2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)最新文献

Learning By Collaborative Teaching: An Engaging Multi-Party CoWriter Activity 通过合作教学学习:参与多方共同写作活动

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956358

L. E. Hamamsy, W. Johal, Thibault Asselborn, Jauwairia Nasir, P. Dillenbourg

{"title":"Learning By Collaborative Teaching: An Engaging Multi-Party CoWriter Activity","authors":"L. E. Hamamsy, W. Johal, Thibault Asselborn, Jauwairia Nasir, P. Dillenbourg","doi":"10.1109/RO-MAN46459.2019.8956358","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956358","url":null,"abstract":"This paper presents the design of a novel and engaging collaborative learning activity for handwriting where a group of participants simultaneously tutor a Nao robot. This activity was intended to take advantage of both collaborative learning and the learning by teaching paradigm to improve children’s meta-cognition (perception of their own skills). Multiple engagement probes were integrated into the activity as a first step towards fostering long term interactions. As a lot of research targets social interactions, the goal here was to determine whether an engagement strategy focused on the task could be as, or more efficient than one focused on social interactions and participants’ introspection. To that effect, two engagement strategies were implemented. They differed in content but used the same multi-modal design in order to increase participants’ meta-cognitive reflection, once on the task and performances, and once on participants’ enjoyment and emotions. Both strategies were compared to a baseline by probing and assessing engagement at the individual and group level, along the behavioural, emotional and cognitive dimensions, in a between subject experiment with 12 groups of children. The experiments showed that the collaborative task pushed the children to adapt their manner of writing to the group, even though the adopted solution was not always correct. Furthermore, there was no significant difference between the strategies in terms of behaviour on task (behavioural engagement), satisfaction (emotional engagement) or performance (cognitive engagement) as the group dynamics had a stronger impact on the outcome of the collaborative teaching task. Therefore, the task and social engagement strategies can be considered as efficient in the context of collaboration.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121059102","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

Teaching Pepper Robot to Recognize Emotions of Traumatic Brain Injured Patients Using Deep Neural Networks 用深度神经网络教辣椒机器人识别创伤性脑损伤患者情绪

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956445

Chaudhary Muhammad Aqdus Ilyas, Viktor Schmuck, M. A. Haque, Kamal Nasrollahi, M. Rehm, T. Moeslund

{"title":"Teaching Pepper Robot to Recognize Emotions of Traumatic Brain Injured Patients Using Deep Neural Networks","authors":"Chaudhary Muhammad Aqdus Ilyas, Viktor Schmuck, M. A. Haque, Kamal Nasrollahi, M. Rehm, T. Moeslund","doi":"10.1109/RO-MAN46459.2019.8956445","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956445","url":null,"abstract":"Social signal extraction from the facial analysis is a popular research area in human-robot interaction. However, recognition of emotional signals from Traumatic Brain Injured (TBI) patients with the help of robots and non-intrusive sensors is yet to be explored. Existing robots have limited abilities to automatically identify human emotions and respond accordingly. Their interaction with TBI patients could be even more challenging and complex due to unique, unusual and diverse ways of expressing their emotions. To tackle the disparity in a TBI patient’s Facial Expressions (FEs), a specialized deep-trained model for automatic detection of TBI patients’ emotions and FE (TBI-FER model) is designed, for robot-assisted rehabilitation activities. In addition, the Pepper robot’s built-in model for FE is investigated on TBI patients as well as on healthy people. Variance in their emotional expressions is determined by comparative studies. It is observed that the customized trained system is highly essential for the deployment of Pepper robot as a Socially Assistive Robot (SAR).","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123699743","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

Model & Feature Agnostic Eye-in-Hand Visual Servoing using Deep Reinforcement Learning with Prioritized Experience Replay 基于优先体验回放的深度强化学习的模型与特征不可知手眼视觉伺服

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956447

Prerna Singh, Virender Singh, S. Dutta, Swagat Kumar

{"title":"Model & Feature Agnostic Eye-in-Hand Visual Servoing using Deep Reinforcement Learning with Prioritized Experience Replay","authors":"Prerna Singh, Virender Singh, S. Dutta, Swagat Kumar","doi":"10.1109/RO-MAN46459.2019.8956447","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956447","url":null,"abstract":"This paper presents a feature agnostic and model-free visual servoing (VS) technique using deep reinforcement learning (DRL) which exploits two new architectures of experience replay buffer in deep deterministic policy gradient (DDPG). The proposed architectures are significantly fast and converge in a few numbers of steps. We use the proposed method to learn an end-to-end VS with eye-in-hand configuration. In traditional DDPG, the experience replay memory is randomly sampled for training the actor-critic network. This results in a loss of useful experiences when the buffer contains very few successful examples. We solve this problem by proposing two new replay buffer architectures: (a) min-heap DDPG (mH-DDPG) and (b) dual replay buffer DDPG (dR-DDPG). The former uses a min-heap data structure to implement the replay buffer whereas the latter uses two buffers to separate “good” examples from the “bad” examples. The training data for the actor-critic network is created as a weighted combination of the two buffers. The proposed algorithms are validated in simulation with the UR5 robotic manipulator model. It is observed that as the number of good experiences increases in the training data, the convergence time decreases. We find 27.25% and 43.25% improvements in the rate of convergence respectively by mH-DDPG and dR-DDPG over state-of-the-art DDPG.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"53 89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125314382","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

