2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)最新文献

The Role of Cybersecurity and HPC in the Explainability of Autonomous Robots Behavior 网络安全和高性能计算在自主机器人行为可解释性中的作用

2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2021-07-08 DOI: 10.1109/ARSO51874.2021.9542829

Vicente Matellán Olivera, F. J. Lera, Ángel Manuel Guerrero Higueras, F. Martín, Jonatan Ginés

引用次数: 1

Socially Fair Coverage: The Fairness Problem in Coverage Planning and a New Anytime-Fair Method 社会公平报道:报道计划中的公平问题与一种新的随时公平方法

2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2021-07-08 DOI: 10.1109/ARSO51874.2021.9542836

Martim Brandao

引用次数: 4

Intuitive and Versatile Full-body Teleoperation of A Humanoid Robot 直观、通用的仿人机器人全身遥操作

2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2021-07-08 DOI: 10.1109/ARSO51874.2021.9542840

Chenzheng Wang, Xuechao Chen, Zhangguo Yu, Yue Dong, Runming Zhang, Qiang Huang

{"title":"Intuitive and Versatile Full-body Teleoperation of A Humanoid Robot","authors":"Chenzheng Wang, Xuechao Chen, Zhangguo Yu, Yue Dong, Runming Zhang, Qiang Huang","doi":"10.1109/ARSO51874.2021.9542840","DOIUrl":"https://doi.org/10.1109/ARSO51874.2021.9542840","url":null,"abstract":"Teleoperation of a humanoid is an important topic in robotics research because it can potentially complete most human-capable tasks, especially in places that are unsafe for human beings. However, due to the high number of degrees of freedom in humanoids, it is hard for teleoperated humanoid systems to be versatile and intuitive to use in the same time. Those that are capable of a large variety of tasks usually require the operator to master a complicated control interface; and humanoids that can be teleoperated simply by joysticks or haptic devices are often limited to a few preprogrammed tasks. This paper presents a humanoid teleoperation system where the robot's full body can be teleoperated intuitively by a human operator to complete various tasks and it requires minimal training on the operator. It is built with a human-sized humanoid robot with a stereo camera on its head, a VR headset which provides the operator with a 3D first-person view from that camera and a motion capture suit that records the operator's full-body movement. Matching algorithms are carefully designed between the operator's and robot's full-body motion so that the former can move freely during teleoperation. We demonstrate on the BHR-6 humanoid robot that this system allows inexperienced users to easily teleoperate a humanoid robot to perform various tasks, including manipulating objects and walking.","PeriodicalId":156296,"journal":{"name":"2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"136 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124268539","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: 2

Agility Metrics in the ARIAC Competition ARIAC竞赛中的敏捷度量

2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2021-07-08 DOI: 10.1109/ARSO51874.2021.9542831

Anthony Downs, Z. Kootbally, C. Schlenoff

引用次数: 0

Intelligent Agent Deception and the Influence on Human Trust and Interaction 智能代理欺骗及其对人类信任和互动的影响

2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2021-07-08 DOI: 10.1109/ARSO51874.2021.9542847

Kantwon Rogers, A. Howard

{"title":"Intelligent Agent Deception and the Influence on Human Trust and Interaction","authors":"Kantwon Rogers, A. Howard","doi":"10.1109/ARSO51874.2021.9542847","DOIUrl":"https://doi.org/10.1109/ARSO51874.2021.9542847","url":null,"abstract":"As robots and intelligent agents are given more complex cognitive capabilities, it is only appropriate to assume that they will be able to commit acts of deceit much more readily. And yet, not much attention has been given to investigating the effects that robot deception has on human interaction and their trust in the agent once the deception has been recognized. This paper examines how embodiment influences a person's trust of an intelligent agent that exhibits either deceptive or honest behavior that is either helpful or harmful in a financial scenario. Our results suggest that deceptive behavior decreases human trust no matter if the embodiment is physical or virtual and deceptive behavior decreases trust regardless of if the deception benefits the human. Moreover, it was found that trust levels slightly influence a person's punishment or reward strategies in addition to their desire to reuse the intelligent agent in the future. Although exposure to deception causes negative effects, the majority of participants still found deception permissible when it benefited them. Additionally, physically embodied robots were shown to mitigate the negative aftereffects of deception more than those that were virtually embodied. These results suggest that embodiment choice can have meaningful effects on the permissibility of deception conducted by intelligent agents.","PeriodicalId":156296,"journal":{"name":"2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126593693","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

