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Robots have started their adventure in the music conducting world recently, though music conducting is an art that takes years of experience and practice for human conductors. This paper presents our primary study on robotic conductors. This study includes the development of simple and affordable conducting robots, and the investigation of human-robot interaction for the specialized group of orchestra...
In this paper, we validate the extended neglect tolerance model for estimation of human robot team performance in relation to robot autonomy and compare its results with the traditionally adopted neglect tolerance model which assumes zero false alarms in human robot interactions. Extended neglect tolerance model estimates robot performance in human robot teams, where the human operator switches control...
Human motor control computational model is an important component in the study and the successful realisation of human-robot interaction. In this paper, the Operational Space Formulation is presented as a suitable framework of human motor control computational model based on the Equilibrium Point Hypothesis (EPH) approach. The iterative adaptive control strategy was incorporated to simulate human...
We consider the issue of segmenting an action in the learning phase into a logical set of smaller primitives in order to construct a generative model for imitation learning using a hierarchical approach. Our proposed framework, addressing the “how-to” question in imitation, is based on a one-shot imitation learning algorithm. It incorporates segmentation of a demonstrated template into a series of...
This paper represents the basics of robotics in the context of artificial intelligence and provides solution in future trend in robotics. It describes the very basics of robotics like sensors and actuators, gives an overview on robotic history and introduces some basic problems encountered in modern robotics. It describes possible solutions to those problems without going deeply into theory. The problems...
We conducted two experiments. In the first experiment, we made two objects with identical appearance. One was lifted by humans in constrained condition, another was lifted in unconstrained condition, and human's weight perception was compared between the two conditions. The results showed that weight perception for constrained lifting of objects was not too much different from that for unconstrained...
We report on the development of a new simulation environment for use in Multi-Robot Learning, Swarm Robotics, Robot Teaming, Human Factors and Operator Training. The simulator provides a realistic environment for examining methods for localization and navigation, sensor analysis, object identification and tracking, as well as strategy development, interface refinement and operator training (based...
Human-robot interaction is necessary in remote teleoperation of robot manipulators, especially when the environment is unstructured and objects are unfamiliar. In traditional interactive methods using contacting mechanical devices, the motion of the operator is restricted and unnatural. While camera-based tracking has the benefit of being non-contact, previous vision-based approaches have used only...
Automated recognition of human daily activities is very important for human-robot interaction (HRI) in assisted living systems. We propose a Bayesian framework to integrate motion sensor observations and the location information from a vision system for human daily activity recognition. Two problems are studied in this paper: enhancing activity recognition through the fusion of two channels of information...
Humans frequently need to lower heavy objects for various purposes. We assume that suitable human-robot systems such as power assist systems may be comfortably used to lower heavy objects/materials. However, most of the currently available power assist devices are designed for rehabilitation and health care purposes, and hence the development of suitable power assist devices for lowering heavy objects...
We have developed a mobile assistive companion robot by combining a vision sensor and a laser range sensor to track and follow a target person. Although it works well in most cases, robot might lose target occasionally due to external factors such as bad view conditions or unconstructed environments. To solve this problem, we develop a speech system and sound source detection system to achieve sound...
This paper is motivated by works done in the area of robot-assisted stroke rehabilitation. The use of electromyographic (EMG) signal brings a new way of communication interface between user and robot. However, the EMG signal has to be transferred into useful information that serve as robot input. This paper presents a novel methodology for conversion of electromyographic (EMG) signal into estimated...
Recently, the number of elderly people increases in Japan, and the system which supports them is necessary. It is necessary for the system to recognize human action. Then, the system also uses Mining technology. The system confirms the action by using voice recognition. The authors construct this system based on the concept of "Kukanchi". The intelligent space made by basing on the concept...
In this paper, we propose reliable, diverse, expansible, and usable expression generation system. Proposed system is to generate synchronized multimodal expression automatically based on hierarchical database and context information such as robot's emotional state and sentence robot is trying to say. Compared to prior system, our system based on feature parameters is much easier to generate new expression...
Expression has become one of important parts in human-robot interaction as an intuitive communication channel between humans and robots. However it is very difficult to construct robot's behaviors one by one. Developers consider how to make various motions of the robot easily. Therefore we propose an useful behavior expression method according to the sentence types and emotions. In this paper, robots...
In this paper, we propose the robust robot's attention for human based on the multi-modal sensor and robot behavior. All of the robot components for attention are operating on the intelligent robot software architecture. Human search collect the human information from the sensing information for vision and voice in various illumination change and dynamic environments. And human tracker follows the...
Multimodal human-computer interface provides a connection between a user and a computer in a natural manner. In order to determine position of the user and his speech queries, the robot uses a set of web-cameras, microphone array and technologies for distant speech recognition and face tracking. There are some methods for interaction between users and computers, such as manual entry, verbal dialog,...
This paper presents a facial expression recognition system employing Bézier curves approximation technique. The system is based on facial features extraction using the knowledge of the face geometry and approximated by 3rd order Bézier curves representing the relationship between the motion of features and changes of expressions. For face detection, color segmentation based on the novel idea of...
This paper presents a novel human-robot interaction system for which haptic interaction is involved. The system consists of a nonholonomic mobile robot and a Phantom Omni haptic device. The tracking problem on the 2D plane is analyzed and the backstepping technique is used for designing the tracking algorithm for the nonholonomic mobile robot. A haptic rendering algorithm is designed to generate the...
A natural spoken dialogue system for humanoid robot is proposed in this paper. This system is developed for a humanoid robot which designed to help human to perform several different types of daily tasks on office environment. In this system, all the tasks that the humanoid robot could perform are classified into four types, namely object delivering, document copying, water pouring and room cleaning...
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