2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)最新文献_第2页

Unconventional Uses of Structural Compliance in Adaptive Hands 结构顺应性在适应性手中的非常规应用

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956340

Che-Ming Chang, Lucas Gerez, Nathan Elangovan, Agisilaos G. Zisimatos, Minas Liarokapis

{"title":"Unconventional Uses of Structural Compliance in Adaptive Hands","authors":"Che-Ming Chang, Lucas Gerez, Nathan Elangovan, Agisilaos G. Zisimatos, Minas Liarokapis","doi":"10.1109/RO-MAN46459.2019.8956340","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956340","url":null,"abstract":"Adaptive robot hands are typically created by introducing structural compliance either in their joints (e.g., implementation of flexure joints) or in their finger-pads. In this paper, we present a series of alternative uses of structural compliance for the development of simple, adaptive, compliant and/or under-actuated robot grippers and hands that can efficiently and robustly execute a variety of grasping and dexterous, in-hand manipulation tasks. The proposed designs utilize only one actuator per finger to control multiple degrees of freedom and they retain the superior grasping capabilities of the adaptive grasping mechanisms even under significant object pose or other environmental uncertainties. More specifically, in this work, we introduce, discuss, and evaluate: a) the concept of compliance adjustable motions that can be predetermined by tuning the in-series compliance of the tendon routing system and by appropriately selecting the imposed tendon loads, b) a design paradigm of pre-shaped, compliant robot fingers that adapt / conform to the object geometry and, c) a hyper-adaptive finger-pad design that maximizes the area of the contact patches between the hand and the object, maximizing also grasp stability. The proposed hands use mechanical adaptability to facilitate and simplify the efficient execution of robust grasping and dexterous, in-hand manipulation tasks by design.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"131 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":"131955548","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

AppGAN: Generative Adversarial Networks for Generating Robot Approach Behaviors into Small Groups of People 生成对抗网络:用于生成机器人进入小团体的接近行为

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956425

Fangkai Yang, Christopher E. Peters

{"title":"AppGAN: Generative Adversarial Networks for Generating Robot Approach Behaviors into Small Groups of People","authors":"Fangkai Yang, Christopher E. Peters","doi":"10.1109/RO-MAN46459.2019.8956425","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956425","url":null,"abstract":"Robots that navigate to approach free-standing conversational groups should do so in a safe and socially acceptable manner. This is challenging since it not only requires the robot to plot trajectories that avoid collisions with members of the group, but also to do so without making those in the group feel uncomfortable, for example, by moving too close to them or approaching them from behind. Previous trajectory prediction models focus primarily on formations of walking pedestrians, and those models that do consider approach behaviours into free-standing conversational groups typically have handcrafted features and are only evaluated via simulation methods, limiting their effectiveness. In this paper, we propose AppGAN, a novel trajectory prediction model capable of generating trajectories into free-standing conversational groups trained on a dataset of safe and socially acceptable paths. We evaluate the performance of our model with state-of-the-art trajectory prediction methods on a semi-synthetic dataset. We show that our model outperforms baselines by taking advantage of the GAN framework and our novel group interaction module.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"52 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":"134068033","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: 17

An Exploratory Study on Proxemics Preferences of Humans in Accordance with Attributes of Service Robots 基于服务机器人属性的人类亲近感偏好探索性研究

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956297

S. Samarakoon, M. Muthugala, A. Jayasekara, M. R. Elara

{"title":"An Exploratory Study on Proxemics Preferences of Humans in Accordance with Attributes of Service Robots","authors":"S. Samarakoon, M. Muthugala, A. Jayasekara, M. R. Elara","doi":"10.1109/RO-MAN46459.2019.8956297","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956297","url":null,"abstract":"Service robots that possess social interactive capabilities are vital to cater to the demand in emerging domains of robotic applications. A service robot frequently needs to interact with users when performing service tasks. The comfortability of users depends on the human-robot proxemics during these interactions. Hence, a service robot should be capable of maintaining proper proxemics that improves the comfort of users. The proxemics preferences of users might depend on diverse attributes of a robot, such as emotional state, noise level, and physical appearance. Therefore, it is vital to gain a better understanding of a robot’s attributes which influence human-robot proxemics behavior. This paper contributes to an exploratory study to analyze the effects on human-robot proxemics preferences due to a robot’s attributes; facial and vocal emotions, level of internal noises, and the physical appearance. Four sub-studies have been conducted to gather the required human-robot proxemics data. The gathered data have been analyzed through statistical tests. The test statistics reveal that facial and vocal emotions, internal noise level, and the physical appearance of a robot have significant effects on proxemics preferences of humans. The outcomes of this exploratory study would be useful in designing and developing human-robot proxemics strategies of a service robot that would enhance social interaction.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"107 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":"134520652","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: 14

Eyes on you: field study of robot vendor using human-like eye component “Akagachi” Eyes on you:机器人供应商使用仿人眼睛组件“Akagachi”的实地研究