Why Not Explain? Effects of Explanations on Human Perceptions of Autonomous Driving 为什么不解释?解释对人类对自动驾驶感知的影响

2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2021-07-08 DOI: 10.1109/ARSO51874.2021.9542835

Daniel Omeiza, Konrad Kollnig, Helena Webb, M. Jirotka, L. Kunze

引用次数: 6

Key Practices for Welfare Robots provision: Assessment Framework and Participation 福利机器人提供的关键实践:评估框架和参与

2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2021-07-08 DOI: 10.1109/ARSO51874.2021.9542845

Mika Yasuoka, K. Homma, Yasuko Akutsu, Y. Matsumoto

{"title":"Key Practices for Welfare Robots provision: Assessment Framework and Participation","authors":"Mika Yasuoka, K. Homma, Yasuko Akutsu, Y. Matsumoto","doi":"10.1109/ARSO51874.2021.9542845","DOIUrl":"https://doi.org/10.1109/ARSO51874.2021.9542845","url":null,"abstract":"As aging population grows, robots used in welfare and healthcare domain such as social robots, assistive robots and service robots (hereafter Welfare Robots, WR) has been attracted more attentions as one of the solutions to the welfare resource shortages. However, at present, WR have not necessarily implemented or embedded widely in society. Reasons for hindering WR provision to our society include the absence of clear assessment criteria and social implementation process models. While some care institutions and private homes promoted and integrated WR successfully, large part of our society have struggled to identify ways of appropriating the WR provision. Based on the investigation on seven successful organizations on evaluation and implementation practices, the research extracted key aspects for WR provision in society. The extracted three key categories with seven aspects highlights importance of standard assessment framework which includes stakeholder involvements and concepts of care recipients' autonomy. These critical aspects of WR provision contribute to better WR design, development and implementation in society under the new normal.","PeriodicalId":156296,"journal":{"name":"2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123873188","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

Can't hide your disappointment: Using human pose and facial cues for intent prediction in a target game 无法掩饰你的失望:在目标游戏中使用人类姿势和面部线索进行意图预测

2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2021-07-08 DOI: 10.1109/ARSO51874.2021.9541546

Vidullan Surendran, Alan R. Wagner

{"title":"Can't hide your disappointment: Using human pose and facial cues for intent prediction in a target game","authors":"Vidullan Surendran, Alan R. Wagner","doi":"10.1109/ARSO51874.2021.9541546","DOIUrl":"https://doi.org/10.1109/ARSO51874.2021.9541546","url":null,"abstract":"Recognising intent in collaborative human robot tasks can improve team performance and human perception of the robot. Tasks that involve dynamic physical motions increase the likelihood of mistakes committed by the human. When a mistake is made, the observed outcome can differ from the intent of the human. We setup a throwing task consisting of 9 targets, and propose a method that can predict human intent in the presence of mistakes. This method uses a vision based pipeline to predict the outcome of the throw, determine if the subject's emotional reaction to the outcome indicates incongruence between the intent and outcome, and finally predict the intent of the human in the context of the throwing task. We show that the use of human pose improves outcome prediction accuracy to 28% compared to prior work that uses a two-stream architecture to achieve 22%. The method is also able to predict intent-outcome congruence accurately in 75% of the cases. Since the prediction of intent in the presence of mistakes is currently understudied, we compare against a random baseline of 11% and find that the end-to-end intent recognition pipeline achieves an accuracy of 23%.","PeriodicalId":156296,"journal":{"name":"2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"151 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133206964","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: 1

