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Robotic assistants are complex technical systems. To deal with partially unknown environments and to interact with human users, such systems have multiple sensory systems (e.g., vision, speech input, haptic input, force input, laser range finding, ultra-sound, etc.). Often multiple channels extract different kinds of information even from any single sensory system. To enable robotic assistants...
"Advances in Human-Robot Interaction" provides a unique collection of recent research in human-robot interaction. It covers the basic important research areas ranging from multi-modal interfaces, interpretation, interaction, learning, or motion coordination to topics such as physical interaction, systems, and architectures. The book addresses key issues of human-robot interaction concerned...
Effective assistance demands a system-immanent intelligence in order to achieve high flexibility and robustness. Predefined functionalities serve this purpose only in a limited and restricted way; therefore there is a need for assistance systems to be teachable and adaptable. Moreover, the learning capacity should cover all system levels, like: programming single movements, adaptation of...
This article describes the current state of our research on anthropomorphic robots. Our aim is to make the reader familiar with the two basic principles our work is based on: anthropomorphism and dynamics. The principle of anthropomorphism means a restriction to human-like robots which use version, audition and touch as their only sensors so that natural man-machine interaction is possible...
CoRA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand-over...
In contrast to industrial robots, which mostly operate in exactly defined static production lines, autonomous robots, including robotic assistants, must be capable of operating in natural real world environments not specifically structured to facilitate their task. Due to their permanent dynamic variation, such environments are very difficult to model. Therefore, to organize its behavior,...
The goal of effective interaction between user and robot assistant makes it essential to provide a number of broadly utilizable and potentially redundant communication channels. The integration of classic interfaces, like graphical inputoutput devices, with newer types of interfaces such as speech and visual interfaces, tactile sensors, and force/torque sensors, is indispensable for the task...
Co-existence an co-operation between a human and a machine which can move and act in an autonomous mode involves a form of interaction which goes beyond pure communication and exchange of information. Co-existence and co-operation will inevitably involve physical locomotion, action and interaction. The motions and actions of the two agents, human and machine, must be planned, coordinated,...
Robot systems working directly with people naturally place highest demands on system safety, reliability and maintainability in all operational modes. In addition to legal requirements and liability issues individual reservations concerning a system’s safety decide on its acceptance and economic success. In this context safety denotes the property of a system to avoid inadmissible states...
Movement generation in robotics is an old problem with many excellent solutions. Most of them, however, look for optimality according to some metrics, but have no biological inspiration or cannot be used to imitate biological motion. For a human these techniques behave in a non-naturalistic way. This poses a problem for instance in human-robot interaction and, in general, for a good acceptance of...
Generation of flexible goal directed movement describes the key skill of autonomous articulated robots. Critical points are still the acknowledgement of reaching and grasping task while satisfying static and dynamically changing constraints given by the environment or caused by the human operator in a collaborative situation. This means that the motion planning dynamics has to incorporate multiple...
Focusing on the development of flexible robots for industrial and household environments, we identify intuitive teaching as the key feature and direct physical interaction and guidance as the most important interface. In the current work we introduce a multi redundant robotic assistant equipped with a touch sensitive skin around the upper- and the forearm, in order to incorporate contact forces into...
Advanced Driver Assistant Systems act, by definition in natural, often poorly structured, environments and are supposed to closely interact with human operators. Both, natural environments as well as human behaviour have no inherent metric and can not be modelled/measured in the classical way physically plausibly behaving systems are described.
Autonomous robots with limited computational capacity call for control approaches that generate meaningful, goal-directed behavior without using a large amount of resources. The attractor dynamics approach to movement generation is a framework that links sensor data to motor commands via coupled dynamical systems that have attractors at behaviorally desired states. The low computational demands leave...
In the presented work we compare machine learning techniques in the context of lane change behavior performed by humans in a semi-naturalistic simulated environment. We evaluate different learning approaches using differing feature combinations in order to identify appropriate feature, best feature combination, and the most appropriate machine learning technique for the described task. Based on the...
Simulated reality environment incorporating humans and physically plausible behaving robots, providing natural interaction channels, with the option to link simulator to real perception and motion, is gaining importance for the development of cognitive, intuitive interacting and collaborating robotic systems. In the present work we introduce a head tracking system which is utilized to incorporate...
The movement of autonomous agents in natural environments is restricted by potentially large numbers of constraints. To generate behavior that fulfills all given constraints simultaneously, the attractor dynamics approach to movement generation represents each constraint by a dynamical system with attractors or repellors at desired or undesired values of a relevant variable. These dynamical systems...
For an autonomous robotic system, the ability to share the same workspace and interact with humans is the basis for cooperative behavior. In this work, we investigate human spatial language as the communicative channel between the robot and the human, facilitating their joint work on a tabletop. We specifically combine the theory of Dynamic Neural Fields that represent perceptual and cognitive states...
We extend the attractor dynamics approach to generate goal-directed movement of a redundant, anthropomorphic arm while avoiding dynamic obstacles and respecting joint limits. To make the robot's movements human-like, we generate approximately straight-line trajectories by using two heading direction angles of the tool-point quite analogously to how movement is represented in the primate central nervous...
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