2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)最新文献

Automatic detection of human interactions from RGB-D data for social activity classification 从RGB-D数据中自动检测人类互动，用于社会活动分类

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-12-14 DOI: 10.1109/ROMAN.2017.8172405

Claudio Coppola, S. Coşar, D. Faria, N. Bellotto

{"title":"Automatic detection of human interactions from RGB-D data for social activity classification","authors":"Claudio Coppola, S. Coşar, D. Faria, N. Bellotto","doi":"10.1109/ROMAN.2017.8172405","DOIUrl":"https://doi.org/10.1109/ROMAN.2017.8172405","url":null,"abstract":"We present a system for temporal detection of social interactions. Many of the works until now have succeeded in recognising activities from clipped videos in datasets, but for robotic applications, it is important to be able to move to more realistic data. For this reason, the proposed approach temporally detects intervals where individual or social activity is occurring. Recognition of human activities is a key feature for analysing the human behaviour. In particular, recognition of social activities is useful to trigger human-robot interactions or to detect situations of potential danger. Based on that, this research has three goals: (1) define a new set of descriptors, which are able to characterise human interactions; (2) develop a computational model to segment temporal intervals with social interaction or individual behaviour; (3) provide a public dataset with RGB-D data with continuous stream of individual activities and social interactions. Results show that the proposed approach attained relevant performance with temporal segmentation of social activities.","PeriodicalId":134777,"journal":{"name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128086766","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 15

Developing child-robot interaction scenarios with a humanoid robot to assist children with autism in developing visual perspective taking skills 利用类人机器人开发儿童机器人互动场景，帮助自闭症儿童发展视觉视角拍摄技能

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-12-14 DOI: 10.1109/ROMAN.2017.8172434

L. Wood, K. Dautenhahn, B. Robins, A. Zaraki

引用次数: 23

A new approach to improve the parameter estimation accuracy in robotic manipulators using a multi-objective output error identification technique 利用多目标输出误差辨识技术提高机械臂参数估计精度的新方法

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-12-14 DOI: 10.1109/ROMAN.2017.8172488

C. West, A. Montazeri, S. Monk, Dobromil Duda, C. J. Taylor

{"title":"A new approach to improve the parameter estimation accuracy in robotic manipulators using a multi-objective output error identification technique","authors":"C. West, A. Montazeri, S. Monk, Dobromil Duda, C. J. Taylor","doi":"10.1109/ROMAN.2017.8172488","DOIUrl":"https://doi.org/10.1109/ROMAN.2017.8172488","url":null,"abstract":"The research behind this article primarily concerns the development of mobile robots for nuclear decommissioning. The robotic platform under study has dual, seven-function, hydraulically actuated manipulators, for which the authors are developing a vision based, assisted teleoperation interface for common decommissioning tasks such as pipe cutting. However, to improve safety, task execution speed and operator training-time, high performance control of the nonlinear manipulator dynamics is required. Hence, the present article focuses on an associated dynamic model, and addresses the challenging generic task of parameter estimation for a highly non-convex and nonlinear system. A novel approach for estimation of the fundamental parameters of the manipulator, based on the idea of multi-objectivization, is proposed. Here, a single objective output error identification problem is converted into a multi-objective optimization problem. This is solved using a multi-objective genetic algorithm with non-dominated sorting. Numerical and experimental results using the nuclear decommissioning robot, show that the performance of the proposed approach, in terms of both the output error index and the accuracy of the estimated parameters, is superior to the previously studied single-objective identification problem.","PeriodicalId":134777,"journal":{"name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127323198","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

Skin vibration and contact force in active perception for roughness ratings 粗糙度等级主动感知中的皮肤振动和接触力

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-12-14 DOI: 10.1109/ROMAN.2017.8172499

Makiko Natsume, Yoshihiro Tanaka, W. B. Tiest, A. Kappers

{"title":"Skin vibration and contact force in active perception for roughness ratings","authors":"Makiko Natsume, Yoshihiro Tanaka, W. B. Tiest, A. Kappers","doi":"10.1109/ROMAN.2017.8172499","DOIUrl":"https://doi.org/10.1109/ROMAN.2017.8172499","url":null,"abstract":"When we touch an object, we can obtain tactile information through our skin. Thus it is important to reveal the relationship between the subjective sensation and objective quantities like the skin vibration elicited on our skin. In this paper, we focus on roughness perception, one of the main tactile sensations of materials. We measured skin vibration and contact force in natural active roughness perception for a large set of different materials, of which the physical roughness could be expressed in various industrial roughness measures like Ra. The results showed that there was no relationship between contact force and subjective roughness, so apparently humans do not control contact forces intentionally in a roughness estimation task. Power functions were fitted to each relationship between the other objective parameters and estimated roughness. The goodness-of-fit value of skin vibration was significantly better than any of the other parameters. Thus, the main conclusion is that these results suggest that skin vibration plays a determining role in roughness perception.","PeriodicalId":134777,"journal":{"name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114434122","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9

