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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...
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...
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...
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...
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)...
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...
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...
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...
Home-service robots are expected to perform a wide range of tasks commonly encountered in a household environment. For autonomous operations robots should be able to plan their actions to carry out these tasks in advance and they should at least have the ability to plan for additional tasks during their operation. Because of the variability and uncertainty in the environment, it is best to endow robots...
The characteristics of the behaviors of home- service robots are different from those of other intelligent systems. Based on these characteristics, we developed a task model that can both support meaningful interactions and improve task performance. The task model is able to generate the robot's diverse actions and aid its interaction management. A decision/interaction model was established to decide...
This paper presents human-robot interaction using pointing movements for a home robot. Pointing movement is an important communication tool in interpersonal communication. However, pointing has different means depending on a situation. We research that recognizes users' intentions by using their pointing in particular situations. Our aim is not to calculate accurately the point indicated by a user...
This paper introduces the system development of the ubiquitous computing environment, called easy interaction room (EIR), in which humans can get intelligent robotic services with easy interaction. The room has been built to research the roles between the ubicomp environment and service robot in it. Also EIR system collaborates on a special home service with the monolithic robot platform. In this...
Achieving and maintaining user engagement is a key goal of human-robot interaction. This paper presents a method for determining user engagement state from physiological data (including galvanic skin response and skin temperature). In the reported study, physiological data were measured while participants played a wire puzzle game moderated by either a simulated or embodied robot, both with varying...
Ambient noise caused by room acoustics usually degrades quality and reliability of speech recognition for the service robot application. In this paper, we propose enhancing the robustness of speech recognition for home service robots by combining blind equalization with classification. In particular, the linear predictive code (LPC) is used for feature extraction. The constant modulus algorithm (CMA)...
User recognition is one of the most fundamental functionalities for intelligent service robots. However, in robot applications, the conditions are far severer compared to the traditional biometric security systems. The robots should be able to recognize users non-intrusively, which confines the available biometric features to face and voice. Also, the robots are expected to recognize users from relatively...
An important goal for research on service robots is the cooperation of a human and a robot as team. A service robot in a domestic environment needs to build a representation of its future workspace that corresponds to the human user's understanding of these surroundings. But it also needs to apply this model about the "where" and "what" in its current interaction to allow communication...
In this paper we provide a possible characterisation of user behaviour based on an analysis of a corpus of human-robot communication, collected by using the Wizard-of-Oz technique to elicit communicative behaviour. We distinguish between three general types of user behaviour: uniform user behaviour, idiosyncratic user behaviour and distinguishing user behaviour. We also present an analysis of user...
Human-robot collaboration requires both communicative and decision making skills of a robot. To enable flexible coordination and turn-taking between human users and a robot in joint tasks, the robot's dialog and decision making mechanism have to be synchronized in a meaningful way. In this paper, we propose a integration framework to combine the dialog and the decision making processes. With this...
We address issues dealing with visual perception for a personal service robot in the intelligent home environment. We identify key visual functionalities necessary for the robot to perform its activities. They include people detection and identification, gesture recognition, and self-localization. We propose an efficient and reliable framework to organize and coordinate the vision sensor nodes: fixed...
The aim of the work presented in this paper is to realize the model for the control of a robotic interface for equilibrium assistance during sit-to-stand transfer. Interactive robotic devices designed as human-centered robotics, can give more comfortable and more efficient solutions than traditional technical devices. One supposes the need of a virtual model of the pathology. This model, called observer,...
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