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Human commonsense is required to improve quality of robotic application. However, to acquire the necessary knowledge, robot needs to evaluate the appropriateness of the data it has collected. This paper presents an evaluation method, by combining the weighting mechanism in commonsense databases with a set of weighting factors. The method was verified on our Basic-level Knowledge Network. We conducted...
This paper presents an approach for computing power grasps for hands with kinematic structure similar to the human hand, which allows the implementation of strategies inspired in human grasping actions. The proposed method first samples the object surface to look for the best spots for creating an opposing grasp with two or three fingers, and then aligns the other fingers to match the local curvature...
In some countries, many problems according to aging are pointed out. Decrease of worker's physical ability is one of them. The old workers have high techniques, but physical ability is lower than that of young workers. And it becomes difficult to keep high quality. Hence it is thought that a power assist by robot is needed. The method that increases human motion simply is mainstream conventional power...
Social signal processing has the ambitious goal of bridging the social intelligence gap between computers and humans. Nowadays, computers are not only the new interaction partners of humans, but also a privileged interaction medium for social exchange between humans. Consequently, enhancing machine abilities to interpret and reproduce social signals is a crucial requirement for improving computer-mediated...
We study embodiment-specific robot grasping tasks, represented in a probabilistic framework. The framework consists of a Bayesian network (BN) integrated with a novel multi-variate discretization model. The BN models the probabilistic relationships among tasks, objects, grasping actions and constraints. The discretization model provides compact data representation that allows efficient learning of...
Nowadays, facing massive amount of information from various sources, the traditional education concepts and architectures have reached their limits to meet people's requirements for an intelligent education system. Based upon more than 10 years' practice in university education, the authors developed a new concept of Teacher Robots by analyzing and refining the general definitions and capabilities...
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,...
Our present paper deals with the problem of audio speaker localization, which consists in determining the position of the active speaker in a meeting-room. This step represents the first task of speaker tracking, which is the global purpose of our research work. In this approach, two-channel-based (stereo) estimation of the speaker position is achieved by comparing the signals received by two cardioids...
Human detection is a key functionality to reach Human Robot/Computer Interaction. The human tracking is also a rapidly evolving area in computer and robot vision; it aims to explore and to follow human motion. We present in this article an intelligent system to learn human detection. The descriptors used in our system make up the combination of HOG and SIFT that capture salient features of humans...
The authors have developed a system to autonomously classify the meanings of words using a knowledge database constructed from sentences found in textual content on Internet websites. This is a totally new system for classifying the meanings of words dynamically using only the connections between words. The authors believe that robots using such a system can approximate the knowledge of humans.
In human-robot interaction, gender and internal state detection play an important role in making the robot reacting in an appropriate manner. This research focuses on the important features to extract from a voice signal in order to construct successful gender and internal state detection systems, and shows the benefits of combining both systems together on the total average recognition score. Moreover,...
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...
This paper describes a framework for an interactive robot-based tutoring system (IRTS). The proposed IRTS is based on combining aspects of intelligent tutoring systems (ITSs) which are computer-based expert systems to simulate aspects of a human tutor, and robot-assisted systems which help users with physical interaction using robotic devices. The IRTS involves the robot interacting with a user, generating...
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...
For the interpretation of a visual scene, it is important for a robotic system to pay attention to the objects in the scene and segment them from their background. We focus on the segmentation of previously unseen objects in unknown scenes. The attention model therefore needs to be bottom-up and context-free. In this paper, we propose the use of symmetry, one of the Gestalt principles for figure-ground...
Facial expressions are one important nonverbal communication cue, as they can provide feedback in conversations between people and also in human-robot interaction. This paper presents an evaluation of three standard pattern recognition techniques (active appearance models, gabor energy filters, and raw images) for facial feedback interpretation in terms of valence (success and failure) and compares...
A Dance Partner Robot, PBDR (Partner Ball Room Dance Robot), dances a waltz as a female dancer together with a human male dancer. The waltz, a ball room dance, is usually performed by a male dancer and a female dancer, and consists of a certain number of steps, and transition of the steps. The dance is lead by the male dancer based on the transition rule of the dance. The female dance partner estimates...
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...
Gestures are useful factor in communication. A gesture has different meanings depending on related objects, situation and so on. Authors aim that a robot recognizes gesture meanings and provides a service considering related objects. Object position is one of the important factors for a robot to recognize a gesture. This paper focused on multimodal interaction between human and a robot to obtain object...
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