Mind attribution to Androids: A comparative study with Italian and Japanese adolescents 机器人的思维归属:意大利和日本青少年的比较研究

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-12-08 DOI: 10.1109/ROMAN.2017.8172358

G. Trovato, F. Eyssel

引用次数: 10

Agent auto-generation system: Interact with your favorite things 代理自动生成系统:与您喜爱的事物交互

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-12-08 DOI: 10.1109/ROMAN.2017.8172302

S. Sawada, Taichi Sono, M. Imai

引用次数: 0

Expectation management in child-robot interaction 子机器人交互中的期望管理

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-12-08 DOI: 10.1109/ROMAN.2017.8172412

M. Ligthart, O. B. Henkemans, K. Hindriks, Mark Antonius Neerincx

引用次数: 11

Exploring the effectiveness of using temporal order information for the early-recognition of suture surgery's six steps based on video image analyses of surgeons' hand actions 基于外科医生手部动作视频图像分析，探索利用时间顺序信息对缝合手术六个步骤进行早期识别的有效性

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-12-08 DOI: 10.1109/ROMAN.2017.8172343

Miwa Tsubota, Ye Li, J. Ohya

{"title":"Exploring the effectiveness of using temporal order information for the early-recognition of suture surgery's six steps based on video image analyses of surgeons' hand actions","authors":"Miwa Tsubota, Ye Li, J. Ohya","doi":"10.1109/ROMAN.2017.8172343","DOIUrl":"https://doi.org/10.1109/ROMAN.2017.8172343","url":null,"abstract":"To alleviate the recent shortage problem of nurses, the actualization of RSN (Robotic Scrub Nurse) that can autonomously judge the current step of the surgery and pass the surgical instruments needed for the next step to surgeons is desired. The authors developed a computer vision based algorithm that can early-recognize only two steps of suture surgery. Based on the past work, this paper explores the effectiveness of utilizing temporal order of the six steps in suture surgery for the early-recognition. Our early-recognition algorithm consists of two modules: start point detection and hand action early-recognition. Segments of the test video that start from each quasi-start point are compared with the training data, and their probabilities are calculated. According to the calculated probabilities, hand actions could be early-recognized. To improve the early-recognition accuracy, temporal order information could be useful. This paper checks confusions of three steps' early recognition results, and if necessary, early-recognizes again after eliminating the wrong result, while for the other three steps, temporal order information is not utilized. Experimental results show our early-recognition method that utilizes the temporal order information achieves better performances.","PeriodicalId":134777,"journal":{"name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125074603","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Wizard of Oz vs autonomous: Children's perception changes according to robot's operation condition 《绿野仙踪》vs《自主机器人》:儿童的感知会随着机器人的操作情况而变化

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-12-08 DOI: 10.1109/ROMAN.2017.8172374

D. Tozadore, A. H. M. Pinto, R. Romero, G. Trovato

{"title":"Wizard of Oz vs autonomous: Children's perception changes according to robot's operation condition","authors":"D. Tozadore, A. H. M. Pinto, R. Romero, G. Trovato","doi":"10.1109/ROMAN.2017.8172374","DOIUrl":"https://doi.org/10.1109/ROMAN.2017.8172374","url":null,"abstract":"The presence of robots in human lifestyle is no longer a distant reality, as robots are being employed in several fields, including educational purposes. However, most of the research in educational robotics does not use autonomous social behavior, but rather techniques like Wizard of Oz (WoZ). This paper presents the very first test in a school environment of a robotic architecture to control an autonomous system for educational interactions, evaluated from user's perspective when compared to a teleoperated situation. The architecture aims to manage three main communication robot resources — speech, vision and gesture — in an autonomous way and provide an interaction as acceptable as when someone controls the robot. The experiment was performed randomly assigning 82 students aged between 7 and 11 to interact with a NAO robot in two conditions of robot operation: autonomous and teleoperated. The results suggest that there is no significant difference between the conditions in user's enjoyment and system time response, but they decreased their perception regarding robot's intelligence after knowing about the teleoperation.","PeriodicalId":134777,"journal":{"name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130507470","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 19

Ethical considerations of gendering very humanlike androids from an interdisciplinary perspective 从跨学科的角度对非常像人类的机器人性别的伦理考虑

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-12-08 DOI: 10.1109/ROMAN.2017.8172355

E. Knox, Katsumi Watanabe

引用次数: 1