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In this paper, we present efficient solutions for planning motions of dual-arm manipulation and re-grasping tasks. Motion planning for such tasks on humanoid robots with a high number of degrees of freedom (DoF) requires computationally efficient approaches to determine the robot's full joint configuration at a given grasping position, i.e. solving the Inverse Kinematics (IK) problem for one or both...
As robotic technology plays an increasing role in human lives, ??robot audition??, human-robot communication, is of great interest, and robot audition needs to be robust and adaptable for dynamic environments. This paper addresses sound source localization working in dynamic environments for robots. Previously, noise robustness and dynamic localized sound selection have been enormous issues for practical...
This paper presents a standing balance controller that explicitly handles pushes. We employ a library of optimal trajectories and the neighboring optimal control method to generate local approximations to the optimal control. We take advantage of a parametric nonlinear optimization method, SNOPT, to generate initial trajectories and then use Differential Dynamic Programming (DDP) to further refine...
In ground-based military maneuvers, group formations require flexibility when traversing from one point to the next. For a human-led team of semi-autonomous agents, a certain level of awareness demonstrated by the agents regarding the quality of the formation is preferable. Through the use of a Multi-Robot System (MRS), this work combines leader-follower principles augmented by an assistive formation...
How humans recognize others is a central topic in both psychology and the field of robot communication. In this paper, we address the issue of such social cognition in a triadic situation since it has not yet been well explored in psychological studies although it is not negligible in daily situations. Classical Heider's balance theory has been suggested in that there are balanced states of triadic...
Near-infrared spectroscopy (NIRS) is a non-invasive technology for measuring brain activity. Recently, the number of research papers on brain machine interface (BMI) based on NIRS technology is increasing. NIRS is a safe and convenient technique but its measurement results are unstable. To improve reliability of NIRS-based BMI, methods to extract stable data from NIRS signals are necessary. This paper...
Human-robot communication is an important subject for housekeeping, elderly care and entertainment robots. To make a natural communication entrainment between human and robot, emotion plays a vital role. From this view point we have developed a KANSEI communication system based on emotional synchronization. The robotic emotion was entrained to human emotion by using a vector field of dynamics, and...
A method of giving intelligence to control robots by human navigations is one of appropriate solution to respond to a lot of unforeseeable situations, and making movement of complicated robots in contact condition with surroundings is not easy. In this research, a bilateral wearable device using stiffness adjustable muscle actuator modules is developed in order to control robots, feel external force...
The Uncanny Valley hypothesis has been widely used in the areas of computer graphics and human-robot interaction to motivate research and to explain the negative impressions that participants report after exposure to highly realistic characters or robots. Despite its frequent use, empirical proof for the hypothesis remains scarce. This study empirically tested two predictions of the hypothesis: a)...
In order for anthropomorphic robots to communicate with people in a human-like way they need to produce gestures along with speech. Beat gestures are a key category of gestures, accompanying emphasis and timing of talk. The standard approach for autonomously adding gestures to speech for artificial agents to perform, is to identify when gestures should occur, and then select appropriate movements...
Investigating how people respond to and relate to robots is a multifaceted scientific challenge. This paper reports on an experimental investigation concerning movement interference effects between a human and a robot. We compare results with that obtained by Oztop et al., however, in our study we used a small child-sized robot (KASPAR) with an overall human-like appearance. The experiment was conducted...
In this paper we study object learning and recognition on a humanoid robot with foveated vision. The developed approach is view-based and can learn viewpoint-independent representations for object recognition. The training data is collected statistically and in an interactive way where a human instructor freely shows the object from a number of different viewpoints. The proposed system was fully implemented...
The first robotic copies of real humans have become available. They enable their users to be physically present in multiple locations at the same time. This study investigates what influence the embodiment of an agent has on its persuasiveness and its perceived personality. Is a robotic copy as persuasive as its human counterpart? Does it have the same personality? We performed an experiment in which...
Based on inspirations from infant development we present a system which learns associations between acoustic labels and visual representations in interaction with its tutor. The system is integrated with a humanoid robot. Except for a few trigger phrases to start learning all acoustical representations are learned online and in interaction. Similar, for the visual domain the clusters are not predefined...
With personal robotics and assistance to dependant people, robots are in continuous interface with humans. To enable a more natural communication, based on speech and gesture, robots must be endowed with auditive and visual perception capacities. This paper describes a modular multimodal interface based on speech and gestures in order to control an interactive robot called Jido. In this paper we describe...
Humanoid robots consist of biologically inspired features, human-like appearance, and intelligent behavior that naturally elicit social responses. Complex interactions are now possible, where children interact and learn from robots. A pilot study attempted to determine which features in robots led to changes in learning and behavior. Three common learning styles, lecture, cooperative, and self-directed,...
A long-standing question within the robotics community is about the degree of human-likeness robots ought to have when interacting with humans. We explore an unexamined aspect of this problem: how people empathize with robots along the anthropomorphic spectrum. We conducted a web-based experiment (n = 120) that measured how people empathized with four different robots shown to be experiencing mistreatment...
As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industrial applications for many automation purposes thanks to their variety of advantages. The design of a stable robust position controller for PAM is difficult since it is a very nonlinear time-variant controlled plant because of the compressibility of air, air mass flow rate through the valve, etc. The main...
A robot working with humans or other robots is supposed to be adaptive to changes in the environment. Reinforcement learning has been studied well for motor skill learning, robot behavior acquisition and adaptation of the behavior to the environmental changes. However, it is not practical that the robot learns and adapts its behavior only through trial and error by itself from scratch because huge...
Estimation of a caregiver's view is one of the most important capabilities for a child to understand the behavior demonstrated by the caregiver, that is, to infer the intention of behavior and/or to learn the observed behavior efficiently. We hypothesize that the child develops this ability in the same way as behavior learning motivated by an intrinsic reward, that is, he/she updates the model of...
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