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

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Feedback interpretation based on facial expressions in human-robot interaction 人机交互中基于面部表情的反馈解释
RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326199
Christian Lang, Marc Hanheide, M. Lohse, H. Wersing, G. Sagerer
{"title":"Feedback interpretation based on facial expressions in human-robot interaction","authors":"Christian Lang, Marc Hanheide, M. Lohse, H. Wersing, G. Sagerer","doi":"10.1109/ROMAN.2009.5326199","DOIUrl":"https://doi.org/10.1109/ROMAN.2009.5326199","url":null,"abstract":"In everyday conversation besides speech people also communicate by means of nonverbal cues. Facial expressions are one important cue, as they can provide useful information about the conversation, for instance, whether the interlocutor seems to understand or appears to be puzzled. Similarly, in human-robot interaction facial expressions also give feedback about the interaction situation. We present a Wizard of Oz user study in an object-teaching scenario where subjects showed several objects to a robot and taught the objects' names. Afterward, the robot should term the objects correctly. In a first evaluation, we let other people watch short video sequences of this study. They decided by looking at the face of the human whether the answer of the robot was correct (unproblematic situation) or incorrect (problematic situation). We conducted the experiments under specific conditions by varying the amount of temporal and visual context information and compare the results with related experiments described in the literature.","PeriodicalId":187657,"journal":{"name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","volume":"210 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":"115761121","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: 16
Active and efficient motor skill learning method used in a haptic teleoperated system 一种用于触觉遥控系统的主动高效运动技能学习方法
RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326132
N. Garcia-Hernandez, Vicente Parra‐Vega
{"title":"Active and efficient motor skill learning method used in a haptic teleoperated system","authors":"N. Garcia-Hernandez, Vicente Parra‐Vega","doi":"10.1109/ROMAN.2009.5326132","DOIUrl":"https://doi.org/10.1109/ROMAN.2009.5326132","url":null,"abstract":"This paper presents a new haptic training method for motor skill acquisition working in a teleoperated system. The method promotes a visuo-motor learning process base on the active attention and participation of the apprentice during training. Using a robot end-effector, the master describes a desired path which is followed by the apprentice using a haptic device. The master aids the apprentice by restricting his motion within upper and lower boundaries parallel to the path being created in real time. The boundaries are located at a given distance established by the master base on the apprentice learning improvement. Using this method, the master does not disturb or control the position and velocity of the apprentice directly which avoids apprentice dependence on the master. A training handdrawing scheme was designed and implemented to evaluate the visuo-haptic method; experimental results show faster and better apprentice's motor performance than using only visual information. These results suggest a possible implementation of the method in complex motors tasks such as calligraphy or surgery, to name a few.","PeriodicalId":187657,"journal":{"name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","volume":"71 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":"114634429","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: 7
Design guideline of anthropomorphic sound feedback for service robot malfunction - with emphasis on the vacuum cleaning robot 服务机器人故障的拟人声音反馈设计导则——以真空清洁机器人为例
RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326223
Bomi M. Kim, Sonya S. Kwak, Myungsuk Kim
{"title":"Design guideline of anthropomorphic sound feedback for service robot malfunction - with emphasis on the vacuum cleaning robot","authors":"Bomi M. Kim, Sonya S. Kwak, Myungsuk Kim","doi":"10.1109/ROMAN.2009.5326223","DOIUrl":"https://doi.org/10.1109/ROMAN.2009.5326223","url":null,"abstract":"The objectives of this study are to investigate the usability of the anthropomorphic sound feedback for service robot malfunction and to suggest the design guideline. Two experiments were carried out in a laboratory setting and an actual home environment. Independent variables of the experiments were two types of feedback (anthropomorphic vs. non-anthropomorphic) and two types of malfunctions (catastrophic vs. warning). The usability comprising of effectiveness, efficiency, and satisfaction was evaluated through a questionnaire and video analysis. The results from the experiments were summarized as follows. First, the usability of anthropomorphic feedback was better than non-anthropomorphic feedback. Second, the feedback of warning malfunction displayed higher usability than the feedback of catastrophic malfunction. Third, non-anthropomorphic feedback had higher effectiveness and satisfaction on the catastrophic malfunction while anthropomorphic feedback was more effective and satisfactory on the warning malfunction. Based on the results, design guideline of anthropomorphic sound feedback for service robot malfunction was suggested.","PeriodicalId":187657,"journal":{"name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","volume":"3 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":"116947866","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
