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In virtual assembly verification or remote maintenance tasks, bimanual haptic interfaces play a crucial role in successful task completion. This paper proposes a method for objectively comparing how well a haptic interface covers the reachable workspace of human arms. Two system configurations are analyzed for a recently introduced haptic device that is based on two DLR-KUKA light weight robots: the...
In this paper we present a novel approach for hand gesture recognition. The proposed system utilizes upper body part tracking in a 9-dimensional configuration space and two Multi-Layer Perceptron/Radial Basis Function (MLP/RBF) neural network classifiers, one for each arm. Classification is achieved by buffering the trajectory of each arm and feeding it to the MLP Neural Network which is trained to...
Today's household appliances are quickly increasing their features and functions. These new technologies require innovative training methods to maintain learning motivation especially with older users, because they may need more time to learn. Conventional manuals are insufficient to maintain motivation in this population. Previously studied assistive communication robots also have difficulty explaining...
As an important approach to ensure safety and naturalness, compliant motion is already implemented in large-size robots, but it is still an undeveloped area in child-oriented robots as it calls for a lightweight and compact solution compared with large-size robots. In this paper, we proposed the design of a social robot which aims at conducting safe and playful Human-Robot Interaction (HRI), especially...
Interestingly Humans are able to maintain rough estimations of visibility, reachability and other capabilities of not only themselves but of the person they are interacting with. Studies in neuroscience and psychology suggest that from the age of 12-15 months children start to understand the occlusion of others line-of-sight and from the age of 3 years they start to develop the ability, termed as...
This paper presents an upper body tracking algorithm with a single monocular camera. In order to be suitable for human robot interaction, the designed method should be free to work on the moving camera platform and also can achieve real-time performance. The dimension of human posture model is extremely high, and we hereby focus on the visual extraction of head and arms. A hierarchical structure model...
This paper describes the validation process of a simulation model that have been used to explore the new possibilities of interaction when humans are guided by teams of robots that work cooperatively in urban areas. The set of experiments, which have been recorded as video sequences, show a group of people being guided by a team of three people (who play the role of the guide robots). The model used...
In this paper we propose a process which is able to generate abstract service robot mission representations, utilized during execution for autonomous, probabilistic decision making, by observing human demonstrations. The observation process is based on the same perceptive components as used by the robot during execution, recording dialog between humans, human motion as well as objects poses. This...
This paper represents the method to manipulate the objects with the upper body of a humanoid robot by capturing human motions in real-time. To control the upper body of a humanoid robot and make it behave as a human does, we define several virtual spring-damper elements between the humanoid robot and the human. The resultant motions given by the virtual forces of the elements lead the humanoid robot...
The BERT2 social robot, a platform for the exploration of human-robot interaction, is currently being built at the Bristol Robotics Laboratory. This paper describes work on the robot's face, a hybrid face composed of a plastic faceplate and an LCD display, and our implementation of facial expressions on this versatile platform. We report the implementation of two representations of affect space, each...
Understanding the spatial dimensionality and temporal context of human hand actions can provide representations for programming grasping actions in robots and inspire design of new robotic and prosthetic hands. The natural representation of human hand motion has high dimensionality. For specific activities such as handling and grasping of objects, the commonly observed hand motions lie on a lower-dimensional...
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...
We consider the problem of predicting the probability of an accident in working environments where human operators and robotic manipulators co-operate. We show how, starting from a stochastic discrete time system describing human motion, it is possible to construct a discrete abstraction of the system (a discrete time Markov Chain) to predict the possible trajectories starting from an initial point...
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...
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...
This paper presents an embeddable knowledge processing framework, along with a common-sense ontology, designed for robotics. We believe that a direct and explicit integration of cognition is a compulsory step to enable human-robots interaction in semantic-rich human environments like our houses. The OpenRobots Ontology (ORO) kernel allows to turn previously acquired symbols into concepts linked to...
We are developing a theory for human control of robot teams based on considering how control varies across different task allocations. Our current work focuses on domains such as foraging in which robots perform largely independent tasks. The present study addresses the interaction between automation and organization of human teams in controlling large robot teams performing an Urban Search and Rescue...
Face-to-face human communication is a multimodal and incremental process. An intelligent robot that operates in close relation with humans should have the ability to communicate with its human colleagues in such manner. The process of understanding and responding to multimodal inputs has been an interesting field of research and resulted in advancements in areas such as syntactic and semantic analysis,...
In the last decade, there has been significant progress on Robotics. This development has widened the intervention fields of robots, particularly the assistance and interaction with humans. Improving the quality of this interaction requires robots to be endowed with representation and/or reasoning system for spatial knowledge. Our goal is to develop a planner allowing us to use human robot interaction...
In this paper, a creature-based futuristic sociable dining table is proposed that communicates through a knock on a table. The main objective was to create a minimal number of cues for protocol communication for the purpose of establishing social interactions between a creature and a human. The creature uses a knock (within a specific period) with a Temporal Difference (TD) learning model to learn...
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