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Having human access path installed, autonomous mobile systems play a crucial role in expanding the horizon of perception beyond physical-geometric perspective. In this essay, the expansion of human's substantial mobility inscribed in the two decades of RO-MAN chronicle is overviewed. Through intensive investigation under in depth interdependence of ROMAN related fields, intelligent robots can be delegated...
There are many robots which have communication skills with human but most of their actions and responses are preprogrammed and few researches inspect psychological aspects of behavior in human-robot co-creation. In this paper, we focus on action-similarity awareness as a key for building up co-creative relationship with humans. Here, action-similarity awareness means that one recognizes affinity to...
In this paper we propose a model of context-adaptive imitation between multi-human and multi-robot. In this model, first, a humanoid robot extracts human's intention from his/her behaviors, utterances, and situations. Secondly, the robot communicates this intention not only to other robots through a network, but also to humans through the robot's body expressions. Thirdly, the robot who received the...
Evacuating a building in an emergency situation can be very confusing and dangerous. Exit signs are static and thus have no ability to convey information about congestion or danger between the sign and the actual exit door. Emergency personnel may arrive too late to assist in an evacuation. Robots, however, can be stored inside of buildings and can be used to guide evacuees to the best available exit...
This paper discusses human preference learning by robot partners through interaction with a person. We use a robot music player; miuro, and we focus on the music selection for providing the person with comfortable sound field. First, we propose a control architecture of miuro based on autonomous behavior mode, interactive behavior mode, and human control mode. Next, we propose a learning method of...
A bi-modal emotion recognition approach is proposed for recognition of four emotions that integrate information from gestures and speech. The outputs from two uni-modal emotion recognition systems based on affective speech and expressive gesture are fused on a decision level fusion by using weight criterion fusion and best probability plus majority vote fusion methods, and the performance of classifier...
In human robot interaction, intuitive interface is necessary. A specific interaction device, for instance, a joystick or a teaching pendant, is not usually intuitive and needs trainings for a general user. Instruction by gesture is one of the intuitive interfaces and a potential user does not need any training for showing a gesture. Pointing is one of the simplest gestures. Hibino et. al.[1] proposed...
Guiding visitors through an exhibit space such as a museum is an important, early application for mobile robots, and commercial robots designed for this purpose have become available. We consider the problem of using a single mobile robot to simultaneously direct multiple groups of visitors through a museum or exhibition, and formulate an objective function for this task. We show that an evolutionary...
iPAM (intelligent Pneumatic Arm Movement) is a dual robotic system that aims to assist in the recovery of upper-limb movement in people with all severities of motor impairment after stroke. This paper presents effector force data gathered during the course of a pilot clinical study. It identifies the forces and workspace required to facilitate reach-retrieve exercises in a range of patients as part...
Robots are expected to co-operate with humans in day-to-day interaction. One aspect of such co-operation is behaving proactively. In this paper, our robot will exploit the visuo-spatial perspective-taking of the human partner not only from his current state but also from a set of different states he might attain from his current state. Such rich information will help the robot in better predicting...
In this paper we introduce a novel device, called iObject, which is equipped with tactile and motion tracking sensors that allow for the evaluation of human and robot grasping and manipulation actions. Contact location and contact force, object acceleration in space (6D) and orientation relative to the earth (3D magnetometer) are measured and transmitted wirelessly over a Bluetooth connection. By...
A novel method for controlling a mobile robot using qualitative inputs in the context of an approximate map, such as one sketched by a human, is presented. By defining a desired trajectory with respect to observable landmarks, human operators can send semi-autonomous robots into areas for which a truth map is not available. Waypoint planning is formulated as a quadratic optimization problem, resulting...
In the past, the music community conducted research on what makes music more musical or expressive. Much of this work has focused on the manipulation of phrasing, articulation and rubato to make music more expressive. However, it has been difficult to study neuromuscular control used by experts to create such musical music. This paper took a first step toward this effort by using the Anatomically...
In recent, control approaches for the human-like behavior in the field of service robotics have been attracting considerable attention, since most humans or animals perform various tasks uncomplicatedly. Hence simple control methods based on gaining a physical insight into human reaching movement in redundancy of DOFs have been proposed. In comparison with the conventional approaches, the proposed...
This paper introduces a novel method to teach a robot to regrasp an object based on the Programming by Demonstration paradigm. In this paradigm, a robot observes a human performing a regrasping task via various sensors to recognise crucial information in order to reproduce the task using its own hand. The main contribution is in the proposal of a representation technique that can analyse a human regrasping...
In this paper we propose a novel approach for interactive manipulation involving a human and a humanoid. The interaction is represented by means of the relative configuration between the human's and the robot's hands. Based on this principle and a set of mathematical tools also proposed in the paper, a large set of tasks can be represented intuitively. We also introduce the concept of simultaneous...
The study of human sensorimotor control and learning through robotic devices requires systems that possess bio-mimetic characteristics which allow them to interact with the world in a similar fashion dynamically (this includes backdrivability, high bandwidth, implementability of complex control algorithms, force feedback, low friction, low inertia, robustness, autonomy, appropriate strength to weight...
This article combines programming by demonstration and adaptive control for teaching a robot to physically interact with a human in a collaborative task requiring sharing of a load by the two partners. Learning a task model allows the robot to anticipate the partner's intentions and adapt its motion according to perceived forces. As the human represents a highly complex contact environment, direct...
Object delivery by pushing objects with mobile robots on a flat surface has been successfully demonstrated. However, existing methods can push objects that have a circular or rectangular shape. In this paper, we introduce a learning-based approach for pushing objects of any irregular shape to user-specified goal locations. We first automatically collect a set of data on how an irregular-shaped object...
Over the past decade, natural and human-induced disasters have claimed millions of lives. Intelligent robots equipped with advanced sensors and integrating wireless networks are attracting attention from researchers and rescuers all around the world. This paper is an application of the Wireless Sensor Network to disaster management. The wireless sensor network consists of two fixed nodes and moving...
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