Continuous Higher Order Sliding Mode Control of Bevel-Tip Needle for Percutaneous Interventions 经皮介入斜尖针的连续高阶滑模控制

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956434

Surender Hans, M. F. Orlando

引用次数: 2

Robot-Assisted Therapy for Children with Delayed Speech Development: a Pilot Study 儿童语言发育迟缓的机器人辅助治疗:一项试点研究

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956257

Aida Zhanatkyzy, A. Turarova, Zhansaule Telisheva, G. Abylkasymova, A. Sandygulova

引用次数: 4

Proof of concept of a projection-based safety system for human-robot collaborative engine assembly 基于投影的人机协同发动机装配安全系统的概念验证

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956446

A. Hietanen, Alireza Changizi, Minna Lanz, J. Kämäräinen, Pallab Ganguly, R. Pieters, J. Latokartano

{"title":"Proof of concept of a projection-based safety system for human-robot collaborative engine assembly","authors":"A. Hietanen, Alireza Changizi, Minna Lanz, J. Kämäräinen, Pallab Ganguly, R. Pieters, J. Latokartano","doi":"10.1109/RO-MAN46459.2019.8956446","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956446","url":null,"abstract":"In the past years human-robot collaboration has gained interest among industry and production environments. While there is interest towards the topic, there is a lack of industrially relevant cases utilizing novel methods and technologies. The feasibility of the implementation, worker safety and production efficiency are the key questions in the field. The aim of the proposed work is to provide a conceptual safety system for context-dependent, multi-modal communication in human-robot collaborative assembly, which will contribute to safety and efficiency of the collaboration. The approach we propose offers an addition to traditional interfaces like push buttons installed at fixed locations. We demonstrate an approach and corresponding technical implementation of the system with projected safety zones based on the dynamically updated depth map and a graphical user interface (GUI). The proposed interaction is a simplified two-way communication between human and the robot to allow both parties to notify each other, and for the human to coordinate the operations.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121152922","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: 5

Design of an Integrated Gripper with a Suction System for Grasping in Cluttered Environment 一种用于杂乱环境下抓取的带吸力系统的集成夹持器设计

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956433

Long Kang, J. Seo, Sanghwa Kim, B. Yi

引用次数: 2

Design and Perception of a Social Robot to Promote Hand Washing among Children in a Rural Indian School 社交机器人在印度农村学校促进儿童洗手的设计与感知

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956450

R. Unnikrishnan, A. Deshmukh, S. Ramesh, Sooraj K. Babu, P. Anitha, R. R. Bhavani

引用次数: 4

Learning Optimal Parameterized Policy for High Level Strategies in a Game Setting 在博弈设置中学习高级策略的最优参数化策略

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956383

Ravi Prakash, Mohit Vohra, L. Behera

{"title":"Learning Optimal Parameterized Policy for High Level Strategies in a Game Setting","authors":"Ravi Prakash, Mohit Vohra, L. Behera","doi":"10.1109/RO-MAN46459.2019.8956383","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956383","url":null,"abstract":"Complex and interactive robot manipulation skills such as playing a game of table tennis against a human opponent is a multifaceted challenge and a novel problem. Accurate dynamic trajectory generation in such dynamic situations and an appropriate controller in order to respond to the incoming table tennis ball from the opponent is only a prerequisite to win the game. Decision making is a major part of an intelligent robot and a policy is needed to choose and execute the action which receives highest reward. In this paper, we address this very important problem on how to learn the higher level optimal strategies that enable competitive behaviour with humans in such an interactive game setting. This paper presents a novel technique to learn a higher level strategy for the game of table tennis using P-Q Learning (a mixture of Pavlovian learning and Q-learning) to learn a parameterized policy. The cooperative learning framework of Kohenon Self Organizing Map (KSOM) along with Replay Memory is employed for faster strategy learning in this short horizon problem. The strategy is learnt in simulation, using a simulated human opponent and an ideal robot that can perform hitting motion in its workspace accurately. We show that our method is able to improve the average received reward significantly in comparison to the other state-of-the-art methods.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124299812","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

Socially Assistive Robot’s Behaviors using Microservices 使用微服务的社交辅助机器人行为

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956472

Giovanni Ercolano, P. D. Lambiase, Enrico Leone, Luca Raggioli, Davide Trepiccione, Silvia Rossi

引用次数: 3