2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)最新文献_第6页

Dealing with ‘long turns’ produced by users of an assistive system: How missing uptake and recipiency lead to turn increments 处理由辅助系统用户产生的“长转弯”:缺少吸收和接收如何导致转弯增量

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172322

Katharina Cyra, K. Pitsch

{"title":"Dealing with ‘long turns’ produced by users of an assistive system: How missing uptake and recipiency lead to turn increments","authors":"Katharina Cyra, K. Pitsch","doi":"10.1109/ROMAN.2017.8172322","DOIUrl":"https://doi.org/10.1109/ROMAN.2017.8172322","url":null,"abstract":"Based on a user study, we start from the observation that ‘long turns’ uttered by users towards an assistive system constitute a challenge for the dialog management of a voice-operated system. Assuming an interactional perspective, we address the question as to how ‘long turns’ emerge in interaction. We suggest to conceive of these utterances as being co-constructed by both, the user and the multimodal conduct of the technical system. In this paper, we examine how such ‘long turns’ emerge step by step in terms of an initial utterance being expanded by so-called ‘increments’ as well as their specific structure. Analysis shows that such utterance expansions (causing ‘long turns’) indicate that the user faces problems with a lack of uptake resp. display of recipiency by the technical system. Combining qualitative micro-analysis with quantification, we discuss specific interactional contexts of turn increments, different actions performed by them and the role of uptake resources in the light of designing autonomous speech-based systems.","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":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129921822","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: 3

Discussions about lying with an ethical reasoning robot 与道德推理机器人讨论关于说谎的问题

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172494

F. Lindner, Laura Wächter, Marte Bentzen

引用次数: 7

A human workload assessment algorithm for collaborative human-machine teams 面向人机协作团队的人力工作量评估算法

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172328

Jamison Heard, C. Harriott, J. Adams

{"title":"A human workload assessment algorithm for collaborative human-machine teams","authors":"Jamison Heard, C. Harriott, J. Adams","doi":"10.1109/ROMAN.2017.8172328","DOIUrl":"https://doi.org/10.1109/ROMAN.2017.8172328","url":null,"abstract":"Mass casualty events caused by a biological weapon require fully capable first response teams. However, human first responders are equipped with protective gear, which limits their capabilities to complete tasks. Robots can be employed to work collaboratively with the first responders in order to augment the human's reduced abilities. The robot needs to understand and adapt to the human's workload level in order for the human-machine team to effectively complete tasks. The automatic detection of human workload levels can provide valuable insight into the human's capabilities, as workload has a direct relationship with task performance. The robot can monitor the objective metrics of the human's workload level in order to accurately estimate workload via a workload assessment algorithm. The algorithm must be able to assess overall workload and the components of workload, in order for the robot to correctly adapt its interactions or reallocate tasks among the team. A novel workload assessment algorithm that provides an accurate estimate of overall workload and each workload component is presented and evaluated. The algorithm is capable of distinguishing between high and low workload conditions; however, the algorithm's workload values correlate poorly to a generated workload model. Modifications to enhance the algorithm's capabilities are discussed and will be investigated in future work.","PeriodicalId":134777,"journal":{"name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","volume":"142 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132411170","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: 6

Socially acceptable robot navigation over groups of people 社会上可接受的机器人导航人群

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172454

Araceli Vega-Magro, Luis J. Manso, P. Bustos, Pedro Núñez Trujillo, D. Macharet

{"title":"Socially acceptable robot navigation over groups of people","authors":"Araceli Vega-Magro, Luis J. Manso, P. Bustos, Pedro Núñez Trujillo, D. Macharet","doi":"10.1109/ROMAN.2017.8172454","DOIUrl":"https://doi.org/10.1109/ROMAN.2017.8172454","url":null,"abstract":"Considering the widespread use of mobile robots in different parts of society, it is important to provide them with the capability to behave in a socially acceptable manner. Therefore, a research topic of great importance recently has been the study of Human-Robot Interaction. Autonomous navigation is a fundamental task in Robotics, and several different strategies that produce paths that are either length or time optimized can be found in the literature. However, considering the recent use of mobile robots in a more social context, the use of such classical techniques is restricted. Therefore, in this article we present a social navigation approach considering environments with groups of people. The proposal uses a density function to efficiently represent groups of people, and modify the navigation architecture in order to include the social behaviour of the robot during its motion. This architecture is based on the combined use of the Probabilistic Road Mapping (PRM) and the Rapidly-exploring Random Tree (RRT) path planners and an adaptation of the elastic band algorithm. Experimental evaluation was carried out in different simulated environments, providing insight on the performance of the proposed technique, which surpasses classical techniques with no proxemics awareness in terms of social impact.","PeriodicalId":134777,"journal":{"name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133014143","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: 17

