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Walking gait based on actual machine elements that capture the major features of human locomotion may enhance the understanding of human leg morphology and control, and provide necessary background science for the design and control of human-robot exoskeleton interaction system. This paper describes an investigation into the biomechanical effects of human lower limb joints during different loaded...
Due to the anticipated future, extensive use of robots, human beings will probably share common spaces with them. The relationships between robots and humans will be conducted at close distances. Predicting people's future positions helps robots understand human behavior and react safely and naturally. In this paper, we propose a method for predicting people's positions in crossing behaviors, i.e...
Human robot interaction is an emerging area of research with many challenges. Knowledge about human behaviors could lead to more effective and efficient interactions of a robot in populated environments. This paper presents a probabilistic framework for the learning and representation of human motion patterns in an office environment. It is based on the observation that most human trajectories are...
This article presents a novel approach for optimizing locally the work of cooperative robots and obtaining the minimum displacement of humans in a guiding people mission. Unlike other methods, we consider situations where individuals can move freely and can escape from the formation, moreover they must be regrouped by multiple mobile robots working cooperatively. The problem is addressed by introducing...
Motivated by functional interpretations of spatial language terms, and the need for cognitively plausible and practical abstractions for mobile service robots, we present a spatial representation based on the physical support of one object by another, corresponding to the preposition “on”. A perceptual model for evaluating this relation is suggested, and experiments - simulated as well as using a...
In this paper, we study the stability region for a set of intelligent controllers developed by learning human expert control skills using support vector machines (SVMs). Based on the discrete-time system Lyapunov theory, a Chebychev points based estimation approach is proposed to evaluate the stability region, a key property of this set of SVM-based human learning controllers. One of such learning...
Human body detection and localization is an essential capability of an autonomous mobile robot which works in the human-robot interaction (HRI) environments. However, due to field of view (FOV) limitations, it is hard to detect all human bodies around a mobile robot by using a conventional camera, and distances between robots and human bodies are also difficult to estimate. In this paper, we propose...
We are developing real-time planning and control systems that allow a single human operator to control a team of unmanned aerial vehicles (UAVs). If the operator requests more tasks than can be immediately addressed by the available UAVs, our planning system must choose which goals to try to achieve, and which to postpone for later effort. To make this decision-making easily understandable and controllable,...
In this work, a novel comprehensive scheme for the coordinated control of remotely operated vehicle-manipulator systems (ROVMs) is proposed. In the proposed scheme, instead of commanding the motion of the vehicle and the manipulator separately, a human pilot commands only the manipulator's end-effector motion using a parallel- architectured six-degree-of-freedom (6-DOF) joystick. The generated reference...
This paper considers the bilateral teleoperation of wheeled mobile robot with time delay using the virtual image robot. In this paper, we introduce the virtual image robot as a master robot. The human operator commands the virtual image robot, the slave wheeled mobile robot tracks the motion of the virtual image robot. The kinematics and dynamics of master/slave robots is considered. The scattering...
An approach to increase road capacity consists in making vehicles move much closer to each other, i.e. using platoons, and to avoid the constant stop-and-go in urban traffic. This paper addresses the studies of new models to allow the research of cooperative and autonomous communication-enabled vehicles, with platooning capabilities, and the addition of new features in SUMO (Simulation for Urban MObility)...
This paper describes and discusses the preliminary results of a behavioural study on robot social acceptability, which was carried out during a public demonstration in South Korea. Data was collected by means of direct observation of people behaviour during interaction with robots. The most interesting result to emerge is that of young people: they tended to react to the robots presence with extreme...
This paper deals with the problem of generating realistic human-like reaching movements from a small set of movement primitives. Two kinds of movement databases are used as reference. The first one is obtained numerically, by applying biological principles of motor control on the dynamic model of the robot arm. The second one is obtained by recording reaching movements of human subjects. From these...
We present a study on people's acceptance of robots performing tasks in a city. Three different entities (a human, a human in the costume of a mascot, and a robot) performed tasks in three different scenarios: endlessly guiding, responding to irrational complaints, and picking an accidentally discarded key out of a trash. All of these tasks involve entities interacting with visitors in situations...
Telemedicine is a new and promising application in the field of medical science. Medical consulting and remote medical procedures or examinations became more effective with the development of interactive audiovisual systems and remote mobile robotic platforms. Tele-presence requires real time video transmission. Fixed mounting of video device on mobile robotic platform limits the video projection...
The focus of this paper is how to design legal and ethical behaviour into Semi/Autonomous Systems (S/AS) that work within a System-of-Systems (SoS) context, in either a military or civilian environment. Its intention is to explore the problem domain, question the comprehensiveness of current work in this area and postulate a series of issues that the authors feel need to be addressed if serious progress...
Robot path planning has traditionally concentrated on collision-free paths. For robots that collaborate closely with humans, however, the situation is different in two respects: 1) the humans in the robot's environment are not randomly moving objects, but cognitive beings who can deliberately make way for a robot to pass and 2) the quality of a navigation plan depends less on quantitative efficiency...
For an autonomous robotic system, the ability to share the same workspace and interact with humans is the basis for cooperative behavior. In this work, we investigate human spatial language as the communicative channel between the robot and the human, facilitating their joint work on a tabletop. We specifically combine the theory of Dynamic Neural Fields that represent perceptual and cognitive states...
This paper studies dancing as a haptic interaction task with the aim of replacing one of the human dancing partners by an interactive robot. Starting from haptic recordings of human dancing couples, the interactive behavior of a male dancing partner is synthesized. For this purpose recorded dancing steps are approximated using multiple vector fields and faded into each other by simply switching between...
This paper presents a first theoretical framework for a dialog strategy handling miscommunication in natural language Human-Robot Interaction (HRI). On the one hand the dialog strategy is deduced from findings about human-human communication patterns and coping strategies for miscommunication. On the other hand, relevant cognitive theories concerning human perception serve as a conceptual basis for...
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