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Speech-based human-robot interaction is often plagued with issues such as reverberation and changes in speaker position that impacts overall performance. In this paper, we show a method in compensating the joint effects of reverberation and the change in speaker position. The acoustic perturbation caused by these two takes its toll on the Automatic Speech Recognition (ASR) and then the Spoken Language...
Face recognition is crucial for human-robot interaction. Robot partners are required to work in real-time under unconstrained condition, yet, do not restrict the personal freedom of human occupants. On the other hand, due to its limited computational capability, a tradeoff between accuracy and computational load needs to be made. This tradeoff can be alleviated via the introduction of informationally...
As a rehabilitation support system is a digital device, it has an ability to automatically record and store data. In this study, we utilized this feature to develop an operation interface. Operation interfaces can be compared on the basis of the recorded data. In the case of the stick-type operation interface, the operator can freely control the device by recognizing the direction and magnitude of...
In this paper development, implementation and experimental validation of a grasp synthesis algorithm for an anthropomorphic robotic arm-hand system in a low dimensional posture subspace is proposed. The algorithm has been developed on the basis of the analysis of human hand postural synergies. Drawing inspiration from neuroscientific studies, a database of grasps has been created through the observation...
This paper presents a Text-To-Gesture (TTG) system which enables an embodied agent to generate proper gestures for a given text input. To transform text information to a sequence of gestural motions, it is important to analyze coverbal gestures linguistically. It should be also concerned to reproduce natural motions synchronized with speech signals in a human-like fashion. This paper proposes a TTG...
When persons interact, non-verbal cues are used to direct the attention of persons towards objects of interest. Achieving joint attention this way is an important aspect of natural communication. Most importantly, it allows to couple verbal descriptions with the visual appearance of objects, if the referred-to object is non-verbally indicated. In this contribution, we present a system that utilizes...
In this paper, we present a system for vision-based grasp recognition, mapping and execution on a humanoid robot to provide an intuitive and natural communication channel between humans and humanoids. This channel enables a human user to teach a robot how to grasp an object. The system comprises three components: human upper body motion capture system which provides the approaching direction towards...
Markerless, vision based estimation of human hand pose over time is a prerequisite for a number of robotics applications, such as learning by demonstration (LbD), health monitoring, teleoperation, human-robot interaction. It has special interest in humanoid platforms, where the number of degrees of freedom makes conventional programming challenging. Our primary application is LbD in natural environments...
A knowledge-based approach to imitation learning of motion generation for humanoid robots and an imitative motion generation system based on motion knowledge learning and reuse are described. The system has three parts: recognizing, learning, and modifying parts. The first part recognizes an instructed motion distinguishing it from the motion knowledge database by the continuous hidden Markov model...
Contact-free estimation of the human somatosensory information is an essential skill for robots working in daily environments. The main objective of this paper is to develop a method for estimating muscle tensions without any sensors attached to the body. Muscle tension is an important information for evaluating physical load during motions. Existing approaches utilizing optimization techniques and/or...
Service robots need many different informations about the objects, to grasp and manipulate them. Besides the physical information such as the geometry and weight, semantic information of the objects is also needed. To model both of these informations, we have constructed a multimodal object modeling center. It can model the physical properties of the object, such as the textures and the 3D geometry,...
Availability of large number of robot configurations has made the robot workcell designers think over the issue of selecting the most suitable one for a given set of operations. The process of selection of the appropriate kind of robot must consider the various attributes of the robot manipulator in conjunction with the requirement of the various operations for accomplishing the task. The present...
The authors propose a hand posture estimation system in real time and with high accuracy, for robot hand control and human interface with hand motions without no sensors attached to the users. This method searches the similar image quickly from a large volume of previously-sorted image database which contains complicated shapes and self-occlusions of the human hand. Because the system doesn??t need...
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