since scene understanding consists in recognizing several visual contexts, we have to extract these contextual cues and understand their relationships. However, context extraction from visual information is difficult due to uncertain information in variable environments, imperfect nature...
Speech act classification is an essential part of a dialogue system because it is very important to catch user's intention. The previous approaches on speech act classification were focused on obtaining high performances in a single-domain, but they did not deal with a feature interference problem that frequently rises in a multi-domain. In this paper, we propose a two-step system for speech act classification...
Ubiquitous robotic companion (URC ) is a new concept for the network-based robot platform which can enable to be following its master wherever or whenever he/she be in order to provide necessary services. The robot platforms in present normally interest in providing services through the direct interaction in responding to the user's demands. On the other hand, URC services are required to be provided...
The research on the anthropomorphic flutist robot, at Waseda University, has focused on clarifying the human motor control while playing the flute, proposing novel applications for humanoid robots and enabling the communication with humans at the emotional level. As a result of our research, the flutist robot is able of nearly reproducing the basic technical skills required to play the flute. Furthermore,...
We describe a method for sensitivity communication robots which infer their dialogist's emotion. The method is based on the Bayesian approach: by using a Bayesian modeling for prosodic features. In this research, we focus the elements of emotion included in dialogist's voice. Thus, as training datasets for learning Bayesian networks, we extract prosodic feature quantities from emotionally expressive...
In this paper, connecting physical world and events schedule in the smart environment and ubiquitous robots are proposed to implement symbiotic robotic systems. Symbiotic robotic systems consist of humans, robots, and smart environment that cooperate symbiotically to perform a given task. An embedded element to develop smart environment called UFAM (Ubiquitous Functions Activation Module) is introduced...
This paper deals with the understanding of four musical time patterns and three tempos that are generated by a human conductor of robot orchestra or an operator of computer-based music play system using the hand gesture recognition. We use only a stereo vision camera with no extra special devices such as sensor glove, 3D motion capture system, infra-red camera, electronic baton and so on. We propose...
This paper introduces the system development of the ubiquitous computing environment, called easy interaction room (EIR), in which humans can get intelligent robotic services with easy interaction. The room has been built to research the roles between the ubicomp environment and service robot in it. Also EIR system collaborates on a special home service with the monolithic robot platform. In this...
This paper presents our work on the therapeutic robotics project EmotiRob which is the continuity of the MAPH (Active Media For the Handicap) project in emotion synthesis. Our aim is to maintain emotional interaction with children. For this, word, movement, and emotion synthesis are used. Here, we strive to define a robot face which is a compromise between expressive richness and mechanical simplicity...
Summary form only given. A robot is the first machine that can communicate with human beings in machine invention history. Thus, a robot is required to have a friendly appearance and natural motions to make people feel that the robot is lifelike. A humanoid robot is a human friendly interface between humans and machines. Examples include electric appliances, home security systems, computers, and all...
We had proposed a novel method to provide human tactile sensation using surface acoustic wave (SAW). A pulse modulated driving voltage is applied to reproduce human tactile sensation. To expand its application, a glass substrate SAW transducer has been proposed. The glass substrate transducer worked successfully. In the application, however, user's rubbing motion was limited to one-dimensional motion...
Studies on robotic emotions were mostly focused on facial expressions. However, in human emotion recognitions, biological signals were effectively applied in use. In this paper, we clarified the utility of biological signals as a way to express robotic emotion. We designed facial expressions and set up biological signals (heartbeat, respiration) to apply to the facial LED interface for expressing...
Achieving and maintaining user engagement is a key goal of human-robot interaction. This paper presents a method for determining user engagement state from physiological data (including galvanic skin response and skin temperature). In the reported study, physiological data were measured while participants played a wire puzzle game moderated by either a simulated or embodied robot, both with varying...
We suggest that people's responses to a robot of which attention starts to be distracted show whether they accept the robot as an intentional communication partner or not. Human-robot interaction (HRI) as well as human-human interaction (HHI) is sometimes interrupted by disturbing factors. However, in HHI people continue to communicate with a partner because they presuppose that the partner may shift...
This paper describes a novel algorithm for autonomous and incremental learning of motion pattern primitives by observation of human motion. Human motion patterns are abstracted into a hidden Markov model representation, which can be used for both subsequent motion recognition and generation, analogous to the mirror neuron hypothesis in primates. As new motion patterns are observed, they are incrementally...
Ambient noise caused by room acoustics usually degrades quality and reliability of speech recognition for the service robot application. In this paper, we propose enhancing the robustness of speech recognition for home service robots by combining blind equalization with classification. In particular, the linear predictive code (LPC) is used for feature extraction. The constant modulus algorithm (CMA)...
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