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Robots that interact with humans in everyday situations, need to be able to interpret the nonverbal social cues of their human interaction partners. We show that humans use body posture and head pose as social signals to initiate and terminate interaction when ordering drinks at a bar. For that, we record and analyze 108 interactions of humans interacting with a human bartender. Based on these findings,...
Passive velocity field control is advantageous to deliver human-in-the-loop contour tracking rehabilitation exercises, since patients can be allowed to proceed with their preferred pace, while assistance can still be provided as determined by the therapist with ensured coupled stability. We introduce a framework based on passive velocity field control for robot assisted rehabilitation that includes...
This video presents a motion planning method enabling an autonomous mobile robot to approach a person to initiate a conversation proactively. The proposed concept implements social aspects to give motions a more human-like appearance. This is intended since experiments discussed in literature have shown that it is easier for people to predict and read the purpose of human-like movements. User study...
This paper describes the optimization of a planar wearable active orthosis for hip and knee assistance during overground walking. A non-anthropomorphic design is pursued in order to improve ergonomics and to reduce torque requirements. Based on a previously-developed systematic search algorithm of the admissible generalized solutions for the selected problem, a solution is selected and optimized by...
Enabling robots to safely interact with humans is an essential goal of robotics research. The developments achieved over the last years in mechanical design and control made it possible to have active cooperation between humans and robots in rather complex situations. In these terms, safe behavior of the robot even under worst-case situations is crucial and forms also a basis for higher level decisional...
As robots find applications in daily life conditions it becomes important to develop controllers that generate energy efficient movements by restricting variability and utilizing high gains only when necessary. Here we present a computationally light and energy efficient approach (AAC) that combines an anticipatory open-loop controller and a variable gain closed loop controller. The approach is grounded...
Most of today's robots have rigid structures and actuators requiring complex software control algorithms and sophisticated sensor systems in order to behave in a compliant and safe way adapted to contact with unknown environments and humans. By studying and constructing variable impedance actuators and their control, we contribute to the development of actuation units which can match the intrinsic...
In a soccer match, a cooperative behavior emerges from the combined execution of simple actions by players. A cooperative behavior can be planned if players are previously committed to its execution prior to its start or unplanned otherwise. The ability to reproduce some of these behaviors can be useful to help a team achieve better performances.
This paper presents the development and experimental validation of a bio-inspired autopilot, called TauPilot, that is based on the ecological Tau Theory proposed by the psychologist David Lee. Tau theory postulates that animals and humans use the tau (τ) variable (or Time-To-Contact) and simple guidance strategies to prospectively control most of their purposeful movements. This research investigates...
Service robots that work together with humans in domestic and constantly changing environments should have a general understanding about their human partners and the tasks that are to be performed. This would enable them to verify their beliefs about the common tasks and the goals of their human partners and detect unexpected events and failures. In this paper we present a way of acquiring general,...
Proactive physical robotic assistance in the presence of human prediction uncertainty is a very challenging control problem. In this paper we propose a risk-sensitive optimal feedback controller for physical assistance that autonomously adapts the robot's behavior even during unknown situations. Using a probabilistic model to represent the cooperative task execution behavior and modeling the human...
In this paper we discuss the problem of action-specific knowledge processing, representation and acquisition by autonomous robots performing everyday activities. We report on a thorough analysis of the household domain, which has been performed on a large corpus of natural-language instructions from the Web and underlines the supreme need of action-specific knowledge for robots acting in those environments...
Throwing is a complex and highly dynamic task. Humans usually exploit passive dynamics of their limbs to optimize their movement and muscle activation. In order to approach human throwing, we developed a double pendulum robotic platform. To introduce passivity into the actuated joints, clutches were included in the drive train. In this paper, we demonstrate the advantage of exploiting passive dynamics...
Intrinsically elastic robots, which technically implement some key characteristics of the human muskoskeletal system, have become a major research topic in nowadays robotics. These novel devices open up entirely new control approaches. They base on temporary storage of potential energy and its timed transformation into kinetic energy. In legged locomotion, such considerations have been a common tool...
Goal-directed physical assistance to the human is one of the most challenging problems in the area of human-robot interaction. Planning and learning from demonstration represent two conceptually different approaches to achieve goal-directed behavior. Here we examine the properties of a planning-based and a learning-based approach in the context of physical robotic assistance for the prototypical task...
Designing intrinsically elastic robot systems, making systematic use of their properties in terms of impact decoupling, and exploiting temporary energy storage and release during excitative motions is becoming an important topic in nowadays robot design and control. In this paper we treat two distinct questions that are of primary interest in this context. First, we elaborate an accurate estimation...
The ability to act in a socially-aware way is a key skill for robots that share a space with humans. In this paper we address the problem of socially-aware navigation among people that meets objective criteria such as travel time or path length as well as subjective criteria such as social comfort. Opposed to model-based approaches typically taken in related work, we pose the problem as an unsupervised...
GORGE is the name of a research tool developed for investigations into playful development of technology competence. As a research tool, it has been employed several times in varying settings and application scenarios always quite successfully. Set up as a browser game, GORGE is now invading private homes. Playing GORGE may result in a gain of technology competence provided that particular aspects...
In this paper, we present a monocular, texture-based method for person detection and upper-body orientation classification. We build on a commonly used approach for person recognition that uses a Support Vector Machine (SVM) on Histograms of Oriented Gradients (HOG) [1] but replace the SVM by a decision tree with SVMs as binary decision makers. Thereby, in addition to the pure detection of persons,...
We propose a method to plan in-hand manipulation actions with a robotic anthropomorphic hand. We consider in-hand manipulation actions as sequences between canonical grasp types identified in the humans. Our work concerns the generation of this sequence, which should be autonomous and fast enough to be performed on-line. We use a Markov Decision Process (MDP) governing the transitions between grasp...
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