RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication最新文献_第2页

Beat gesture generation rules for human-robot interaction 人机交互的节拍手势生成规则

RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326136

P. Bremner, A. Pipe, Mike Fraser, S. Subramanian, C. Melhuish

{"title":"Beat gesture generation rules for human-robot interaction","authors":"P. Bremner, A. Pipe, Mike Fraser, S. Subramanian, C. Melhuish","doi":"10.1109/ROMAN.2009.5326136","DOIUrl":"https://doi.org/10.1109/ROMAN.2009.5326136","url":null,"abstract":"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 from a prewritten library. However, selecting naively from a library is unlikely to result in particularly human-like gesture sequences. In order to obtain examples of engaging human beat gestures, we studied videos of chat show hosts. Our analysis reveals rules for the creation of human-like beat gestures. We have combined these rules with hand scripted non-beat gestures, to produce a monologue with a complete set of accompanying gestures; it is designed for performance by our humanoid robot BERTI. In order to test the gestures produced we carried out a pilot study at the London Science Museum. The results of the study indicate that having correctly designed gesture sequences improves observer engagement.","PeriodicalId":187657,"journal":{"name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129045693","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: 14

Exploring play styles with a robot companion 与机器人同伴探索游戏风格

RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326229

P. Marti, L. Giusti, A. Pollini

引用次数: 4

Conversation system based on Boltzmann selection and Bayesian networks for a partner robot 基于Boltzmann选择和贝叶斯网络的伙伴机器人对话系统

RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326078

N. Kubota, Takeru Mori

引用次数: 4

Evaluations of embedded modules dedicated to multimodal human-robot interaction 用于多模态人机交互的嵌入式模块评估

RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326298

B. Burger, F. Lerasle, I. Ferrané

引用次数: 2

Therapeutic and educational objectives in robot assisted play for children with autism 自闭症儿童机器人辅助游戏的治疗和教育目的

RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326251

E. Ferrari, B. Robins, K. Dautenhahn

{"title":"Therapeutic and educational objectives in robot assisted play for children with autism","authors":"E. Ferrari, B. Robins, K. Dautenhahn","doi":"10.1109/ROMAN.2009.5326251","DOIUrl":"https://doi.org/10.1109/ROMAN.2009.5326251","url":null,"abstract":"This article is a methodological paper that describes the therapeutic and educational objectives that were identified during the design process of a robot aimed at robot assisted play. The work described in this paper is part of the IROMEC project (Interactive Robotic Social Mediators as Companions) that recognizes the important role of play in child development and targets children who are prevented from or inhibited in playing. The project investigates the role of an interactive, autonomous robotic toy in therapy and education for children with special needs. This paper specifically addresses the therapeutic and educational objectives related to children with autism. In recent years, robots have already been used to teach basic social interaction skills to children with autism. The added value of the IROMEC robot is that play scenarios have been developed taking children's specific strengths and needs into consideration and covering a wide range of objectives in children's development areas (sensory, communicational and interaction, motor, cognitive and social and emotional). The paper describes children's developmental areas and illustrates how different experiences and interactions with the IROMEC robot are designed to target objectives in these areas.","PeriodicalId":187657,"journal":{"name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125492676","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: 143

Gait pattern generation for a power-assist device of paraplegic gait 一种截瘫步态动力辅助装置的步态模式生成

RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326348

T. Kagawa, Y. Uno

{"title":"Gait pattern generation for a power-assist device of paraplegic gait","authors":"T. Kagawa, Y. Uno","doi":"10.1109/ROMAN.2009.5326348","DOIUrl":"https://doi.org/10.1109/ROMAN.2009.5326348","url":null,"abstract":"We address a gait pattern generation on a legged locomotor device (WPAL: Wearable Power-Assist Locomotor) for paraplegics. In the gait movement with WPAL, a backward falling is a considerable problem, and a foot-floor collision during a swing movement would induce a loss of balance. In addition, adjustability of the gait parameters, such as stride length, gait cycle and maximum hight of the toe clearance, would be required for an individual paraplegic according to the degrees of his disabilities and skills. In this paper, we propose a gait pattern generation method considering the requirements of the stability and the adjustability. First, the trajectories of toe position, horizontal hip position, and foot plantar angle are calculated using a minimum jerk trajectory with the constraints of the position and velocity at via points. Second, the desired trajectories of joint angles are determined from the calculated trajectories by inverse kinematic equations. We demonstrate that generated desired trajectories for various gait parameter values and boundary conditions were satisfied with the required stability conditions.","PeriodicalId":187657,"journal":{"name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121849142","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: 40

Control of a power assist robot for lifting objects based on human operator's perception of object weight 基于人对物体重量感知的助力起重机器人控制

RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326343

S. Rahman, R. Ikeura, M. Nobe, H. Sawai

{"title":"Control of a power assist robot for lifting objects based on human operator's perception of object weight","authors":"S. Rahman, R. Ikeura, M. Nobe, H. Sawai","doi":"10.1109/ROMAN.2009.5326343","DOIUrl":"https://doi.org/10.1109/ROMAN.2009.5326343","url":null,"abstract":"An object lifted with a power assist robot is always perceived lighter than its actual weight. But, the human operator cannot differentiate between the power assisted weight and the actual weight and eventually applies load force (vertical lifting force) according to the actual weight of the object. This faulty force programming (excessive load force) gives faulty motions to the power assist robot and jeopardizes its operability, maneuverability, ease of use, naturalness, human-friendliness, safety etc. In this paper we assume that these problems still exist with the power assist robots because human's weight perception is not included in the design and control of the conventional power assist robots .We hypothesize that human's perception of weight due to inertial force may be different from the perceived weight due to gravitational force for lifting object with a power assist robot. Based on this hypothesis, we designed a 1 DOF power assist robot and established a psychophysical relationship between the actual weights and the power assisted weights for the objects lifted with the robot. We also determined the excess of the load forces that humans applied. Then, we modified the control system of the power assist robot based on the psychophysical relationship and the load force characteristics. The modification of the control system reduced the peak load forces applied by humans and thus enhanced maneuverability, naturalness, ease of use, stability, safety etc. of the robot system significantly. Finally, we proposed using the findings to design human-friendly power assist robots for carrying heavy objects in various industries.","PeriodicalId":187657,"journal":{"name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134354997","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: 14

Controlling the robot using the brain signals 用大脑信号控制机器人

RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326236

G. Capi, Toshihide Takahashi, Kazunori Urushiyama, S. Kawahara

引用次数: 1

COMPANION: A Constraint-Optimizing Method for Person-Acceptable Navigation 同伴:人可接受导航的约束优化方法

RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326271

Rachel Kirby, R. Simmons, J. Forlizzi

引用次数: 211

Homotopy-based controller for physical human-robot interaction 基于同伦的人机物理交互控制器

RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326065

Paul Evrard, A. Kheddar

引用次数: 31