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956362

Kotaro Hayashi, Yasunori Toshimitsu

引用次数: 0

Human Prediction for the Natural Instruction of Handovers in Human Robot Collaboration 人机协作中移交自然指令的人类预测

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956379

Jens Lambrecht, Sebastian Nimpsch

{"title":"Human Prediction for the Natural Instruction of Handovers in Human Robot Collaboration","authors":"Jens Lambrecht, Sebastian Nimpsch","doi":"10.1109/RO-MAN46459.2019.8956379","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956379","url":null,"abstract":"Human robot collaboration is aspiring to establish hybrid work environments in accordance with specific strengths of humans and robots. We present an approach of flexibly integrating robotic handover assistance into collaborative assembly tasks through the use of natural communication. For flexibly instructed handovers, we implement recent Convolutional Neural Networks in terms of object detection and grasping of arbitrary objects based on an RGB-D camera equipped to a robot following the eye-in-hand principle. In order to increase fluency and efficiency of the overall assembly process, we investigate the human ability to instruct the robot predictively with voice commands. We conduct a user study quantitatively and qualitatively evaluating the predictive instruction in order to achieve just-in-time handovers of tools needed for following subtasks. We compare our predictive strategy with a pure manual assembly having all tools in direct reach and a stepby-step reactive handover. The results reveal that the human is able to predict the handover comparable to algorithmbased predictors. Nevertheless, human prediction does not rely on extensive prior knowledge and is thus suitable for more flexible usage. However, the cognitive workload for the worker is increased compared to manual or reactive assembly.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"65 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":"132764036","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: 4

A Common Social Distance Scale for Robots and Humans* 机器人和人类的通用社交距离量表*

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956316

J. Banks, Autumn P. Edwards

引用次数: 8

Improv with Robots: Creativity, Inspiration, Co-Performance 与机器人一起即兴表演:创造力，灵感，合作表演

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956410

Jesse J. Rond, Alan Sanchez, Jaden Berger, H. Knight

引用次数: 15

User Interface Tradeoffs for Remote Deictic Gesturing 远程指示手势的用户界面权衡

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956354

Naomi T. Fitter, Youngseok Joung, Zijian Hu, Marton Demeter, M. Matarić

{"title":"User Interface Tradeoffs for Remote Deictic Gesturing","authors":"Naomi T. Fitter, Youngseok Joung, Zijian Hu, Marton Demeter, M. Matarić","doi":"10.1109/RO-MAN46459.2019.8956354","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956354","url":null,"abstract":"Telepresence robots can help to connect people by providing videoconferencing and navigation abilities in faraway environments. Despite this potential, current commercial telepresence robots lack certain nonverbal expressive abilities that are important for permitting the operator to communicate effectively in the remote environment. To help improve the utility of telepresence robots, we added an expressive, non-manipulating arm to our custom telepresence robot system and developed three user interfaces to control deictic gesturing by the arm: onscreen, dial-based, and skeleton tracking methods. A usability study helped us to evaluate user presence feelings, task load, preferences, and opinions while performing deictic gestures with the robot arm during a mock order packing task. The majority of participants preferred the dial-based method of controlling the robot, and survey responses revealed differences in physical demand and effort level across user interfaces. These results can guide robotics researchers interested in extending the nonverbal communication abilities of telepresence robots.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"32 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":"133850494","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

Intention Detection and Gait Recognition (IDGR) System for Gait Assessment: A Pilot Study 意图检测和步态识别(IDGR)系统的步态评估:一个试点研究

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956299

Yogesh Singh, Manan Kher, V. Vashista

引用次数: 3

Persuasive ChairBots: A (Mostly) Robot-Recruited Experiment 有说服力的椅子机器人:一个(主要)机器人招募的实验

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Pub Date : 2019-10-01 DOI: 10.1109/RO-MAN46459.2019.8956262

Abhijeet Agnihotri, H. Knight

{"title":"Persuasive ChairBots: A (Mostly) Robot-Recruited Experiment","authors":"Abhijeet Agnihotri, H. Knight","doi":"10.1109/RO-MAN46459.2019.8956262","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956262","url":null,"abstract":"Robot furniture is a growing area of robotics research, as people easily anthropomorphize these simple robots and they fit in easily to many human environments. Could they also be of service in recruiting people to play chess? Prior work has found motion gestures to aid in persuasion, but this work has mostly occurred in in-lab studies and has not yet been applied to robot furniture. This paper assessed the efficacy of four motion strategies in persuading passerbyers to participate in a ChairBot Chess Tournament, which consisted of a table with a chessboard and two ChairBots – one for the white team, and another for the black team. The study occurred over a six-week period, seeking passersby to play chess in the atrium of our Computer Science building for an hour each Friday. Forward-Back motion was the most effective strategy in getting people to come to the table and play chess, while Spinning was the worst. Overall, people found the ChairBots to be friendly and somewhat dog-like. In-the-wild studies are challenging, but produce data that is highly likely to be replicable in future versions of the system. The results also support the potential of future robots to recruit participants to activities that they might already enjoy.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"44 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":"115794847","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: 12