2013 16th International Conference on Advanced Robotics (ICAR)最新文献_第10页

Structural synthesis of 3DOF articulated manipulators based on kinematic evaluation 基于运动学评价的三维自由度关节机械臂结构综合

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766460

B. Vemula, G. Spampinato, M. Hedelind, Xiaolong Feng, T. Brogårdh

引用次数: 1

Prosody-based adaptive metaphoric head and arm gestures synthesis in human robot interaction 人机交互中基于韵律的自适应隐喻头、臂手势合成

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766507

A. Aly, A. Tapus

{"title":"Prosody-based adaptive metaphoric head and arm gestures synthesis in human robot interaction","authors":"A. Aly, A. Tapus","doi":"10.1109/ICAR.2013.6766507","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766507","url":null,"abstract":"In human-human interaction, the process of communication can be established through three modalities: verbal, non-verbal (i.e., gestures), and/or para-verbal (i.e., prosody). The linguistic literature shows that the para-verbal and non-verbal cues are naturally aligned and synchronized, however the natural mechanism of this synchronization is still unexplored. The difficulty encountered during the coordination between prosody and metaphoric head-arm gestures concerns the conveyed meaning, the way of performing gestures with respect to prosodic characteristics, their relative temporal arrangement, and their coordinated organization in the phrasal structure of utterance. In this research, we focus on the mechanism of mapping between head-arm gestures and speech prosodic characteristics in order to generate an adaptive robot behavior to the interacting human's emotional state. Prosody patterns and the motion curves of head-arm gestures are aligned separately into parallel Hidden Markov Models (HMM). The mapping between speech and head-arm gestures is based on the Coupled Hidden Markov Models (CHMM), which could be seen as a multi-stream collection of HMM, characterizing the segmented prosody and head-arm gestures' data. An emotional state based audio-video database has been created for the validation of this study. The obtained results show the effectiveness of the proposed methodology.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128191413","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

Simultaneous segmentation and recognition of hand gestures for human-robot interaction 人机交互中手势的同时分割与识别

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766511

Harold Vasquez Chavarria, H. Escalante, L. Sucar

{"title":"Simultaneous segmentation and recognition of hand gestures for human-robot interaction","authors":"Harold Vasquez Chavarria, H. Escalante, L. Sucar","doi":"10.1109/ICAR.2013.6766511","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766511","url":null,"abstract":"Gestures are a natural form of communication between people that is being increasingly used for human-robot interaction. There are many automatic techniques to recognize gestures, however, most of them assume that gestures are already segmented from continuous video, clearly, this is an unrealistic scenario for human-robot interaction. For instance, when commanding a service robot the agent must be aware at any time of the world (e.g., via continuous video) and ready to react when a user gives an order (e.g., using a gesture). In this paper we propose a method for addressing both tasks, segmentation and recognition of gestures, simultaneously. The proposed method is based on a novel video-stream exploration scheme called multi-size dynamic windows. Several windows of different sizes are dynamically created, each window is classified by a Hidden Markov Model (HMM). Predictions are combined via a voting strategy and eventually the endpoint of a gesture is detected (segmentation). At that moment the method recognizes the gesture that has been just performed using a majority vote decision (recognition). The proposed method is intended to command a service robot by capturing information of user movements with a KinectTM sensor. We evaluated experimentally the proposed method with 5 different gestures suitable for commanding a service robot. Experimental results show that up to 82.76% of the gestures are correctly segmented. The corresponding recognition performance was of 89.58 %. We consider that this performance is acceptable for certain human-robot interaction scenarios.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126526337","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

Humanoid bending while carrying load: Influence of hip axes orientation layout on joint power 人形承载弯曲:髋轴方向布局对关节力的影响

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766503

Maja Zorjan, V. Hugel

引用次数: 0

A robust manipulation strategy based on impedance control parameters changes and smooth trajectories 基于阻抗控制参数变化和平滑轨迹的鲁棒操纵策略

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766514

L. M. Pedro, Guilherme Fernandes, Marius Stücheli, A. Siqueira, G. Caurin

引用次数: 3

A decentralized fault detection and isolation strategy for networked robots 网络化机器人的分散故障检测与隔离策略

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766562

F. Arrichiello, A. Marino, F. Pierri

引用次数: 6

Reaching hidden objects based on memory of environmental states and robot's movement and manipulation 基于环境状态记忆和机器人运动与操作的隐藏物体到达

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766497

Akihiro Ichimura, I. Mizuuchi

引用次数: 2

Non-iterative planar visual odometry using a monocular camera 使用单目相机的非迭代平面视觉里程计

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766475

Firas Abi-Farraj, Daniel C. Asmar, Elie A. Shammas, I. Elhajj

引用次数: 4

Experimental validation of a visual odometry system for indoor unstructured environments 室内非结构化环境视觉里程计系统的实验验证

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766496

J. Rodrigues, C. Cardeira, F. Carreira, J. Calado, P. Oliveira

引用次数: 1

Managing extensibility and maintainability of industrial robotics software 管理工业机器人软件的可扩展性和可维护性

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766561

A. Hoffmann, A. Angerer, A. Schierl, M. Vistein, W. Reif

引用次数: 5