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In this paper a multi-user virtual training system concept for force skill training is presented. A trainer and a student connect to a common virtual environment via their individual haptic displays. The student realizes the virtual task, while the trainer observes him/her visually, acoustically and/or haptically. The trainer has a chance to correct the student verbally or haptically. Alternatively,...
The objective of this thesis is to suggest a design guideline for a teaching assistant robot by clarifying what images satisfy the role of a teaching assistant robot, and by finding out what elements of body feature epitomize such images. Images of teaching assistant robots were established from a literature review and factor analysis. And eight elements of body feature were extracted from human form...
In this paper, we present the humanoid communication robot Fritz. Our robot communicates with people in an intuitive, multimodal way. Fritz uses speech, facial expressions, eye-gaze, and gestures to interact with people. Depending on the audio-visual input, our robot shifts its attention between different persons in order to involve them into the conversation. He performs human-like arm gestures during...
In this paper we provide a possible characterisation of user behaviour based on an analysis of a corpus of human-robot communication, collected by using the Wizard-of-Oz technique to elicit communicative behaviour. We distinguish between three general types of user behaviour: uniform user behaviour, idiosyncratic user behaviour and distinguishing user behaviour. We also present an analysis of user...
This paper presents our development of a network-enabled human/robot cooperative interface for tele- diagnostics of breast pathology. To enhance telepresence capabilities, our human/robot interface is comprised of an anthropomorphic arm/hand equipped with haptic and tactile sensing, ultrasound imaging capabilities, a physician interface capable of rendering both haptic and tactile information, and...
The concordance between physical appearance and personality to build appropriate images of the robot becomes a critical issue, however, there are few studies concerning integrated approaches toward this interrelationship. This research aims to identify such interrelationship based on the Korean traditional Sasang typology theory which classifies people into four distinctive types in relation to personalities,...
An autonomous robot and a mobile robot are expected to provide various services within the human living environment. But there are many problems to solve in trying to develop autonomous robots that can work like humans. Therefore, the environment for robot activity assumed in this study was a finite space such as a family room, an office, or a hospital room. So, accurate position estimation is important...
A network-based robot is a robot that explores service servers in the network environment for analyzing sensor data and making decision. Since network-based humanoid architecture was proposed, it's possible to reduce costs of robots. We hope robots will be all around at each home. Therefore, normal users who are not experts need to be able to control various robots with easy commands. We developed...
Many applications in virtual reality and telerobot call for the implementation of displaying to the human softness haptic on the object being touched. Although there are lots of literatures on discrimination thresholds for displacement, force magnitude, shape, and viscosity, there is still a lack of research on discrimination and remembrance of softness perception of human fingertip. In this paper,...
One of the important factors of the autonomous mobile robot is to build a map for surround environment and estimate its localization. This paper deals with the method to improve localization result by using scale invariant feature with single camera. In detail, the mobile robot attaches monocular camera looking wall extracts scale invariant features in each image by using SIFT (scale invariant feature...
In this article we focus on the essential requirements of a robot for semantically dealing with cooperative problem solving in a natural setting such as discovery of exit from a labyrinth. A very common application area for such robots are used as set of multi-agents at junctions in Traffic Management and Information Systems (TMIS) to manage the traffic and interact with ambulance or fire fighters...
Many different methods for sound source localization have been developed. Most of them mainly depend on time difference of arrival (TDOA) or analytic head related transfer functions (HRTF). In real implementation, since the direct path between a source and a sensor is interrupted by obstacles as like a head or body of robot, it has to be considered the number of sensors as well as their positions...
Human-robot collaboration requires both communicative and decision making skills of a robot. To enable flexible coordination and turn-taking between human users and a robot in joint tasks, the robot's dialog and decision making mechanism have to be synchronized in a meaningful way. In this paper, we propose a integration framework to combine the dialog and the decision making processes. With this...
In this work, we further test the hypothesis that physical embodiment has a measurable effect on performance and impression of social interactions. Support for this hypothesis would suggest fundamental differences between virtual agents and robots from a social standpoint and would have significant implications for human-robot interaction. We have refined our task-based metrics to give a measurement,...
The purpose of this research is to make a quantitative analysis of leg movement patterns of expert dancer, which cannot be analyzed with a motion capture system alone, using simultaneous measurement of body motion and biophysical information (EMG: electromyogram). We carried out experiments on traditional Japanese dance, Nihonbuyo. We can analyze leg movements of expert Japanese traditional dancer...
This paper addresses a so far neglected area of human-robot interaction by approaching situation awareness from the point of view of naive users. In particular, we present an investigation into which naive models of robots' capabilities users carry into the interaction, how these models influence the interaction, and which means can be taken to guide users into more realistic models and behaviours...
Human-friendly robots will work mainly in usual living spaces for humans, such as offices, kitchens and living rooms. In these environments, there are many objects which can cause the visual occlusion. So it will often occur that the robot cannot observe some object by the occlusion while the user can observe it, or vice versa, according to their positions. In these situations, the robot is required...
We present two robust and novel algorithms to model a 3D environment using both intensity and range data provided by an off-the-shelf stereo camera. The main issue we need to address is that the output of the stereo system is both sparse and noisy. To overcome this limitation,, we detect planar patches in the environment by region segmentation in 2D and plane extraction in 3D. The extracted planar...
For a robot to be able to first understand and then achieve a human's goals, it must be able to reason about a) the context of the current situation (with respect to which it must interpret the human's commands) and b) the future world state (as intended by the human) and how to achieve it. Since humans express their intentions and plans using qualitative symbolic representations, robots must be enabled...
This paper describes a technical education program for high school students that comprises an image information processing system, stereo vision technology and control experiments involving a simple and compact robot equipped with a stereo vision system. Education results show that this program can yield excellent results to obtain both hardware and software technology and also to obtain data on the...
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