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Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication最新文献

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Integration of gaze and gesture detection in nature language instructing of robot in an assembly scenario 装配场景下机器人自然语言指令中注视与手势检测的集成
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045629
Jianwei Zhang, T. Baier, M. Hueser
{"title":"Integration of gaze and gesture detection in nature language instructing of robot in an assembly scenario","authors":"Jianwei Zhang, T. Baier, M. Hueser","doi":"10.1109/ROMAN.2002.1045629","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045629","url":null,"abstract":"We present the development of and experiments with a robot system showing multimodal interaction capabilities. We focus on the understanding of human instructions in natural language by integrating gaze and pointing hand gestures. A typical application of such a system is interactive assembly. A human communicator sharing a view of the assembly scenario with the robot instructs the latter by speaking to it in the same way that he would communicate with a child. His instructions can be under-specified, incomplete and/or context-dependent. By detecting gaze and gesture information of the instructor, which are described in two sections of the paper, the ambiguities in the interactions can be resolved in a natural manner. Finally, we outline a list of future topics for extending our research.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131537924","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
Programming service tasks in household environments by human demonstration 通过人工演示在家庭环境中编程服务任务
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045665
M. Ehrenmann, R. Zollner, O. Rogalla, R. Dillmann
{"title":"Programming service tasks in household environments by human demonstration","authors":"M. Ehrenmann, R. Zollner, O. Rogalla, R. Dillmann","doi":"10.1109/ROMAN.2002.1045665","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045665","url":null,"abstract":"Robot assistants will only reach a mass consumer market when they are easy to use. This applies especially to the way a user programs his robot system. The only approach that enables a non-expert robot user to teach a system complex tasks is programming by demonstration. This paper explains the basic concepts for mapping typical human actions performed in a household to a robot system: the recognition of the particular user actions, the task representation and the mapping strategy itself. The execution of a mapped program can then be performed on a real robot. An experiment is presented that was carried out concerning a table laying task and proving the feasibility of this approach.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128476759","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: 50
Telecommunicator: a novel robot system for human communications 电信员:一种新型的人类通信机器人系统
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045594
Y. Tsumaki, Y. Fujita, A. Kasai, C. Sato, D. Nenchev, M. Uchiyama
{"title":"Telecommunicator: a novel robot system for human communications","authors":"Y. Tsumaki, Y. Fujita, A. Kasai, C. Sato, D. Nenchev, M. Uchiyama","doi":"10.1109/ROMAN.2002.1045594","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045594","url":null,"abstract":"In this paper, a novel personal telerobotic system named \"telecommunicator\" is introduced. It has a movable head with a video camera and a simple arm. Both the head and the arm can be telecontrolled from the local site through the Internet, using a wireless communication link just as for mobile cellular phones. As a result, the person on the local site can communicate with people around the telecommunicator on the remote site. The telecommunicator can be made small and compact, since it is not expected to achieve any physical task but only communication. Two different forms of the telecommunicator are proposed; a wearable one and a mobile one. Furthermore, to achieve good performance of the telecommunicator, a new concept called \"extended shared control\" is introduced. In addition, to confirm its application capacity, two prototypes of the wearable telecommunicator, T1 and T2, have been developed as research platforms.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114653958","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: 28
Multi-robot cooperation for human-robot communication 面向人机通信的多机器人协作
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045634
T. Kanda, H. Ishiguro, T. Ono, M. Imai, K. Mase
{"title":"Multi-robot cooperation for human-robot communication","authors":"T. Kanda, H. Ishiguro, T. Ono, M. Imai, K. Mase","doi":"10.1109/ROMAN.2002.1045634","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045634","url":null,"abstract":"This paper illustrates how robots can effectively cooperate to facilitate communication with people. We expect that communication robots will play an important role in our daily life. Although these robots can communicate with each other by radio, infrared, or other invisible means, our results show that it is important to human understanding that they are able to communicate with each other by voice and gestures as well. This lets humans know that the robots can talk with them and among themselves. Thus, humans come to regard the robots as appropriate targets for natural communication.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"143 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127558799","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: 33
LocoMaid (the locomotion aid) - a distributed architecture for planning and control LocoMaid(运动辅助)——一个用于规划和控制的分布式架构
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045616
M. Miozzo, P. Morasso, A. Sgorbissa, R. Zaccaria
{"title":"LocoMaid (the locomotion aid) - a distributed architecture for planning and control","authors":"M. Miozzo, P. Morasso, A. Sgorbissa, R. Zaccaria","doi":"10.1109/ROMAN.2002.1045616","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045616","url":null,"abstract":"Touch-interacting, autonomous mobile robots are of extreme interest in different scenarios, which include: (i) manoeuvring in crowded environments, (ii) slave guidance, and (iii) walking aids in rehabilitation and in helping elderly or impaired people. A mobile robot becomes a walking aid when an impaired person can lean on it safely and purposively. Safety, flexibility, responsiveness, adaptation require a kind of intelligence distributed over the three categories above. All these topics are particularly stressed when the robot is asked to perform as a walking aid. In this paper, in particular, we focus mainly on the P&C architecture, on which safety and real-time mainly depend.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123175275","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
Development of an immersive teleoperating system for unmanned helicopter 无人直升机沉浸式远程操作系统的研制
