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The state-of-the-art FastSLAM has been shown to cause a particle depletion problem while performing simultaneous localization and mapping for mobile robots. As a result, it always produces over-confident estimates of uncertainty as time progresses. This particle depletion problem is mainly due to the resampling process in FastSLAM, which tends to eliminate particles with low weights. Therefore, the...
For controlling robots in an urban search and rescue (USAR) application, a wearable joystick is presented with improved sensing capability as well as a giant magneto-resistance (GMR) sensor model for use with rare-earth magnets. Scientists have been studying a variety of existing human/robot interface devices to control USAR robots in a disaster. Due to the stresses involved in USAR environments,...
This paper discusses the personality of genetic robot and its evolving algorithm within the purview of the broader ubiquitous robot framework. Ubiquitous robot systems blends mobile robot technology (Mobot) with distributed sensor systems (Embot) and overseeing software intelligence (Sobot), for various integrated services. The Sobot is a critical question since it performs the dual purpose of overseeing...
A parameter tuning scheme for the neural oscillator is addressed to achieve biologically inspired robot control architectures based on a neural oscillator. It would be desirable to determine appropriately unknown parameters of the neural oscillator to accomplish a task of rhythmic movement under various changes of environment. Human or animal exhibits natural dynamics with efficient and performs robust...
In a real world, emotion plays a significant role in rational actions in human communication. Given the potential and importance of emotions, in recent years, there has been growing interest in the study of emotions to improve the capabilities of current human-robot interaction. The emotion recognition from text modality is a necessary step to develop affective conversational interfaces. In this paper,...
The advances on robot technology, researchers are able designing human-like robots that are able of displaying more complicated motor skills as well as displaying some degree of intelligence. This robot could read a musical score and play a repertoire of 16 tunes on a keyboard instrument. In this talk, such research trends will be described based on the development of the Waseda Flutist Robot. This...
Home service robots increasingly need to provide diverse and complex services such as cooking, sweeping and dishwashing. These services inevitably require a number of software functions simultaneously. For example, the cooking service requires an arm manipulation function to grasp dishes, an navigation function to move around, an object recognition function to find foods, an speech recognition function...
Recently, according to various application field of robot, the scalability and the flexibility of robot are essential requirements. To satisfy these requirements, the robot is divided into the module or a hardware component unit, where the function such as vision, control, sensing are executed. The robot is composed of the set of various modules. So, it could include heterogeneous O/S and network...
In this paper, an estimate method of control system measurement error variance for Kalman estimator at run-time is proposed. In general, control system's measurement error variance is measured by some measuring instruments or tuned after implementation of Kalman estimator, but the precise measuring the control system measurement error variance is too hard. Moreover, even though we could tune the measurement...
Tracking humans' position is a useful skill for the coming generation of mobile robot. It is a challenging problem of planning and control in dynamic environment. We propose the omni-directional estimation method of speaker's position using the combination of audio and visual information. Estimation of the position of the sound is carried out to calculate the difference of arrival time from sound...
This paper describes an intelligent wheelchair with a novel interface which uses visual oral motion. The wheelchair runs in various lighting environments, traditional mouth region detection method did not consider these conditions. To achieve detection of mouth region and analysis mouth motion in real-time and in various lighting environments, we proposed mouth cavity region detection method. In our...
The embodied communication system for mind connection (E-COSMIC) has been developed by applying the entrainment mechanism of the embodied rhythms of nodding and body movements to physical robots and CG characters in verbal communication. E-COSMIC comprises an embodied virtual communication system for human interaction analysis by synthesis and a speech-driven embodied interaction system for supporting...
A multi-aspect approach is applied to one-step anticipation for tightening human-robot interaction in naturally complex scene. Via symbolic massage exchange, human's linguistic intelligence identifies possible solutions by robotic intelligence. In reference to signal space as operable representation of the scene, human's body- kinesthetic intelligence and robotic control systems are co- oriented....
The group walking is seen here and there frequently in Japan. The walking with the partner gives them the motivation to continue the exercise. In this paper, we propose the embodied group walking support system which allows the users to walk with partner around the street in the shared virtual space. It also provides the smooth communication with partner by using the users' avatars with InterRobot...
In this paper, a sound synthetic technique (SST) based on sinusoidal frequency modulations with irregular primitive function algorithms for tactile perception is suggested. Investigations of the benefits of real-time SST for haptic interaction were referenced. Performance was evaluated in two ways; 1) a unimodal analysis of synthesized sounds in terms of whether they can induce tactile perception,...
To realize the natural symbiosis of human and robots, we need to clarify multi-aspect model structure of their interaction through physical, mental, social interfaces. Here, we notice the dual interaction model which is composed of intention adjustment process in social interaction and entrainment adjustment process under common intention. The former should be designed on the assumption that human...
We have developed an embodied avatar mediated communication system by using a human avatar called the 'VirtualActor' and an abstract avatar called the 'VirtualWave' within the same communication space. VirtualActor is a CG character based on a talker's embodied information in the virtual space. The self-referable avatar's motion is consistent with the talker's conscious behavior and unconscious communication...
The lag effects of utterance to communicative motions in human-robot and in human-CG character greeting interaction have been clarified. In this paper, information presentation timing by an agent based on the time lag effects of utterance to communicative action is analyzed by synthesis for applying to a human-agent interaction support. First, the analysis of a human information presentation action...
Endowing robots with a social interface is often costly and difficult. Virtual characters on the other hand are comparatively cheap and well equipped but suffer from other difficulties, most notably their inability to interact with the physical world. This paper details our wearable solution to combining physical robots and virtual characters into a mixed reality agent (MiRA) through mixed reality...
We investigate modeling and recognition of arm manipulation actions of different levels of complexity. To model the process, we are using a combination of discriminative support vector machines and generative hidden Markov models. The experimental evaluation, performed with 10 people, investigates both definition and structure of primitive motions as well as the validity of the modeling approach taken.
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