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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...
Industrial robots, designed for performing operations quickly, repeatedly and accurately have a long heritage in the manufacturing industry, operating in relatively static environments and in large numbers. Trends in the oil and gas industry to improve safety and efficiency and reduce environmental impact suggest the use of industrial robotics. New developments in regions difficult or dangerous for...
For solving the “Digital divide” problem and developing a system which understands human, the data mining technology is being developed. Moreover, within the concept of Kukanchi, the system can not only collect information, but also provide service to user. In this paper, the authors show two experiments which constructed based on “Kukanchi”. These Kukanchi systems include both techniques of action...
Social robots that provide services to humans in real environments have been developed in recent years. Such a robot should appropriately recognize its users' orders through human-like communications because of user-friendliness. However, their styles of communicating are too diverse to achieve this goal. If the robot could shape their styles, its recognition ability would be improved. An entrainment,...
Major progress in robotics turns today's humanoid robots into ever safer, more robust, and more agile agents by the moment. However, it is still a long way until robots can safely operate in open environments. Especially in the area of service robotics, the need arises for robots to work flexibly in a human centered environment. One way towards this goal is to incorporate more and more of the mechanisms...
Multi-resident activity recognition is among a key enabler in many context-aware applications in a smart home. However, most of prior researches ignore the potential interactions among residents in order to simplify problem complexity. On the other hand, multiple-resident activities are usually recognized using cameras or wearable sensors. However, due to human-centric concerns, it is more preferable...
Recently, the number of elderly people increases in Japan, and the need of caring elderly people is also increase. Lack of exercise and falling down are the cause of making elderly people need care. For prevention of the situation above, the authors propose daily support system for elderly people using an interaction monitoring robot. Daily support system use the robot to implement both exercise support...
In this paper, we report on our development of a robotic system that assists people in accomplishing simple tasks in daily life (e.g., retrieving objects for handicapped and elderly people). These tasks, inevitably involve detecting various kinds of objects. In particular, here, we present an interactive method to detect objects using spatial information. Our experimental results confirm the usefulness...
The goal of rescue robotics is to extend the capabilities and to increase the safety of human rescue teams. During a rescue mission a mobile robot is deployed on a rescue site and is operated from a safe place by a human operator. The operator can not see the robot and the environment and a decision on the path selection is very complicated. Our goal is to provide a kind of automatic “pilot system”...
We present a practical strategy for real-time path planning for articulated robot arms in changing environments by integrating PRM for Changing Environments with 3D sensor data. Our implementation on Care-O-Bot 3 identifies bottlenecks in the algorithm and introduces new methods that solve the overall task of detecting obstacles and planning a path around them in under 100 ms. A fast planner is necessary...
Technology for multirobot systems has advanced to the point where we can consider their use in a variety of important domains, including urban search and rescue. A key to the practical usefulness of multirobot systems is the ability to have a large number of robots effectively controlled by small numbers of operators. In this paper, two modalities for controlling a team of 24 robots in a foraging...
This paper addresses the use of a service robot system working for humans in a daily life environment. The robot system described here always interacts with humans, and is therefore required to consider the satisfaction of users to provide suitable services. Our goal is to develop a robot system offering a hand-over service according to the preference of users. Here, we construct a task instruction...
This paper presents a development framework for social robots with which developers can easily prepare communicative behaviors based on tag-based sentences. Previous literature in human-robot interaction has revealed various useful non-verbal behaviors. But for developers, integrating such a large amount of non-verbal behaviors each time they build a social robot is not realistic. The more repertory...
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...
In the field of comanipulation (i.e. a man and a robot sharing the same task), force amplification is an interesting function that can be achieved by using two force sensors. This technique is known in the literature but little attention has been paid so far to stability/passivity properties. We will explain how to deal with passivity based stability criteria, and point out performance limitations...
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 presents a novel approach for RT Ontology development, including ontology learning and evolution mechanism. In service robotics systems, understanding the relationship between everyday objects and user intention is the key feature to provide suitable services according to context. RT Ontology has shown to be an efficient technique to represent this relationship. In the proposed method,...
In this paper we explore the effects of service level differentiation on a multi-robot control system. We examine the premise that although long interaction time between robots and operators hurts the efficiency of the system, as it generates longer waiting time for robots, it provides robots with longer neglect time and better performance benefiting the system. In the paper we address the problem...
We propose an object tracking system for a service robot working in an everyday environment. The system is composed of an intelligent cabinet, a floor sensing system and a data management system. The position of an object can be classified into three areas: 1) in/on furniture, 2) on the floor, 3) held by a human or a robot. Being equipped with a RFID reader and loadcells, the intelligent cabinet measures...
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...
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