The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
An important aspect to be taken care of while designing assistive robots for mobility is that they need to operate among humans. Thus understanding human spatial social conventions and incorporating them in the assistive solutions, is important. In this paper, we introduce a semi-autonomous framework for assistive wheelchair navigation in human environments, which is driven by the intention of the...
Since social, assistive and companion robots need to navigate within human crowds, understanding spatial social conventions while designing navigation solutions for such robots is an essential issue. This work presents analysis of an socially compliant robot motion strategy that could be employed by social robots such as humanoids, service robots or intelligent wheelchairs, for approaching and joining...
In this paper, we propose an effective walking pattern generator based on the five-mass with angular momentum model for humanoid robot. The proposed model is composed of conventional three-mass model and conservation law of angular momentum, which describes the relationship between two swing arms and legs, to achieve a quasi human-like walking. We further design a walking pattern compensator to revise...
Inspired by the human torso, humanoid robots usually equipped with active waist joints. For arbitrary walking patterns or whole body motions, the well-designed waist trajectories can greatly enhance the motion of robot legs and allow the robot to perform larger walking step length or crossing higher stair gaps. In this paper, we develop an effective online algorithm for generating waist and arm trajectories...
The adaptation to the changes of environment is crucial to improve automatic speech recognition systems’ robustness in various conditions of use. We investigate the adaptation of such systems using evolutionary algorithms. Our systems are based on neural networks. Their adaptation abilities rely on their capacity to learn and to evolve. Within the framework of this work, we study both main methods...
In this paper, we apply Evolutionary Algorithms (EA) to evolve Automatic Speech Recognition Systems (ASRSs) in order to adapt them to acoustic environment changes. The general framework relates to the Evolutionary paradigm and it addresses the problem of robustness of speech recognition as a two level process. First, some initial ASRSs based on feedforward Artificial Neural Networks (ANNs) are designed...
This work proposes a different form of robotic navigation in dynamic environments, where the robot takes advantage of the motion of pedestrians, in order to improve its own navigation capabilities. Instead of treating persons as dynamic obstacles that should be avoided, here they are treated as special agents with an expert knowledge on navigating in dynamic scenarios. This work proposes that the...
In this work we introduce a low-level system that could be employed by a social robot like a robotic wheelchair or a humanoid, for approaching a group of interacting humans, in order to become a part of the interaction. Taking into account an interaction space that is created when at least two humans interact, a meeting point can be calculated where the robot should reach in order to equitably share...
Service and assistance robots that must move in human environment must address the difficult issue of navigating in dynamic environments. As it has been shown in previous works, in such situations the robots can take advantage of the motion of persons by following them, managing to move together with humans in difficult situations. In those circumstances, the problem to be solved is how to choose...
Approaching a group of humans is an important navigation task. Although many methods have been proposed to avoid interrupting groups of people engaged in a conversation, just a few works have considered the proper way of joining those groups. Research in the field of social sciences have proposed geometric models to compute the best points to join a group. In this article we propose a method to use...
Social spacing in human-robot interactions is among the main useful features when integrating human social intelligence into robot perception and action skills. One of the main challenges, is to capture the transitions incurred by the human and further take into account robot constraints. Towards this goal, we introduce a novel methodology that can instantiate diverse social spacing models depending...
With robots technology shifting towards entering human populated environments, the need for augmented perceptual and planning robotic skills emerges that complement to human presence. In this integration, perception and adaptation to the implicit human social conventions plays a fundamental role. Toward this goal, we propose a novel framework that can model context-dependent human spatial interactions,...
In this paper, a method to perform semi-autonomous navigation on a wheelchair is presented. The wheelchair could be controlled in semi-autonomous mode estimating the user's intention by using a face pose recognition system or in manual mode. The estimator was performed within a Bayesian network approach. To switch these two modes, a speech interface was used. The user's intention was modeled as a...
Service robots have a great potential of improving human quality of life by aiding in everyday tasks. However, robots that share an environment and interact with humans still face some challenges that limits their acceptance. One of these challenges is how to move and behave among groups of people, which is a task performed seamlessly by humans and some animals.
A crucial requirement for service robots is to be able to move in dynamic environments shared with humans as well as interact with them. Navigation in such environments is a challenging task, as the environment is constantly changing, future states have to be predicted and planning and execution must be carried on-line. However, even in very complex situations, humans can easily find a path that avoid...
The objective of this paper is to present a strategy to safely move a robot in an unknown and complex environment where people are moving and interacting. The robot, by using only its sensor data, must navigate respecting humans' comfort. To obtain good results in such a dynamic environment, a prediction on humans' movement is also crucial. To solve all the aforementioned problems we introduce a suitable...
With the growing demand of personal assistance to mobility and mobile service robotics, robot navigation systems must be “aware” of the social conventions followed by people. They must respect proximity constraints but also respect people interacting. For example, they may not break interaction between people talking, unless the occupants want to take part in the conversation. In this case, they must...
With the growing demand of personal assistance to mobility and mobile service robotics, robot navigation systems must be “aware” of the social conventions followed by people. They must respect proximity constraints but also respect people interacting. For example, they may not break interaction between people talking, unless the occupants want to take part in the conversation. In this case, they must...
The occupancy grid is a popular tool for probabilistic robotics, used for a variety of applications. Such grids are typically based on data from range sensors (e.g. laser, ultrasound), and the computation process is well known. The use of stereo-vision in this framework is less common, and typically treats the stereo sensor as a distance sensor, or fails to account for the uncertainties specific to...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.