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Human behaviors are highly affected by implicit human factors such as culture, social conventions, laws and even the mental states of individuals and groups. If robots are to be accepted by humans, they must conform to common social norms and local customs and recognize highly socialized spatial behaviors. This paper aims to extend the Spatial Behavior Cognition Model (SBCM) proposed in [14] by adding...
Ensuring that an interaction is initiated with a particular and unsuspecting member of a group is a complex task. As a first step the robot must effectively, expediently and reliably recognise the humans as they carry on with their typical behaviours (in situ). A method for constructing a scale and viewing angle robust feature vector (from analysing a 3D pointcloud) designed to encapsulate the inter-person...
Rehabilitation robotic devices have been actively explored for training patients with impaired neural functions or assisting those with weak limbs due to aging or diseases. In recent years, the authors have proposed light-weight exoskeleton designs for the upper arm, in which rigid links of the exoskeleton are replaced by lightweight cuffs attached to the moving limb segments of the human arm. Cables,...
Being able to detect and recognize human activities is essential for several applications, including personal assistive robotics. In this paper, we perform detection and recognition of unstructured human activity in unstructured environments. We use a RGBD sensor (Microsoft Kinect) as the input sensor, and compute a set of features based on human pose and motion, as well as based on image and point-cloud...
In this paper, we describe a NAO H25 humanoid robot painter assisted by a human. The aim of this study is to reproduce the whole painting process by a humanoid robot with a vision system and fingers. The novelty of the study lies in using a human assistant in interaction with the robot and filling regions in the picture. The painting process is performed by the humanoid robot in three phases: obtaining...
Semantic information can help both humans and robots to understand their environments better. In order to obtain semantic information efficiently and link it to a metric map, we present a semantic mapping approach through human activity recognition in an indoor human-robot coexisting environment. An intelligent mobile robot platform can create a 2D metric map, while human activity can be recognized...
This paper proposes a new strategy for making a knot with a general-purpose arm. The strategy is divided into four stages: First, a human-performed knotting action is analyzed to acquire some motion primitives. Second, based on these databases, the robot is taught to tie a knot. Third, key points on the stored trajectories are extracted. These key points are considered in a general case, and then...
The aim of this work is to propose a cloud computing architecture simulation platform for social human-robot interaction. This paper explains the design and development of this system named SIGVerse in four main components, namely (1) SIGServer as the central server, (2) Agent Controller for user applications, (3) Service Provider, and (4) SIGViewer as the client terminal, and web based development...
This paper presents a distributed human tracking system based on pyroelectric sensor network and corresponding tracking algorithm. By using the field of view (FOV) of each sensor, two nodes of one detection area can detect the localization of target. In the design of tracking algorithm, a distributed information filter is constructed by using joint probabilistic data association (JPDA) and consensus...
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...
A service oriented architecture with Robot Operating System is developed for upper part humanoid robot teleoperation with human gesture recognition. This architecture enables the system to distributed in nodes do physically do not change the humanoid weight.
This study is a part of an ongoing project which aims to assist in teaching Sign Language (SL) to hearing-impaired children by means of non-verbal communication and imitation-based interaction games between a humanoid robot and a child. In this paper, the problem is geared towards a robot learning to imitate basic upper torso gestures (SL signs) using different machine learning techniques. RGBD sensor...
This paper proposes separated master system to decrease operational force of bilateral control in free motion. Operational force in bilateral control is not desirable because it prevent accurate reproduction of remote environmental force. Thus to decrease operational force is important. The master system consists of a grip part and an actuator part. A human operator manipulates the grip part. In free...
Human rights at poor working condition is the severe problem in modern manufacturing system. Dirty and hazard surroundings to make IT products or automobile products is also a critical issue in Korea. Moreover, long working hours to do tedious and repetitive operation is against to the human welfare. To solve these problems fundamentally, the industrial robot can be a fine solution. The human-robot...
Wearable sensors are attracting wide interests. This paper describes design of a new high strength device that is capable of support the whole weight of human or the humanoid robots when the subjects are standing or walking. This device was modeled via the application of flexure cantilever in parallel configuration to support the large force and implement the measurement. It has three degrees of freedom...
Interacted force between a robot, human and anatomical object in orthopedic surgery provides crucial information for safe and accurate bone cutting. When the robot plays the role of assisting the surgeon in the whole surgical procedure, the robot is trying to comply with the human intention according to various cutting conditions. The reaction force to the robot from the human is for indicating human...
A computational framework for artificial personality in cognitive robots is introduced. While every robot has some form of personality, the framework reported here is flexible and enables the exploration of different behaviors on the same robotic platform. The framework described here maintains a probabilistic representation of an internal state that includes emotion, motivation, sensing, and previous...
As the robot are not intelligent enough to cope with unexpected events, they can not accomplish their mission autonomously without human operation. To overcome this kind of limitation, teleoperation has been studied for a long time. A master-slave is one of the teleoperation systems considered. It consists of a master robot operated by a human, a slave robot working in a real field, and communication...
Earthquakes, firefighting, bomb blasting, landslides, cyclones, floods are some of the natural disasters keep making us realize that there is no power bigger than that of the nature around us. With the evolution of science and technology at an uncontrolled pace, and the creation of sky scraper buildings and dwellings and encroachments everywhere, the risks of losing life due to such calamities has...
This paper describes the mechanism and the control system of a koala robot. It is extremely important for this kind of pet robot to be familiar with a human being. The robot can express various types of feelings by using body motions, eye motions, and sounds. It consists of 14 DOFs such as 2-DOF in the neck, and a 3-DOF in each leg. Its height is 233[mm], and its weight is 2.24[kg]. Several types...
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