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A variety of interaction models among agents have been developed, however the research about human attitude toward multiple robot interaction has been out of research focus. While a service robot interacts with more human users, multi-robots interact with humans and even with other robots. In the environment, the interactive behavior of human is affected by multiple robotic interactions. This paper...
In this paper, we discuss pointing gesture estimation in the context of Human Robot Interaction (HRI). Pointing gesture provides and utilizes information in Kukanchi (Interactive Human Space Design and Intelligence) more natural than other conservative method like keyboard or mouse. Therefore, we design a user interface adopting pointing gesture to manipulate objects and robot naturally in 3D space...
This paper proposes a HRI framework for recognizing users' locations, identities and behaviors while they are interacting with a robot. The framework including several HRI individual components collects evidences constantly, combines them effectively and creates more reliable information on users to response to the needs of a HRI service application. The framework helps developers of the applications...
Existing robot faces have used as one-way emotional expression and communication device based on actuator control mostly. This paper is about robot face development as a bidirectional interaction interface, not one-way output or expression device, and the application. We added infrared-based touch input system to the uni-directional output device, and then implemented the robot face to be an independent...
This paper introduces a novel vision device for hand gesture-based human-robot interaction. Taking advantage of an eye-in-hand configuration, the proposed device guarantees that a target hand is projected always onto images captured from a camera. On the basis of the device, an adaptive histogram-based hand region segmentation algorithm is also proposed especially to enhance the performance against...
In this paper, we are interested in a scheme that proves effective use of soft fingertips for human-in-the-loop telemanipulation. Motion planning is carried out by the human-in-the-loop to grasp and manipulate an object using viscoelastic soft fingertips. In addition, to grasp an object firmly, an estimated torque is synthesized based on fuzzy inference. Experimental results show that the user confidence...
Users' experience of interacting with a robot is mediated by the context that characterizes the co-existence of the human and the robot. However, it has been difficult to study the role of social context in human-robot interaction (HRI) in experimental settings. In this research, we evaluated how social context influenced user acceptance of social robots in a controlled experiment. Using video scenarios...
As we move along the scale of adjustable autonomy for the control of robots from direct teleoperation at one extreme to full automation at the other, several opportunities for improvement in control quality, user feedback and machine learning suggest themselves. We describe three experiments, in telerobotics, the provision of situational awareness, and the acquisition of knowledge for automation from...
We investigated the effect of height of a robot on comfortableness of spoken dialog with the robot. We created a robot that could change the height continuously, and carried out dialog experiment with 18 subjects changing the robot's height. From the experimental result revealed the two observations: the "comfortable height" of a robot was lower than the eye height of a subject, and the...
Many systems have been implemented towards achieving effective human-machine interaction, but run the risk of being ignored if appropriate performance metrics are not in place. As a result, our goal becomes that of providing a foundation upon which we can assess how well the human and the robot perform as a team. Toward the efficient modelling of such metrics, we attempt to determine the true amount...
This paper presents a hierarchal, two-layer, connectionist-based human-action recognition system (CHARS) as a first step towards developing socially intelligent robots. The first layer is a K-nearest neighbor (K-NN) classifier that categorizes human actions into two classes based on the existence of locomotion, and the second layer consists of two multi-layer recurrent neural networks that distinguish...
This paper gives an outlook on the potential use of mobile assistive robots in automotive logistics and assembly applications. Motivated by the rising mass customization and the high demand of flexibility in car assembly, the potential of robotic co-workers is analyzed including the proposition of a technical specification. Among the set of possible scenarios, given in car assembly, the mounting of...
Ways in which people perceive machines as robots can influence their subsequent behavior and interactions. Individuals may make these classification decisions based solely on visual information, and thus the physical form of the entity alone. Participants viewed images of robots from a variety of identified domains and rated each image according to the extent to which they perceive the entity as a...
This paper presents a technique to map two dissimilar master-slave devices with similar, human-like workspaces for telemanipulation. The mapping focuses on achieving full geometric pose correspondence between the operator and the slave device while avoiding reaching into areas close to singularities and joint limits. The approach followed can be divided in 4 steps, namely: master workspace offset...
This paper describes the influence of robot appearance, robot behaviors and actuators on building causality after events in the smart environment. Although smart environment is a useful approach to help elderly people and the physically-challenged people and so on, it cannot avoid the system error, and it gives users discomfort. To solve the problems, we pay attention to causality illusion, and aim...
The purpose of this half-day workshop is to explore the role of social gaze in human-robot interaction, both how to measure social gaze behavior by humans and how to implement it in robots that interact with them. Gaze directed at an interaction partner has become a subject of increased attention in human-robot interaction research. While traditional robotics research has focused work on robot gaze...
In this paper we investigate principles of swarm control that enable a human operator to exert influence on and control large swarms of robots. We present two principles, coined selection and beacon control, that differ with respect to their temporal and spatial persistence. The former requires active selection of groups of robots while the latter exerts a passive influence on nearby robots. Both...
Theatre with robotic actors is an emerging field, with a few previous published results [1, 2, 3]. On the 14th of October 2011, we performed for a general public audience (over 300 persons) a 18 min long live theatre play, acted by professional actor Xavier Brossard and the LAAS/CNRS PR2 robot. The play was created and directed by Nicolas Darrot, a mixed-media artist from Paris.
An important element of human-robot interaction, as with interhuman interaction, is conversation. Having previously suggested the Gricean maxims as suitable guidelines for social robotics dialogue, we discovered that a preferable alternative set of guidelines: politeness maxims. In this paper, we will introduce the politeness maxims and propose its enhanced applicability in human-robot interaction...
A major challenge is to design a robot that can attract and control human attention in various social situations. If a robot would like to communicate a person, it may turn its gaze to him/her for eye contact. However, it is not an easy task for the robot to make eye contact because such a turning action alone may not be enough in all situations, especially when the robot and the human are not facing...
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