ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication最新文献

Adaptable EMG Prosthetic Hand using On-line Learning Method -Investigation of Mutual Adaptation between Human and Adaptable Machine 基于在线学习方法的自适应肌电假手——人与自适应机器相互适应的研究

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-12-01 DOI: 10.1109/ROMAN.2006.314455

R. Kato, T. Fujita, H. Yokoi, T. Arai

引用次数: 27

Development of Autonomous Assistive Devices -Analysis of change of human motion patterns- 自主辅助装置的发展。人体运动模式变化分析

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-12-01 DOI: 10.1109/ROMAN.2006.314454

K. Kita, R. Kato, H. Yokoi, T. Arai

引用次数: 5

Virtual Extensible Tool Interface for Three-Dimensional Interaction with Remote Objects 用于与远程对象进行三维交互的虚拟可扩展工具接口

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-12-01 DOI: 10.1109/ROMAN.2006.314358

Takabumi Watanabe, S. Wesugi, Y. Miwa

{"title":"Virtual Extensible Tool Interface for Three-Dimensional Interaction with Remote Objects","authors":"Takabumi Watanabe, S. Wesugi, Y. Miwa","doi":"10.1109/ROMAN.2006.314358","DOIUrl":"https://doi.org/10.1109/ROMAN.2006.314358","url":null,"abstract":"Many shared-space communication systems have been proposed which support bodily actions, such as eye gaze and instruction, among remote people. However, the method to share a three-dimensional bodily action in physical space with remote people has not been explored sufficiently. In this paper, we propose a novel method of a shared-space communication to support to bridge over remote two tabletops visually and to share bodily action among remote people. To achieve this aim, a video image of remote tabletop is required to be shared with each other. A display and an interface are also needed for reflecting a remote bodily action in a local space consistently. Consequently, the front screen, on which a video image of a remote space including a tabletop is projected to connect tableside visually, is installed aslope on a table. We developed also a virtual extensible tool interface which supports visual interactions including pointing to and touching a physical object in remote space by representing virtual extensive tool to a remote space. Experiments on bodily interactions between local and remote people demonstrated that the extensible tool interface can support bodily interactions with a remote partner including instructing to a remote physical object in three dimensions. Moreover, the results indicate clearly that the participants felt as if they were touching the remote table. Thus, our system possesses a potential to support a remote co-creative communication including a physical interaction through tools, and it is promising","PeriodicalId":254129,"journal":{"name":"ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124808987","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

Rackham: An Interactive Robot-Guide 拉克姆:交互式机器人指南

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-06 DOI: 10.1109/ROMAN.2006.314378

A. Clodic, S. Fleury, R. Alami, R. Chatila, G. Bailly, L. Brethes, M. Cottret, P. Danès, X. Dollat, F. Elisei, I. Ferrané, M. Herrb, G. Infantes, Christian Lemaire, F. Lerasle, Jérôme Manhes, Patrick Marcoul, P. Menezes, V. Montreuil

引用次数: 64

A model for inferring the intention in imitation tasks 模仿任务意图推断模型

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314424

B. Jansen, Tony Belpaeme

引用次数: 9

Context Orientated Motion Generation: A New Scheme for Humanoid Robot Control 面向情境的运动生成:一种仿人机器人控制新方案

