The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Slight differences between a learning target motion and motions performed by learners are not easy for learners to recognize, when some adjustments are needed by learners for learning motions. To assist human-learners recognize the slight differences in motions, not only symbolic expressions but also motion display plays very important role. In the previous work, we proposed a motion coaching system...
In this work, we propose a system that has the ability to reproduce imitated motions of human during continuous and online observation with a humanoid robot. In order to achieve this goal, the problems for imitation have to be solved. In this paper, we treat two main issues. One is mapping between different kinematic structures and the other is computing humanoid body pose that satisfies the static...
In this paper, a collaborative work between a human worker and an adult-sized humanoid robot (HUBO) is presented. Through the task, HUBO decided its movement just based on captured data from motion capture system (MoCap), which was equipped in provided working environment. Human co-workers did not provide any cues for determining a desired moving velocity or orientation. Whenever human workers changed...
This paper studies the feasibility of emergency response humanoid robots. The 2011 Tohoku Earthquake was the most powerful earthquake ever measured in Japan. It is also referred to as the Great East Japan Earthquake and happened on March 11, 2011. Following the earthquake, several tsunami hit the Pacific coast of eastern Japan and damaged the Fukushima Daiichi Nuclear Power Plant. Some robots are...
Existing robot faces have used as one-way emotional expression and communication device based on actuator control mostly. This paper is about robot face development as a bidirectional interaction interface, not one-way output or expression device, and the application. We added infrared-based touch input system to the uni-directional output device, and then implemented the robot face to be an independent...
This paper proposes the analysis of two strategies for motion imitation of articulated systems with balance constraint. The two systems have different dynamic characteristics and their respective motions are restricted to the sagittal plane. The first strategy is based on nonlinear time scaling of joint trajectories ensuring that the balance of the imitating system is maintained through the motion...
This paper presents a possibility that we can teach what emotions a robot should express. For this, we design an artificial emotion decision system learned by feedbacks of users. The proposed system consists of three parts: a personality space with probability model, an emotion decision process, and an emotion learning process. 1) The personality space is designed based on the Five-Factor Model. In...
This paper describes the proposed humanoid robot teleoperation system capable of task learning through teleoperation. The system is based on the task rule extraction from the data acquired by monitoring a human operator during the teleoperation process. The basic information about teleoperation systems, history, applications and current trends are provided in the first part of the paper. The second...
Most of the works in the field of teleoperation of humanoid robots do not use the whole-body of the robot to perform some task. This work treats the teleoperation of a humanoid robot through the recognition of human motions by using a natural interface mechanism. We propose the use of simple mathematical techniques to allow, in a satisfactory level, the user order in real-time a robot to mimic a person,...
In order to facilitate integration into domestic and public environments, companion robots can seek to communicate in a familiar, “socially intelligent” manner, recognizing typical behaviors which people direct toward them. One important type of behavior to recognize is the displaying and seeking of affection, which is fundamentally associated with the modality of touch. This paper identifies how...
Robot imitation is a useful tool in humanoid robot research, it provides a natural way of teaching a complex humanoid robot to accomplish human-like behaviors. However, it is never an easy task to build such a system robustly due to the high degree of freedom (DOF) in human motion and difficulty in humanoid control. In this paper, we present a system built up by the Microsoft Kinect box and the Aldebaran...
In this study, we investigate the effect of the attributes of humans, such as sex and age, on their psychological evaluation of humanoids. We used 11 humanoids in order to investigate the basic tendency of humans to evaluate humanoids. In addition, we included wheeled-walking robots, biped-walking robots, and androids in order to consider the influence of the type of humanoid. We collected data from...
We presented our works relative to anthropomorphic motions. We performed task recognition, full-dynamic motion generation, motion retargeting and editing in a unified framework: the stack of tasks. Thanks to the genericity of the task function formalism, our works can be further extended. For example, for the recognition, the use of the task function formalism applied to human motion is currently...
This study identifies the basic general perspectives that ordinary people use to evaluate humanoids (Study 1). In addition, it develops a new psychological scale to quantify general impressions regarding humanoids based on these basic perspectives (Study 2). In Study 1, to discover the basic perspectives toward humanoids, we used 11 humanoids and collected data from 919 Japanese people ranging from...
We present an overview of the LightHead robot and its retro-projected face, followed by opportunities for this technology to push the state-of-the-art in HRI. Through comparison with existing robot head technologies, we show how retro-projected faces can provide a means to display human social-emotional behaviours including subtle social cues not achievable with other robotic heads.
With the development of technology, humanoid robots gradually enter our life, not only for education, but helping people with housework and many other tasks, some of which are inevitable for human. But only few people know how to control and interact with a humanoid robot, which hinders the development of humanoid robot. So a human-robot interactive demonstration system is designed to help non-expert...
Natural body gesture, as well as speech dialog, is crucial for human-robot interaction and human-robot symbiosis. We have already proposed a real-time gesture planning method. In this paper, we afford this method more flexibility by adding motion parameterization function. Especially in multi-person HRI, this function becomes more important because of its adaptation to changes of a speaker's and/or...
In this paper, we describe a NAO H25 humanoid robot painter assisted by a human. The aim of this study is to reproduce the whole painting process by a humanoid robot with a vision system and fingers. The novelty of the study lies in using a human assistant in interaction with the robot and filling regions in the picture. The painting process is performed by the humanoid robot in three phases: obtaining...
A service oriented architecture with Robot Operating System is developed for upper part humanoid robot teleoperation with human gesture recognition. This architecture enables the system to distributed in nodes do physically do not change the humanoid weight.
This paper proposes a general learning framework for robots to learn behaviors through imitation and interaction. A modified codebook based method is used for robots to segment and recognize new objects in the environment. Task related semantic information is learned by robots through the speech communication with humans. Dynamic Movement Primitive method is used to generate similar behaviors to complete...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.