Towards Practical Deployment of a Robotic Mobile System for Early Detection of Cerebral Palsy in Infants 婴儿脑瘫早期检测机器人移动系统的实际部署

2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2021-07-08 DOI: 10.1109/ARSO51874.2021.9542843

Victor Emeli, A. Howard

{"title":"Towards Practical Deployment of a Robotic Mobile System for Early Detection of Cerebral Palsy in Infants","authors":"Victor Emeli, A. Howard","doi":"10.1109/ARSO51874.2021.9542843","DOIUrl":"https://doi.org/10.1109/ARSO51874.2021.9542843","url":null,"abstract":"Our research investigates methods and systems to allow for early detection of cerebral palsy in infants and innovative interventions with the goal of improving long-term outcomes. Cerebral Palsy is a development disorder that may be predicted by observing the spontaneous kicking patterns of an infant. Our previous work includes a robotic baby mobile and 3D camera system for detecting and motivating infant kicking motions using the stimuli modalities of the baby mobile. Infant kicking patterns can provide clues that indicate causes for concern for future risk of cerebral palsy. We have also investigated learning baby mobile stimuli preferences of individual infant using a Markov Decision Process to develop an optimal policy. The hypothesis is that the optimal policy will maximize the kicking instances of each infant, which will be beneficial for creating more opportunities to detect kicking abnormalities and also provide encouragement during physical therapy sessions. This work continues our progression by investigating techniques for replacing the 3D RGB camera with a low cost 2D camera, which will improve the practicality of the system for in-home deployment. Additionally, because of the restrictions of the global pandemic, we have developed a baby kicking simulator to test the effectiveness of using a Markov Decision Process to calculate an optimal policy for encouraging increased kicking actions by infants. This technique can be applied to multiple infants, with policies tailored to the preference of each child. In this paper, we describe the techniques for translating the 3D computer vision system to a 2D system and evaluate the accuracy. We also describe the design of the baby kicking simulator and the optimal policies devised by implementing a Markov Decision Process.","PeriodicalId":156296,"journal":{"name":"2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127981645","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

Rhythmic body movement analysis for robot-based music therapy 基于机器人的音乐治疗的节奏性肢体运动分析

2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2021-07-08 DOI: 10.1109/ARSO51874.2021.9542841

Yi-Hsiang Ma, Jia-Yeu Lin, S. Cosentino, A. Takanishi

{"title":"Rhythmic body movement analysis for robot-based music therapy","authors":"Yi-Hsiang Ma, Jia-Yeu Lin, S. Cosentino, A. Takanishi","doi":"10.1109/ARSO51874.2021.9542841","DOIUrl":"https://doi.org/10.1109/ARSO51874.2021.9542841","url":null,"abstract":"The ability to correctly perceive time and extract accurate timing information is crucial during social interaction. In fact, several activities during social interaction, such as appropriate feedback, turn-taking, coordination with peers, and even empathy and engagement exhibition directly depend on it. One of the aspects of cognitive malfunctioning in children with Autistic Spectrum Disorders is time perception deficit. Learning to pay attention to and correctly assess timing is thus a critical first step to improve social skills for children with Autism. In this paper, we present a novel sensing system and algorithm for estimating a subject's rhythmic motion timing from visual information using Recurrent Neural Network (RNN) coupled with FFT. This system will enable a robot saxophonist to estimate the rhythmic period from a child's motion during a robot-based music therapy session. Fast-Fourier- Transform (FFT) is an algorithm widely applied in rhythmic body movement detection, due to advantages such low computation and easy integration. However, long transient time delay is a critical limitation, reducing the correct motion timing estimation during period transitions. The novel system presented in this article is shown to significantly reduce transient time delay. The results of both a simulation and an evaluation experiment show that, compared with FFT processing alone, this algorithm gives a better performance due to its smaller average offset error and shorter transient time delay, allowing a more precise assessment of the child's synchronization response.","PeriodicalId":156296,"journal":{"name":"2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"195 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114966206","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: 2