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314434

I. Boesnach, J. Moldenhauer, A. Fischer, T. Stein

{"title":"Context Orientated Motion Generation: A New Scheme for Humanoid Robot Control","authors":"I. Boesnach, J. Moldenhauer, A. Fischer, T. Stein","doi":"10.1109/ROMAN.2006.314434","DOIUrl":"https://doi.org/10.1109/ROMAN.2006.314434","url":null,"abstract":"There are two quite different kinds of approaches to the generation of motions for a humanoid robot. The first one optimizes for the robot's pose, i.e. the movement should look similar to human motions (Zordan and Hodgins, 1999), (Dasgupta and Nakamura, 1999), (Riley et al., 2003), (Kuffner et al., 2003), (Erol et al., 2003), and (Ijspeert et al., 2002). The second one attempts to make the robot perform a given task and is thus focused on the accurate movements of the robot's end effectors (Asfour et al., 2000) and (Yigit et al., 2003). In this work, we present a completely new scheme for the motion generation of a humanoid robot called context oriented motion generation. This scheme incorporates the pose oriented approach and the task oriented approach. It is based on a classical trajectory generator and a new context specific motion classifier developed by our group. The trajectory generator creates a set of trajectories and thereby ensures that the given motion task is accomplished by all trajectories. Afterwards, the motion classifier evaluates this set of motions with respect to the given context and selects the optimal trajectory","PeriodicalId":254129,"journal":{"name":"ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication","volume":"142 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123039698","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

Human Clustering for A Partner Robot Based on Particle Swarm Optimization 基于粒子群优化的伙伴机器人人类聚类

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314480

I. A. Sulistijono, N. Kubota

引用次数: 5

Learning Behavior Fusion Estimation from Demonstration 基于示范的学习行为融合估计

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314457

M. Nicolescu, O. Jenkins, A. Olenderski

{"title":"Learning Behavior Fusion Estimation from Demonstration","authors":"M. Nicolescu, O. Jenkins, A. Olenderski","doi":"10.1109/ROMAN.2006.314457","DOIUrl":"https://doi.org/10.1109/ROMAN.2006.314457","url":null,"abstract":"A critical challenge in robot learning from demonstration is the ability to map the behavior of the trainer onto the robot's existing repertoire of basic/primitive capabilities. Following a behavior-based approach, we aim to express a teacher's demonstration as a linear combination (or fusion) of the robot's primitives. We treat this problem as a state estimation problem over the space of possible linear fusion weights. We consider this fusion state to be a model of the teacher's control policy expressed with respect to the robot's capabilities. Once estimated under various sensory preconditions, fusion state estimates are used as a coordination policy for online robot control to imitate the teacher's decision making. A particle filter is used to infer fusion state from control commands demonstrated by the teacher and predicted by each primitive. The particle filter allows for inference under the ambiguity over a large space of likely fusion combinations and dynamic changes to the teacher's policy over time. We present results of our approach in a simulated and real world environments with a Pioneer 3DX mobile robot","PeriodicalId":254129,"journal":{"name":"ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125638012","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

Mobile Manipulation Based on Generic Object Knowledge 基于通用对象知识的移动操作

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314363

F. Bley, Volker Schmirgel, K. Kraiss

{"title":"Mobile Manipulation Based on Generic Object Knowledge","authors":"F. Bley, Volker Schmirgel, K. Kraiss","doi":"10.1109/ROMAN.2006.314363","DOIUrl":"https://doi.org/10.1109/ROMAN.2006.314363","url":null,"abstract":"The control of vision-based mobile manipulators relies on specific information representing the object which has to be manipulated. Conventional methods like position-based or image-based visual servoing use a precise 3D model of the object or image features to move the end effector to the desired position. This a-priori knowledge has to be generated by an expert before the manipulation can be performed and it is limited to a specific object. Similar items of the same category varying in size or color can not be handled with these approaches. We are proposing a new methodology, which uses a generic category description instead of specific object features in order to allow the interaction with a broader range of items. This description includes appearance properties represented through geometrical primitives as well as additional category knowledge like functional properties, mechanical attributes and directions for object handling. Since the online determination of possible grasps for multi-fingered grippers is time-consuming, suitable grasp modes are stored for every object category, including preferred areas of contact on the objects surface","PeriodicalId":254129,"journal":{"name":"ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication","volume":"496 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115886028","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: 23

There You Go! - Estimating Pointing Gestures In Monocular Images For Mobile Robot Instruction 这就对了!-估计移动机器人指令的单目图像中的指向手势

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314446

J. Richarz, Christian Martin, Andrea Scheidig, H. Groß

引用次数: 16