Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591)

18-21 Sept. 2001

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  • Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591)

    Publication Year: 2001
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    Freely Available from IEEE
  • Index of authors

    Publication Year: 2001, Page(s):0_13 - 0_16
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    Freely Available from IEEE
  • An adaptive person recognition system

    Publication Year: 2001, Page(s):436 - 441
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB) | HTML iconHTML

    We propose a framework for integrating the processes of object recognition and knowledge adaptation. This framework acknowledges that the performance of the object recognition process depends directly on the state of the system's internal knowledge, i.e., its memory, and conversely, that the efficacy of the system's knowledge adaptation process is enhanced by its ability to recognize objects with ... View full abstract»

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  • What perceptible information can be implemented in talking head animations

    Publication Year: 2001, Page(s):430 - 435
    Cited by:  Papers (1)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (386 KB) | HTML iconHTML

    In this paper, we describe our talking head animation system. We scan and analyze high resolution static 3D faces from multiple subjects and extract deformation characteristics by principal component analysis. The extracted components have similarities across subjects and are used to reconstruct arbitrary facial postures for face animation driven by 3D kinematic data. We also build a simple lip mo... View full abstract»

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  • Image processing methods for interactive robot control

    Publication Year: 2001, Page(s):424 - 429
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (303 KB) | HTML iconHTML

    In this paper we describe a straight forward technique for tracking a human hand based on images acquired by an active stereo camera system. We demonstrate the implementation of this method on an anthropomorphic assistance robot as part of a multi-modal man-machine interaction system: detecting the hand-position, the robot can interprete a human pointing gesture as the specification of a target ob... View full abstract»

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  • A practical way to apply the natural human like communication to human-robot interface

    Publication Year: 2001, Page(s):158 - 163
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (360 KB) | HTML iconHTML

    The paper proposes a concept to build a human friendly interface for robot tele-operation. This interface is based on a knowledge database of our daily lives, thus any human operators, men and women of all ages, can easily transfer their intentions to the robots. The proposed method also includes an interactive communication path between human operators and robots, which compensates for vague inst... View full abstract»

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  • A shared autonomy of multiple mobile robots in teleoperation

    Publication Year: 2001, Page(s):319 - 325
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (394 KB) | HTML iconHTML

    We propose a shared autonomy between a human at an operation site and multiple mobile robots at a remote site. For partial intelligence, we use a distributed sensor-based path-planning algorithm of multiple mobile robots. Each robot smartly avoids its neighbors by vision-based feedback. It reaches its destination by position-based feedback under GPS (Global Positioning System). A human operator pi... View full abstract»

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  • Dynamic grasp recognition within the framework of programming by demonstration

    Publication Year: 2001, Page(s):418 - 423
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (314 KB) | HTML iconHTML

    Programming robots by unexperienced human users require methods following the Programming by Demonstration (PbD) paradigm. The main goal of these systems is to allow the unexperienced human user to easily integrate motion and perception skills or complex problem solving strategies. Unfortunately actual PbD systems are dealing only with manipulations based on Pick & Place operations. This paper... View full abstract»

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  • Modelling of human's three-dimensional movement-extending Fitts' model to three-dimensional pointing task

    Publication Year: 2001, Page(s):594 - 599
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (265 KB) | HTML iconHTML

    The purpose of this study is to construct a model that predicts movement time as a function of the index of difficulty of a three-dimensional pointing task. Experimental factors were target size, target distance, and approach direction to the target. Pointing time and coordinate of pointer (right index finger) were measured. It was shown that the trajectory length and mean velocity were greatly af... View full abstract»

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  • Adaptable semi-autonomy in personal robots

    Publication Year: 2001, Page(s):152 - 157
    Cited by:  Papers (9)  |  Patents (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (361 KB) | HTML iconHTML

    Personal robotics is widely recognized as a major challenge for current robotics research. Robots assisting humans and closely interacting with them have to meet acceptability requirements which in turn leads one to reconsider the concept of autonomy in robotics. The paper presents an abstract analysis of possible levels of semi-autonomy in personal robots and illustrates a case study in which ada... View full abstract»

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  • Mobile haptic interaction with extended real or virtual environments

    Publication Year: 2001, Page(s):313 - 318
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (337 KB) | HTML iconHTML

    A mobile interface for physical interaction with extended real or virtual environments is presented, which frees the operator from being bound to a stationary workstation. The operator's unrestricted walking is available as input to the locomotion control of the teleoperator or the avatar. Hence, the operator uses proprioceptive perception of locomotion, which is required for navigation and wayfin... View full abstract»

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  • Motion coordination between a human and a robotic wheelchair

    Publication Year: 2001, Page(s):412 - 417
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (369 KB) | HTML iconHTML

    We describe an approach to coordinating the motion of a human with a mobile robot moving in a populated, continuously changing, natural environment. Our test application is a wheelchair accompanying a person through the concourse of a railway station moving side by side with the person. In healthcare and rehabilitation scenarios this addresses a rather important issue. Pushing and maneuvering a ca... View full abstract»

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  • Exact linearization and noninteracting control of a 4 rotors helicopter via dynamic feedback

    Publication Year: 2001, Page(s):586 - 593
    Cited by:  Papers (57)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (283 KB) | HTML iconHTML

    Presents a nonlinear dynamic model for a four rotors helicopter in a form suited for control design. We show that the input-output decoupling problem is not solvable for this model by means of a static state feedback control law. Then, a dynamic feedback controller is developed which renders the closed-loop system linear, controllable and noninteractive after a change of coordinates in the state-s... View full abstract»

