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This paper introduces a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. We also propose a control architecture referred to as CAST (Control Architecture for...
An exoskeleton system is a compact, light-weight robotic mechanism that a human can put-on for the purpose of overcoming inadequate muscle strength during the performance of physical tasks. In doing so, this integrated human-machine system offers multiple opportunities for creating assistive technologies that can be used in biomedical, industrial, aerospace and everyday life applications. The scope...
The dynamics of human-machine interactions can vary from simple to complex. It spans a range that go from basic rule-based serial stimulus-response exchanges to more realistic bi-directional interactions that evolve in real-time according to (possibly) complex laws. Increasingly, a subset of such systems, those between humans and humanoid robots has been drawing more scrutiny because of their potential...
The ability for tele-operators to derive remote robots' location is crucial: it allows them to develop strategies to perform high level interactions and mainly navigation. In normal conditions, remote robots can perform autonomously such a task by comparing an priori knowledge and local sensed data. For some typical situations, this approach is impossible. Indeed, when remote environments are changing...
Attempts to put robots to practical use have been increased, as robots become more human-friendly. In the human-robot interaction field, main issues are how variously the robot can express its emotion and how much the expression is socially acceptable. This paper proposed the editing toolkit which allows us to simulate a 3D model robot in order to express robot's emotions and intentions for human-robot...
Most mobile robot teleoperation require monitoring as well as controlling from a remote location. This engages both the hands and the eyes of the human operator for the whole duration of the operation. Aiming at minimizing the human body engagement by freeing the hands of the operator from the controlling task, previous works by the authors proved that both monitoring and controlling can be achieved...
Nowadays, many robots have evolved to imitate human social skills such that sociable interaction with humans is possible. Socially interactive robots require abilities different from that of conventional robots. For instance, human-robot interactions are accompanied by emotion similar to human-human interactions, robot emotional expression is thus very important for humans. This is particularly true...
We propose a machine learning method of a TV cameraman's shooting technique with a neural network so that a robot camera can automatically shoot like an experienced cameraman. An experiment using a simulator that we developed shows that, by using our method, the cameraman's shooting technique can be quickly and easily embodied in the control system of the robot camera. Moreover, we derive guidelines...
A novel paradigm for the evaluation of human-robot interaction is proposed, with special focus on the importance of natural eye and head movements in nonverbal human-machine communication scenarios. We present an experimental platform that will enable Wizard-of-Oz experiments in which a human experimenter (wizard) teleoperates a robotic head and eyes with his own head and eyes. Since the robot is...
In this paper, we describe a novel method of word acquisition through multimodal interaction between a humanoid robot and humans. The developed robot realizes word, actually verb, acquisition from raw multimodal sensory stimulus by seeing movement of the given objects and listening to spoken utterance by humans without symbolic representations of semantics. In addition, the robot can utter the learnt...
This article presents the first experiments conducted on the interaction model of the EmotiRob project. It presents the experimental protocol, the evaluation grid and the results, and a short description of the robot's architecture.
The advent of the super aged society and decline in earning power makes it critical to develop technologies that can support the limitations of our human abilities. We have developed Robot Suit HAL to support human physical capabilities. A wearable robot expected to work in human society is required to have a high structural safety, with a tough and compact structure and a human outline. To achieve...
The paper describes a gesture recognition system which can effectively recognize static single-hand gestures and be applied in complex environments. The system involves a vocabulary of 20 gestures consisting of Chinese sign language for certain letters and digits. Segmentation based on color learning and normalization based on image moment invariants are used to extract candidate hand regions. Its...
Natural language interface is an important research topic in the area of natural language processing (NLP). Natural language interaction with robot could be the most natural and efficient way. In order to build speech enabled human language interface of robots, our research goal is to study the problems in this area and develop technologies that can potentially improve human-robot interaction. In...
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