The role of attention in robot self-awareness 注意在机器人自我意识中的作用
RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326155
R. Novianto, Mary-Anne Williams
{"title":"The role of attention in robot self-awareness","authors":"R. Novianto, Mary-Anne Williams","doi":"10.1109/ROMAN.2009.5326155","DOIUrl":"https://doi.org/10.1109/ROMAN.2009.5326155","url":null,"abstract":"A robot may not be truly self-aware even though it can have some characteristics of self-awareness, such as having emotional states or the ability to recognize itself in the mirror. We define self-awareness in robots to be characterized by the capacity to direct attention toward their own mental state. This paper explores robot self-awareness and the role that attention plays in the achievement self-awareness. We propose a new attention based approach to self-awareness called ASMO and conduct a comparative analysis of approaches that highlights the innovation and benefits of ASMO. We then describe how our attention based self-awareness can be designed and used to develop self-awareness in state-of-the-art humanoidal robots.","PeriodicalId":187657,"journal":{"name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","volume":"20 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":"116993918","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: 25
Role sharing analysis on multi-operator cooperative work 多操作者协同工作中的角色分担分析
RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326163
H. Igarashi, Satoshi Suzuki, Harumi Kobayashi, F. Harashima
{"title":"Role sharing analysis on multi-operator cooperative work","authors":"H. Igarashi, Satoshi Suzuki, Harumi Kobayashi, F. Harashima","doi":"10.1109/ROMAN.2009.5326163","DOIUrl":"https://doi.org/10.1109/ROMAN.2009.5326163","url":null,"abstract":"This paper addresses a quantification method for role sharing in cooperative tasks. By the method, we found that the ratio of three typical indexes relate to task performance.","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":"117015809","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
Human forces in hands free interaction: a new paradigm for immersive virtual environments 自由交互中的人类力量:沉浸式虚拟环境的新范例
RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326318
P. Tripicchio, O. Sandoval-González, Alessandro Filippeschi, E. Ruffaldi, C. Avizzano, M. Bergamasco
{"title":"Human forces in hands free interaction: a new paradigm for immersive virtual environments","authors":"P. Tripicchio, O. Sandoval-González, Alessandro Filippeschi, E. Ruffaldi, C. Avizzano, M. Bergamasco","doi":"10.1109/ROMAN.2009.5326318","DOIUrl":"https://doi.org/10.1109/ROMAN.2009.5326318","url":null,"abstract":"A recent trend in virtual environments aims at making the user free of devices or limitations in its motion, at the benefit of immersiveness and interactivity. This work introduces an interaction paradigm that goes beyond motion based interaction, by making use of measured real forces exerted by the user in free space. The sensation of touch with virtual object is obtained by vibrotactile stimulation combining virtual contact information with measured forces. In this way the user has an additional dimension of interactivity at the benefit of immersivity, without incurring in the reduction of sense of presence introduced by grounded haptic interfaces. This paradigm is presented and discussed in particular in the context of a boxing training simulation, as one of the possible application scenarios.","PeriodicalId":187657,"journal":{"name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","volume":"10 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":"129775779","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
Towards a minimal interaction scheme: Initial observations on gesture repertoire and communication strategies 走向一个最小的交互方案:对手势曲目和沟通策略的初步观察
RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326202
A. Green
{"title":"Towards a minimal interaction scheme: Initial observations on gesture repertoire and communication strategies","authors":"A. Green","doi":"10.1109/ROMAN.2009.5326202","DOIUrl":"https://doi.org/10.1109/ROMAN.2009.5326202","url":null,"abstract":"This paper investigates a prototype of an interaction design for a flexible natural language user interface with a minimal set of gestures and natural language commands. The prototype is evaluated using a Hi-Fi simulation approach that allows the enactment of an interfaces that accommodates gesture and speech input for directive commands. In the scenario users were guiding a robot equipped with a camera and microphone through a simple maze. The data from six users were collected and subsequently analysed with respect to the users' communicative behavior. In the analysis of the data special consideration was given to the gesture repertoire. It was found that users, when presented with static images of gestures, added their own dynamic patterns. Furthermore the users appeared to give precedence to the deictic component of gestures that meant left/right. Users were also opportunistic meaning that when they could they used predefined goal points and let the robot use its autonomous navigation to find its way.","PeriodicalId":187657,"journal":{"name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","volume":"103 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":"128471014","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
