ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication最新文献_第3页

Sensing Precision of an Optical Three-axis Tactile Sensor for a Robotic Finger 机器人手指光学三轴触觉传感器的传感精度

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314420

M. Ohka, Hiroaki Kobayashi, Jumpei Takata, Y. Mitsuya

{"title":"Sensing Precision of an Optical Three-axis Tactile Sensor for a Robotic Finger","authors":"M. Ohka, Hiroaki Kobayashi, Jumpei Takata, Y. Mitsuya","doi":"10.1109/ROMAN.2006.314420","DOIUrl":"https://doi.org/10.1109/ROMAN.2006.314420","url":null,"abstract":"We are developing an optical three-axis tactile sensor capable of acquiring normal and shearing force, with the aim of mounting it on a robotic finger. The tactile sensor is based on the principle of an optical waveguide-type tactile sensor, which is composed of an acrylic hemispherical dome, a light source, an array of rubber sensing elements, and a CCD camera. The sensing element of silicone rubber comprises one columnar feeler and eight conical feelers. The contact areas of the conical feelers, which maintain contact with the acrylic dome, detect the three-axis force applied to the tip of the sensing element. Normal and shearing forces are then calculated from integration and centroid displacement of the gray-scale value derived from the conical feeler's contacts. To evaluate the present tactile sensor, we have conducted a series of experiments using a y-z stage, a rotational stage, and a force gauge, and have found that although the relationship between the integrated gray-scale value and normal force depends on the sensor's latitude on the hemispherical surface, it is easy to modify the sensitivity according to the latitude, and that the centroid displacement of the gray-scale value is proportional to the shearing force. When we examined repeatability of the present tactile sensor with 1,000 load-unload cycles, the respective error of the normal and shearing forces was 2 and 5%","PeriodicalId":254129,"journal":{"name":"ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication","volume":"1 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":"134325335","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: 64

Visuo-Haptic Interface for Teleoperation of Mobile Robot Exploration Tasks 移动机器人探索任务遥操作的视触觉界面

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314411

N. Mitsou, Spyros Velanas, C. Tzafestas

{"title":"Visuo-Haptic Interface for Teleoperation of Mobile Robot Exploration Tasks","authors":"N. Mitsou, Spyros Velanas, C. Tzafestas","doi":"10.1109/ROMAN.2006.314411","DOIUrl":"https://doi.org/10.1109/ROMAN.2006.314411","url":null,"abstract":"With the spread of low-cost haptic devices, haptic interfaces appear in many areas in the field of robotics. Recently, haptic devices have been used in the field of mobile robot teleoperation, where mobile robots operate in unknown and dangerous environments performing particular tasks. Haptic feedback is shown to improve operator perception of the environment without, however, improving exploration time. In this paper, we present a haptic interface that is used to teleoperate a mobile robot in exploring polygonal environments. The proposed visuo-haptic interface is found to improve navigation time and operator perception of the remote environment. The human-operator can simultaneously select two different commands, the first one being set as \"active\" motion command, while the second one is set as a \"guarded\" motion type of navigation command. The user can feel a haptic equivalent for both types of teleguidance motion commands, and can also observe in real-time the sequential creation of the remote environment map. Comparative evaluation experiments show that the proposed system makes the task of remote navigation of unknown environments easier","PeriodicalId":254129,"journal":{"name":"ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication","volume":"304 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":"114598849","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: 32

On Gesture Recognition for Human-Robot Symbiosis 人机共生的手势识别研究

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314445

M. Bhuiyan

引用次数: 10

Relationship between Utterance Dynamics and Pragmatics in the Conversation of Consensus Building Process 共识建立过程中话语动态与语用的关系

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314472

Makoto Yoshida, Y. Miyake

引用次数: 1

Modeling Affect in Socially Interactive Robots 社交互动机器人的建模影响

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314448

Rachel Gockley, R. Simmons, J. Forlizzi

引用次数: 67

Adaptive Social Skills for Robots Interacting with Virtual Characters in Real Worlds 机器人在现实世界中与虚拟角色互动的适应性社交技能

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314387

C. Gatzoulis, Anastis Sourgoutsidis, V. Hurmusiadis, Wen Tang

引用次数: 0

Social Attitude Towards A Conversational Character 社会对对话角色的态度

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314386

G. Clarizio, Irene Mazzotta, Nicole Novielli, F. D. Rosis

引用次数: 18

Human Prosocial Response to Emotive Facial Expression of Interactive Agent 人类对交互式智能体情绪性面部表情的亲社会反应

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314479

Yugo Takeuchi, Takuro Hada

引用次数: 6

AR-KLT based Hand Tracking 基于AR-KLT的手部跟踪

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314467

Hye-Jin Kim, Keun-Chang Kwak, Soo-Young Chi, Young-Jo Cho

引用次数: 6

Naturally Occurring Gestures in a Human-Robot Teaching Scenario 人机教学场景中自然发生的手势

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI: 10.1109/ROMAN.2006.314444

N. Otero, Chrystopher L. Nehaniv, D. Syrdal, K. Dautenhahn

{"title":"Naturally Occurring Gestures in a Human-Robot Teaching Scenario","authors":"N. Otero, Chrystopher L. Nehaniv, D. Syrdal, K. Dautenhahn","doi":"10.1109/ROMAN.2006.314444","DOIUrl":"https://doi.org/10.1109/ROMAN.2006.314444","url":null,"abstract":"This paper describes our general framework for the investigation of how human gestures can be used to facilitate the interaction and communication between humans and robots. More specifically, a study was carried out to reveal which \"naturally occurring\" gestures can be observed in a scenario where users had to explain to a robot how to perform a specific home task. The study followed a within-subjects design where ten participants had to demonstrate how to lay a table for two people using two different methods for their explanation: utilizing only gestures or gestures and speech. The experiments also served to validate a new coding scheme for human gestures in human-robot interaction, with good inter-rater reliability. Moreover, annotated video corpus was produced and characteristics such as frequency, duration, and co-occurrence of the different gestural classes have been gathered in order to capture requirements for the designers of HRI systems. The results regarding the frequencies of the different gestural types suggest an interaction between the order of presentation of the two methods and the actual type of gestures produced. Moreover, the results also suggest that there might be an interaction between the type of task and the type of gestures produced","PeriodicalId":254129,"journal":{"name":"ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication","volume":"32 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":"131594099","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: 15