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For companion robots to properly interact with people, they should be able to gain awareness of their effect on the person's state and learn to behave accordingly. Advances in physiological monitoring sensors, such as infrared cameras, may enable robots to get an insight on a person's emotional state, which has a strong correlation with the physiological parameters. Performing this monitoring in a...
A typical feature of robotic architectures are its reactivity and self-adaptivity. In practice, this is achieved by context-dependent dynamic invocation of software components in robotic architectures. In this paper, we specifically address how this self-adaptation capability can be formally defined and modeled in an architecture-independent way. We propose a probabilistic approach that facilitates...
In human-human interaction, three modalities of communication (i.e., verbal, nonverbal, and paraverbal) are naturally coordinated so as to enhance the meaning of the conveyed message. In this paper, we try to create a similar coordination between these modalities of communication in order to make the robot behave as naturally as possible. The proposed system uses a group of videos in order to elicit...
In this paper, we describe the elaboration and the validation of a body and face database1, of 96 videos of 1 to 2 seconds of duration, expressing 4 emotions (i.e., anger, happiness, fear, and sadness) elicited through 4 platforms of increased visual complexity and level of embodiment. The final aim of this database is to develop an individualized training program designed for individuals suffering...
A common goal of robot control architecture designers is to create systems that are sufficiently generic to be adapted to different robot hardware. Beyond code re-use from a software engineering standpoint, having a common architecture could lead to long-term experiments spanning multiple robots and research groups. This paper presents a first step toward this goal with HBBA, a Hybrid Behavior-Based...
In social HRI context, the robot’s usefulness and appropriate behavior plays an important role. A robot should be able to understand the human’s internal state (i.e., physiological and psychological states) so as to provide an adaptive and thus efficient assistance within daily life activities. Measuring stress and frustration of an individual while performing a certain task is a critical element...
In recent times, researchers in robotics have arrived at a consensus that there is no single efficient architecture or framework that satisfies all aspects of robotic system design. A majority of robotic architectures currently in use are developed in-house to meet the specific objectives of the research group. However, these frameworks have been designed in an ad-hoc manner and thus restricts reusability...
A robotic system is a software intensive system that is composed of distributed, heterogeneous software components interacting in a highly dynamic, uncertain environment. However, no systematic software development process is followed in robotics research. In this paper, we present the core concepts that drive our framework ‘Self Adaptive Framework for Robotic Systems (SafeRobots)’ for developing...
In HRI, many researches emphasize the impact of the human user's personality (expressed mainly through the Extroversion dimension) over the perception of the robot's behavior. In our experiment, where participants interacted/used a novel driving assistance system, we focused on analyzing the role of each BigFive Personality dimension in people's task performance and in their reaction towards the vocal...
In this paper, a model-based framework called ‘Self Adaptive Framework for Robotic Systems (SafeRobots)’ for designing robotic software architectures is proposed. With the help of an example of designing an architecture for mobile robot mapping system, it will be shown how formal domain knowledge can be used at multiple abstraction levels in a model-driven engineering approach. The solution pool for...
In human-human interaction, the process of communication can be established through three modalities: verbal, non-verbal (i.e., gestures), and/or para-verbal (i.e., prosody). The linguistic literature shows that the para-verbal and non-verbal cues are naturally aligned and synchronized, however the natural mechanism of this synchronization is still unexplored. The difficulty encountered during the...
A robotic system is an integration of various systems such as perception, navigation, planner, controller, etc. The adaptation of the robotic system to the dynamic environments is embedded in the functionality of the constituent systems. This severely limits the configuration space of such systems. The modeling of the variability in the solution space can expand this design space, help finding the...
A good adjustable control system is a system that can adapt its behaviors according to the user's state over time. While most researches in Human-Robot Cooperation focus on making the robotic system more efficient and effective in task accomplishment, we argue that very few works tried to model the human operator. In this paper, we discuss several aspects related to the human operator that we consider...
Several decision making algorithms that are developed in robotics domain are found to be useful in automotive industrial applications. In order to use these algorithms in safety critical embedded systems one has to ensure a minimum confidence level, quality assurance, and reliability. In addition, decision algorithms are designed and developed by domain experts and system integrators do not have control...
Robots are more and more present in our daily life; they have to move into human-centered environments, to interact with humans, and to obey some social rules so as to produce an appropriate social behavior in accordance with human's profile (i.e., personality, state of mood, and preferences). Recent researches discussed the effect of personality traits on the verbal and nonverbal production, which...
In human-robot interaction, a social intelligent robot should be capable of understanding the emotional internal state of the interacting human so as to behave in a proper manner. The main problem towards this approach is that human internal states can't be totally trained on, so the robot should be able to learn and classify emotional states online. This research paper focuses on developing a novel...
We present a mobile robot whose goal is to autonomously explore an unknown indoor environment and to build a semantic map containing high-level information similar to those extracted by humans. This information includes the rooms, their connectivity, the objects they contain and the material of the walls and ground. This robot was developed in order to participate in a French exploration and mapping...
In multimodal human-robot interaction(HRI), the process of communication can be established through verbal, nonverbal, and/or para-verbal cues. The linguistic literature [3] shows that para-verbal and non-verbal communications are naturally synchronized. This research focuses on the relation between non-verbal and para-verbal communication by mapping prosody cues to the corresponding arm gestures...
A social intelligent robot should be capable of observing and understanding the changes in the environment so as to behave in a proper manner. It also needs to take into account user preferences, user disability level, and user profile. This paper presents a research work based on socially assistive robotics (SAR) technology that aims at providing affordable personalized physical and cognitive assistance,...
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