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  • Task-oriented dialogue for CERO: a user-centered approach

    Publication Year: 2001, Page(s):146 - 151
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (289 KB) | HTML iconHTML

    We describe a user-centered approach to the process of designing spoken dialogues for commanding robots. Using scenarios and synthetic dialogues followed by simulated trials with real users we built a spoken language interface for commanding an office robot. Initial evaluation with the implemented system has brought interesting questions concerning the feedback necessary for interacting with a rob... View full abstract»

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  • Remote robot teleoperation via Internet. A first approach

    Publication Year: 2001, Page(s):306 - 312
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (366 KB) | HTML iconHTML

    In this paper we present a new distributed architecture aimed to teleoperate a robot over Internet. The long term objective of the system design is to give the possibility for students to have remote experimentation. The main features of the proposed work concern the adaptation of the control strategy, by real time evaluation of quality of service, and experimentation parameters View full abstract»

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  • Concept of a hybrid architecture for Care-O-bot

    Publication Year: 2001, Page(s):407 - 411
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB) | HTML iconHTML

    Care-O-bot is the prototype of a multi-functional robot assistant for housekeeping and home care, to be used by elderly people in order to live independently in their homes for a longer time. Therefore, an easy, intuitive, and dependable operation of the home care system is essential. Care-O-bot has to cope with many different situations and has to fufill complex tasks even in dynamic environments... View full abstract»

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  • Collision free manipulation for teleoperated assembly tasks

    Publication Year: 2001, Page(s):38 - 43
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (352 KB) | HTML iconHTML

    A solution to the problem of collision free manipulation during simulation and execution of teleoperated assembly tasks is suggested in this paper. The task, which is realized by a teleoperated robotic system, is specified by the operator towards a virtual environment. In order to relieve the operator of some operational constraints, the approach is based on a shared control architecture that allo... View full abstract»

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  • Input device using eye tracker in human-computer interaction

    Publication Year: 2001, Page(s):580 - 585
    Cited by:  Papers (5)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (331 KB) | HTML iconHTML

    This paper describes the development of the eye-gazing input system using the eye tracking system. The eye-gazing input system consists of a subsystem that detects the user's eye movement and a subsystem that calculates the coordinate of the mouse pointer from the eye movement patterns. This paper mainly describes the algorithm to calculate the coordinate of pointer from eye movements and the usab... View full abstract»

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  • Multi-robot remote driving with collaborative control

    Publication Year: 2001, Page(s):237 - 242
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (391 KB) | HTML iconHTML

    Multi-robot remote driving has traditionally been a difficult problem. Whenever an operator is often forced to divide his limited resources (attention, decision making, etc.) among multiple robots, control becomes complicated and performance quickly deteriorates as a result. To remedy this, we need to find ways to make command generation and coordination efficient, so that human-robot interaction ... View full abstract»

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  • C-roids: life-like characters for situated natural language user interfaces

    Publication Year: 2001, Page(s):140 - 145
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (326 KB) | HTML iconHTML

    In a future scenario where many devices can be controlled using the voice, easy and intuitive access will be crucial for avoiding cognitive overload when faced with many different systems and interaction models. We propose a model for interaction with spoken language interfaces with heterogeneous tasks, based on the idea of using a family of life-like characters. The properties of these characters... View full abstract»

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  • Web-based supervisory control of mobile robots

    Publication Year: 2001, Page(s):256 - 261
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (338 KB) | HTML iconHTML

    We show the BGen-Web proof-of-concept application. It allows the supervisory control of a mobile robot using a Web-based interface. All the software has been developed using the Java language and different APIs. In this application the user receives video feedback and experiences highly interactive sessions. Other Web-based telerobotics systems are analysed and compared with our system View full abstract»

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  • Motion control of omnidirectional mobile manipulator for indoor environment

    Publication Year: 2001, Page(s):274 - 279
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (290 KB) | HTML iconHTML

    A mobile manipulator will be a practical robot in our daily life environment. In order for the robot to fit the environment, an omnidirectional mobile function and posture stabilization function of the mobile base should be necessary. In this paper the construction of omnidirectional mobile mechanism and its kinematics for the control are described. The implementation of a real-time reaction force... View full abstract»

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  • Color pattern inspection machine with human sensitivity

    Publication Year: 2001, Page(s):68 - 73
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (381 KB) | HTML iconHTML

    Functions for the visual inspection functions of color defects such as color spots or color stains are required for pattern inspection machines for printed materials. Problems in developing inspection systems for these defects, and color inspection characteristics of the inspection machines are hard to standardize. The authors introduce a calibration method to adjust all aspects of the color evalu... View full abstract»

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  • Estimations based on system diagnosis with emotion systems linked to consciousness

    Publication Year: 2001, Page(s):300 - 305
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (299 KB) | HTML iconHTML

    The emotional process in this paper is defined as both the synergistic process of consciousness with stimuli and the expressive processes caused for the movements of the mind affected with consciousness. The model of the former is organized by the system control model, and the latter expressed from the introduced psychogenic particles driven by consciousness. The psychogenic particle system forms ... View full abstract»

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  • Human motion analysis using the rhythm-an estimate method of dance motion with multivariate autoregressive model

    Publication Year: 2001, Page(s):194 - 199
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (271 KB) | HTML iconHTML

    In our studies, we have focused on the traditional dance of Japan recorded in an image database. In this study, we aim to reproduce the traditional dance motion recorded in an image database. We propose a method of estimating dance motion with the multivariate autoregressive model. The multi-articular motion is a multivariate feedback system. We analyze the motion of three-variables (shoulder,elbo... View full abstract»

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