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045596
M. Koeda, Y. Matsumoto, T. Ogasawara
{"title":"Development of an immersive teleoperating system for unmanned helicopter","authors":"M. Koeda, Y. Matsumoto, T. Ogasawara","doi":"10.1109/ROMAN.2002.1045596","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045596","url":null,"abstract":"To collect the information on devastated districts, it is effective to use helicopters. However, the operation using manned helicopters costs a lot. It is expected that the use of unmanned helicopters can reduce the cost of these tasks. It is known to be more difficult to operate unmanned helicopters remotely than to operate manned helicopters. The reason is that an operator cannot know the attitude of the helicopter when the operator is far apart from it, and the coordination system between them varies drastically depending on the attitude of the helicopter. In this paper, we propose an immersive teleoperating method of unmanned helicopters which allows an operator to control unmanned helicopters easily and intuitively as if the operator is on board. In this method, an operator controls a helicopter remotely while watching the surrounding views of the helicopter through a head mounted display(HMD). To verify the feasibility of the proposed method, we first developed a flight simulator and conducted comparative experiments. Then we developed an immersive teleoperating system of unmanned helicopters which consists of an omnidirectional vision sensor and a HMD with an angle sensor. The experimental results indicate our proposed method has an advantage over the conventional operating method.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131384406","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
Fetch-and-carry with CERO: observations from a long-term user study with a service robot 与CERO一起取走:对服务机器人进行长期用户研究的观察结果
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045615
H. Hüttenrauch, K. S. Eklundh
{"title":"Fetch-and-carry with CERO: observations from a long-term user study with a service robot","authors":"H. Hüttenrauch, K. S. Eklundh","doi":"10.1109/ROMAN.2002.1045615","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045615","url":null,"abstract":"This paper describes the motivation, methodology, and findings of a long-term usage study of CERO, a service robot intended to assist partly motion-impaired people with the transportation of light objects in an office environment. We describe the user's experiences with utilizing the robot over a period of 3 months, and the overall process of adapting service robot usage as part of a workgroup setting. The results of the study suggest the need for different modes of operation of a robot. We also question the view of service robots as personalized devices only, and point out the importance of providing transitions between remote- and close proximity control in the use of service robots.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131837473","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: 115
Tabulation and analysis of questionnaire results of subjective evaluation of seal robot at Science Museum in London 伦敦科学博物馆密封机器人主观评价问卷结果的制表与分析
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045592
T. Shibata, K. Wada, Kazuo Tanie
{"title":"Tabulation and analysis of questionnaire results of subjective evaluation of seal robot at Science Museum in London","authors":"T. Shibata, K. Wada, Kazuo Tanie","doi":"10.1109/ROMAN.2002.1045592","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045592","url":null,"abstract":"This paper describes research on mental commit robot that seeks a different direction from industrial robot, and that is not so rigidly dependent on objective measures such as accuracy and speed. The main goal of this research is to explore a new area in robotics, with an emphasis on human-robot interaction. In the previous research, we categorized robots into four categories in terms of appearance. Then, we introduced a cat robot and a seal robot, and evaluated them by interviewing many people. The results showed that physical interaction improved subjective evaluation. Moreover, a priori knowledge of a subject has much influence into subjective interpretation and evaluation of mental commit robot. In this paper, 440 subjects evaluated the seal robot, Paro by questionnaires in an exhibition at the Science Museum in London, U.K. This paper reports the results of statistical analysis of evaluation data.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"59 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116521150","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
A theoretical approach to human-robot interaction based on the bipolar man framework 基于双极人框架的人机交互理论研究
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045619
F. Amigoni, V. Schiaffonati, M. Somalvico
{"title":"A theoretical approach to human-robot interaction based on the bipolar man framework","authors":"F. Amigoni, V. Schiaffonati, M. Somalvico","doi":"10.1109/ROMAN.2002.1045619","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045619","url":null,"abstract":"The consideration of a general theoretical scenario accounting for the relationships between humans and robots may enhance the design and the development of human-robot interfaces. By starting from peculiar examples, the aim of this paper is to present an abstract framework that accounts for the current tendencies within the field of human-robots interaction. This framework is based on a precise \"philosophical\" position expressed by the concept of bipolar man, which has an impact on both the analysis and the design of human-robot interfaces.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133765448","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
Robotic home assistant Care-O-bot: past-present-future 机器人家庭助手Care-O-bot:过去-现在-未来
Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI: 10.1109/ROMAN.2002.1045652
M. Hans, B. Graf, R. Schraft
{"title":"Robotic home assistant Care-O-bot: past-present-future","authors":"M. Hans, B. Graf, R. Schraft","doi":"10.1109/ROMAN.2002.1045652","DOIUrl":"https://doi.org/10.1109/ROMAN.2002.1045652","url":null,"abstract":"Technical aids allow elderly and handicapped people to live independently in their private homes as long as they wish. As a contribution to such technological solutions, a demonstrator platform for a mobile home care system - called Care-O-bot - was designed and implemented by Fraunhofer IPA, Stuttgart. Care-O-bot is a mobile service robot which has the capability to perform fetch and carry and various other supporting tasks in home environments. This paper gives an overview about Care-O-bot's functionalities and first practical tests.","PeriodicalId":222409,"journal":{"name":"Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129524445","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: 141
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