Design of idle motions for service robot via video ethnography 基于视频人种学的服务机器人空闲运动设计
RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326062
Hyunsoo Song, Min Joong Kim, Sang-Hoon Jeong, Hyeon‐Jeong Suk, D. Kwon
{"title":"Design of idle motions for service robot via video ethnography","authors":"Hyunsoo Song, Min Joong Kim, Sang-Hoon Jeong, Hyeon‐Jeong Suk, D. Kwon","doi":"10.1109/ROMAN.2009.5326062","DOIUrl":"https://doi.org/10.1109/ROMAN.2009.5326062","url":null,"abstract":"This paper describes the design idle motions which service robots act in its standby state. In case of the robots developed so far, they show proper reactions only when there is a certain input from human or environment. They cannot perform in a standby state which means there is no input. If a robot does not make any motion in its standby state, users may feel that the robot is being turned-off or even out of work. On the other side, if the robots can make idle motions such like human at the standby state, then they are expected to make people feels that they are alive and is more likely to interact with them. In order to find the behavioral patterns at the standby state, we observed clerks at the information center via video ethnography, and idle motions are extracted from video data. We analyzed idle motions, and apply extracted characteristics to our robot. Moreover, by using the robot which can show those series of expression and action, our research needs to find that people can feel like they are alive.","PeriodicalId":187657,"journal":{"name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","volume":"121 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":"128178330","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
Behavior labeling algorithms from accumulated sensor data matched to usage of livelihood support application 从累积的传感器数据与生计支持应用的使用相匹配的行为标记算法
RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326347
K. Oshima, R. Urushibata, A. Fujii, H. Noguchi, M. Shimosaka, Tomomasa Sato, Taketoshi Mori
{"title":"Behavior labeling algorithms from accumulated sensor data matched to usage of livelihood support application","authors":"K. Oshima, R. Urushibata, A. Fujii, H. Noguchi, M. Shimosaka, Tomomasa Sato, Taketoshi Mori","doi":"10.1109/ROMAN.2009.5326347","DOIUrl":"https://doi.org/10.1109/ROMAN.2009.5326347","url":null,"abstract":"This paper presents three behavior labeling algorithms based on supervised learning using accumulated pyroelectric sensor data in the living space. We summarize features of each algorithm to use them in combination matched to usage of the livelihood support application. They are (1)labeling algorithms based on time attribution of “on-off” data, 2)one based on Hidden Markov Models, and (3)one based on switching model around a behavioral change-point. We show the behavior labeling results of three algorithms for one month data under the same conditions. Then we point out features on the basis of these results.","PeriodicalId":187657,"journal":{"name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","volume":"27 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":"132150870","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: 8
Ungrounded kinesthetic pen for haptic interaction with virtual environments 用于与虚拟环境进行触觉交互的非接地动觉笔
RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2009-11-10 DOI: 10.1109/ROMAN.2009.5326217
Sho Kamuro, K. Minamizawa, N. Kawakami, S. Tachi
{"title":"Ungrounded kinesthetic pen for haptic interaction with virtual environments","authors":"Sho Kamuro, K. Minamizawa, N. Kawakami, S. Tachi","doi":"10.1109/ROMAN.2009.5326217","DOIUrl":"https://doi.org/10.1109/ROMAN.2009.5326217","url":null,"abstract":"We proposed a pen-shaped handheld haptic display that provides kinesthetic sensations to the fingers of a user without the use of mechanical linkages. The user's movements are not restricted since the device does not have mechanical linkages, and the user can enjoy haptic interactions with virtual environments. In order to downsize the device, we designed our device on the basis of a hypothesis that kinesthetic sensations on the user's fingers alone are sufficient to represent the sensations of touch. We implemented a prototype device and performed an experiment to confirm the representational ability of our device. We also developed a prototype haptic augmented reality system, using which the user can see and touch a computer graphics object.","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":"132173538","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: 24
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