Climbing over large obstacles with a humanoid robot via multi-contact motion planning 基于多接触运动规划的仿人机器人攀爬大型障碍物

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172457

Pavan Kanajar, D. Caldwell, Petar Kormushev

{"title":"Climbing over large obstacles with a humanoid robot via multi-contact motion planning","authors":"Pavan Kanajar, D. Caldwell, Petar Kormushev","doi":"10.1109/ROMAN.2017.8172457","DOIUrl":"https://doi.org/10.1109/ROMAN.2017.8172457","url":null,"abstract":"Incremental progress in humanoid robot locomotion over the years has achieved important capabilities such as navigation over flat or uneven terrain, stepping over small obstacles and climbing stairs. However, the locomotion research has mostly been limited to using only bipedal gait and only foot contacts with the environment, using the upper body for balancing without considering additional external contacts. As a result, challenging locomotion tasks like climbing over large obstacles relative to the size of the robot have remained unsolved. In this paper, we address this class of open problems with an approach based on multi-body contact motion planning guided through physical human demonstrations. Our goal is to make the humanoid locomotion problem more tractable by taking advantage of objects in the surrounding environment instead of avoiding them. We propose a multi-contact motion planning algorithm for humanoid robot locomotion which exploits the whole-body motion and multi-body contacts including both the upper and lower body limbs. The proposed motion planning algorithm is applied to a challenging task of climbing over a large obstacle. We demonstrate successful execution of the climbing task in simulation using our multi-contact motion planning algorithm initialized via a transfer from real-world human demonstrations of the task and further optimized.","PeriodicalId":134777,"journal":{"name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132078513","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: 4

Keep on moving! Exploring anthropomorphic effects of motion during idle moments 继续前进!探索在空闲时刻运动的拟人化效果

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172409

Thibault Asselborn, W. Johal, P. Dillenbourg

引用次数: 18

Projection mapping of behavioral expressions onto manufactured figures for speech interaction 用于言语交互的行为表达在人造人偶上的投影映射

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172273

Yoshihisa Ishihara, Kazuki Kobayashi

引用次数: 2

Estimation of child personality for child-robot interaction 儿童-机器人交互中儿童人格的估计

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172411

Kasumi Abe, Y. Hamada, T. Nagai, M. Shiomi, T. Omori

引用次数: 10

Contextual awareness: Understanding monologic natural language instructions for autonomous robots 上下文意识:理解自主机器人的单一自然语言指令

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172349

Jacob Arkin, Matthew R. Walter, Adrian Boteanu, Michael E. Napoli, Harel Biggie, H. Kress-Gazit, T. Howard

{"title":"Contextual awareness: Understanding monologic natural language instructions for autonomous robots","authors":"Jacob Arkin, Matthew R. Walter, Adrian Boteanu, Michael E. Napoli, Harel Biggie, H. Kress-Gazit, T. Howard","doi":"10.1109/ROMAN.2017.8172349","DOIUrl":"https://doi.org/10.1109/ROMAN.2017.8172349","url":null,"abstract":"Today, there are many examples of humans and robots regularly interacting in a variety of domains, such as manufacturing, coordinated assembly, and rehabilitation. A resulting demand for more generally accessible communication interfaces has motivated several recent independent research efforts focused on providing robotic systems with a robust natural language interface. Natural language interfaces enable intuitive interaction for untrained and non-expert users. However, achieving real-time performance is particularly challenging, yet essential, to enable flexible, efficient communication. The length of the language input directly impacts the run-time performance and quickly becomes a practical issue when the input is a sequence of multiple sentences, or a monologue. In this work, we propose a variant of a contemporary probabilistic graphical model for language understanding that introduces novel segmentation of the input into a sequence of sentences to be labeled in order. We introduce the notion of a continuously updated prior context that retains the meaning of previous sentences as the inference process proceeds. This prior context serves as evidence during future sentence evaluations. We evaluate our model on two natural language corpora, and demonstrate its utility on a Clearpath Husky A200 mobile manipulator and a simulated Rethink Robotics Baxter Robot.","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":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123117436","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: 13

A fully immersive VR-based haptic feedback system for size measurement in inspection tasks using 3D point clouds 一个完全沉浸式的基于vr的触觉反馈系统，用于使用3D点云的检测任务中的尺寸测量

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2017-08-01 DOI: 10.1109/ROMAN.2017.8172388

C. Loconsole, Giacomo Tattoli, Ilaria Bortone, F. Tecchia, D. Leonardis, A. Frisoli

引用次数: 2