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Recently, in service robotics area, increasing attention is being paid on interaction capability of robot for human-being as well as its task performing capability. In this paper, in particular, an automatic gesture generation methodology for conversational interaction of service robots is presented toward more human-friendly human-robot interaction. From the survey on the results in the psychology...
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This study investigated the relationship between individual differences and proxemic behaviour in an HRI setting involving a robot approaching a person. In total 33 participants took part in three different scenarios; verbal interaction, physical interaction and no interaction. Participant control over the robot, and approach direction was also varied. Measurements of the preferred robot approach...
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The paper presents an approach to intelligent, interactive people following for autonomous robots. The approach combines robust methods for simultaneous localization and mapping and for people tracking in order to yield a socially and environmentally sensitive people following behavior. Unlike current purely reactive approaches ("nearest point following") it enables the robot to follow a...
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This paper proposes a method to improve the operability of micro-macro tele-operations in biological researches and developments. In such fields, there are lots of labor intensive works and the smooth execution of the works requires some trained human skills. Thus, if we can improve the operability of the equipments, the efficiency of the researches and developments will be improved remarkably. The...
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In this work, we perform an extensive statistical evaluation for learning and recognition of object manipulation actions. We concentrate on single arm/hand actions but study the problem of modeling and dimensionality reduction for cases where actions are very similar to each other in terms of arm motions. For this purpose, we evaluate a linear and a nonlinear dimensionality reduction techniques: principal...
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Human activity recognition is an essential ability for service robots and other robotic systems which are in interaction with human beings. To be proactive, the system must be able to evaluate the current state of the user it is dealing with. Also future surveillance systems will benefit from robust activity recognition if realtime constraints are met, allowing to automate tasks that have to be fulfilled...
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In order to provide services more reliably, intelligent service robots need to consider various factors, such as their surrounding environments, user's changing requirements, and constrained resources. Most of the intelligent service robots are controlled based on a task-based control system, which generates a task plan that consists of a sequence of actions, and executes the actions by invoking the...
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This paper presents an emotional network robot, Netoy. Netoy has the following features and functionalities: emotional expression (LED & arm, cyber character, sleeping lamp); information service (weather, news, audio book, clock); entertainment service (music streaming, MP3 play, motion talk); and private secretary service (voice messenger, morning call).
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This paper proposes a knowledge-based approach for adopting user's preferences and policies to plan and execute various services by a human-centered robot. To create an image of an obedient assistant in user's mind, we have suggested developing a robot that can customize its services according to user's guidelines. For materializing our idea, we have presented our knowledge-based human-centered (KBH)...
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This paper presents and discusses a longitudinal study which investigated habituation effects between humans and robots over a period of five weeks. Participants' preferences for the robot's approach distance with respect to its approach direction and appearance were investigated in a variety of domestic scenarios. These human-robot interaction (HRI) scenarios were also designed to explore the notions...
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This paper reports our longitudinal observation of unconstrained child-robot interaction at a daycare center for autistic children. We used a simple robot, Keepon, that is only capable of expressing its attention (directing its gaze) and emotions (pleasure and excitement). While controlled by a remote experimenter, Keepon interacted with the children with its simple appearance and actions. With a...
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Over the past few years, many research groups have attempted to build smart environments. Recently, several groups have been actively conducting research into the construction of smart home environment for service robots to be used as assistants. A home service robot must have are localization, navigation, object recognition, and object handling functionalities. These operations are usually performed...
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This paper provides a comparative study, through simulation, of the effectiveness of the local (decoupled) PD control and the neural network control when applied to a new biped robot model. The biped model has 5_link and 6 degrees of freedom and actuated by Plated Pneumatic Artificial Muscle, which have a very high power to weight ratio and an inherent adaptable compliance. This NN controller allow...
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In late years, as new media turning into PC or mobile phone, a study about communication robots is prosperous. Robots are different from the conventional media, because robots have physical bodies like humans, so it is reported that humans bemust robots socially. Therefore, we decide to apply a concept of meme as a cultural gene to an interaction design with humans and robots in this study. By this...
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We are currently investigating the use of rhythm and synchrony in human-robot interaction. Specifically, we are developing techniques for the perception and generation of social rhythmic behaviors in nonverbal dance-oriented play between children and a small creature-like robot. While our goal is to develop and evaluate technological artifacts that can participate in rhythmically coordinated social...
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A percussive massage robot for senior health care is under development at our Intelligent Control and Robotics Laboratory. This paper presents a conceptual design of the massage robot, forward and inverse kinematic analysis, and Jacobian derivation of the robot manipulator that has 4 degree of freedom motion. Furthermore, the shape and magnitude of impact force for percussive massage tapping human...
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This paper presents the development and performance evaluation of a human-computer interface that enables a limb-disabled person to access a computer via neural signals. For this purpose, electromyogram (EMG) signals were extracted from four muscles on the lower arm, and signal statistics (namely the mean and variance) were used for a filtering process. Six patterns were then classified through the...
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In this research, real-time face tracking and gesture recognizing embedded quadruped robot with a tele-operation server is presented. Using i.MX21 embedded system, this robot transfers MPEG-4 video to tele-operation server which processes image data for gesture recognition and face detection, and human following. The developed quadruped robot has 3 DOF 4 legs and pan-tilt actuators. This system can...
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This paper presents the development of generating dance performances of humanoid robot, HSR (HanSaRam)-VII, synchronized with Robonova, for entertainment. This heterogeneous team, RoboBees, participated in 'Robots at Play Award 2006' and nominated as one of top six teams in the world. A method of generating and combining both periodic motion (on-line pattern generator) and aperiodic motion (off-line...
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This paper describes the psychological experiments to clarify whether the gain and loss of esteem could be observed in human-robot interaction. The gain and loss of esteem is defined as follows: changes in rewarding behavior from another have a greater impact on an individual than consistent, invariant reward. Specifically, person A prefers person B who changes her/his bad evaluation about person...
