| 1. |
- Coradeschi, Silvia, et al.
(författare)
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Human-inspired robots
- 2006
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Ingår i: IEEE Intelligent Systems. - 1541-1672. ; 21:4, s. 74-85
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Tidskriftsartikel (refereegranskat)abstract
- Future robots will work in hospitals, elderly care centers, schools, and homes. Similarity with humans can facilitate interaction with a variety of users who don't have robotics expertise, so it make sense to take inspiration from humans when developing robots. However, humanlike appearance can also be deceiving, convincing users that robots can understand and do much more than they actually can. Developing a humanlike appearance must go hand in hand with increasing robots' cognitive, social, and perceptive capabilities. This installment of Trends & Controversies explores different aspects of human-inspired robots.
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| 2. |
- Yabuta, Hikaru, et al.
(författare)
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Macromolecular organic matter in samples of the asteroid (162173) Ryugu
- 2023
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Ingår i: Science. - : American Association for the Advancement of Science. - 0036-8075 .- 1095-9203. ; 379:6634
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Tidskriftsartikel (refereegranskat)abstract
- Samples of the carbonaceous asteroid (162173) Ryugu were collected and brought to Earth by the Hayabusa2 spacecraft. We investigated the macromolecular organic matter in Ryugu samples and found that it contains aromatic and aliphatic carbon, ketone, and carboxyl functional groups. The spectroscopic features of the organic matter are consistent with those in chemically primitive carbonaceous chondrite meteorites that experienced parent-body aqueous alteration (reactions with liquid water). The morphology of the organic carbon includes nanoglobules and diffuse carbon associated with phyllosilicate and carbonate minerals. Deuterium and/or nitrogen-15 enrichments indicate that the organic matter formed in a cold molecular cloud or the presolar nebula. The diversity of the organic matter indicates variable levels of aqueous alteration on Ryugus parent body.
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| 3. |
- Bergström, Niklas, et al.
(författare)
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Modeling of Natural Human-Robot Encounters
- 2008
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Ingår i: 2008 IEEE/RSJ International Conference On Robots And Intelligent Systems, Vols 1-3, Conference Proceedings. - 9781424420575 ; , s. 2623-2629
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Konferensbidrag (refereegranskat)abstract
- For a person to feel comfortable when approaching a robot it is necessary for the robot to behave in an expected way. People's behavior around a robot not being aware of them were observed during a preliminary experiment. Based on those observations people were classified into four groups depending on their interest in the robot. People were tracked with a laser range finder based system, and their positions, directions and velocities were estimated. A second classification based on that information was made and the relation between the two classifications were mapped. Different actions were created for the robot to be able to react naturally to different human behaviors. In this paper we evaluate three different robot behaviors with respect to how natural they appear. One behavior that actively tries to engage people, one that passively indicates that people have been noticed and a third that makes random gestures. During an experiment test subjects were instructed to act according to the groups from the classification based on interest, and the robot's performance with regard to naturalness was evaluated. Both first and third person evaluation made clear that the active and passive behavior were considered equally natural, while a robot randomly making gestures was considered much less natural.
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| 4. |
- Cooney, Martin, 1980-, et al.
(författare)
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Affectionate Interaction with a Small Humanoid Robot Capable of Recognizing Social Touch Behavior
- 2014
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Ingår i: ACM Transactions on Interactive Intelligent Systems. - New York, NY : ACM Press. - 2160-6455 .- 2160-6463. ; 4:4
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Tidskriftsartikel (refereegranskat)abstract
- Activity recognition, involving a capability to recognize people’s behavior and its underlying significance, will play a crucial role in facilitating the integration of interactive robotic artifacts into everyday human environments. In particular, social intelligence in recognizing affectionate behavior will offer value by allowing companion robots to bond meaningfully with interacting persons. The current article addresses the issue of designing an affectionate haptic interaction between a person and a companion robot by exploring how a small humanoid robot can behave to elicit affection while recognizing touches. We report on an experiment conducted to gain insight into how people perceive three fundamental interactive strategies in which a robot is either always highly affectionate, appropriately affectionate, or superficially unaffectionate (emphasizing positivity, contingency, and challenge, respectively). Results provide insight into the structure of affectionate interaction between humans and humanoid robots—underlining the importance of an interaction design expressing sincere liking, stability and variation—and suggest the usefulness of novel modalities such as warmth and cold. © 2014 ACM.
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| 5. |
- Cooney, Martin, 1980-, et al.
(författare)
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Designing Enjoyable Motion-Based Play Interactions with a Small Humanoid Robot
- 2014
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Ingår i: International Journal of Social Robotics. - Dordrecht : Springer Science and Business Media LLC. - 1875-4791 .- 1875-4805. ; 6:2, s. 173-193
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Tidskriftsartikel (refereegranskat)abstract
- Robots designed to co-exist with humans in domestic and public environments should be capable of interacting with people in an enjoyable fashion in order to be socially accepted. In this research, we seek to set up a small humanoid robot with the capability to provide enjoyment to people who pick up the robot and play with it by hugging, shaking and moving the robot in various ways. Inertial sensors inside a robot can capture how its body is moved when people perform such "full-body gestures". Unclear is how a robot can recognize what people do during play, and how such knowledge can be used to provide enjoyment. People's behavior is complex, and naive designs for a robot's behavior based only on intuitive knowledge from previous designs may lead to failed interactions. To solve these problems, we model people's behavior using typical full-body gestures observed in free interaction trials, and devise an interaction design based on avoiding typical failures observed in play sessions with a naive version of our robot. The interaction design is completed by investigating how a robot can provide "reward" and itself suggest ways to play during an interaction. We then verify experimentally that our design can be used to provide enjoyment during a playful interaction. By describing the process of how a small humanoid robot can be designed to provide enjoyment, we seek to move one step closer to realizing companion robots which can be successfully integrated into human society.
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| 6. |
- Cooney, Martin, 1980-, et al.
(författare)
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Designing Robots for Well-being : Theoretical Background and Visual Scenes of Affectionate Play with a Small Humanoid Robot
- 2014
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Ingår i: Lovotics. - Foster city, USA : OMICS Publishing Group. - 2090-9888. ; 1:1
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Tidskriftsartikel (refereegranskat)abstract
- Social well-being, referring to a subjectively perceived long-term state of happiness, life satisfaction, health, and other prosperity afforded by social interactions, is increasingly being employed to rate the success of human social systems. Although short-term changes in well-being can be difficult to measure directly, two important determinants can be assessed: perceived enjoyment and affection from relationships. The current article chronicles our work over several years toward achieving enjoyable and affectionate interactions with robots, with the aim of contributing to the perception of social well-being in interacting persons. Emphasis has been placed on both describing in detail the theoretical basis underlying our work, and relating the story of each of several designs from idea to evaluation in a visual fashion. For the latter, we trace the course of designing four different robotic artifacts intended to further our understanding of how to provide enjoyment, elicit affection, and realize one specific scenario for affectionate play. As a result, by describing (a) how perceived enjoyment and affection contribute to social well-being, and (b) how a small humanoid robot can proactively engage in enjoyable and affectionate play—recognizing people’s behavior and leveraging this knowledge—the current article informs the design of companion robots intended to facilitate a perception of social well-being in interacting persons during affectionate play.
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| 7. |
- Cooney, Martin, et al.
(författare)
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Full-body gesture recognition using inertial sensors for playful interaction with small humanoid robot
- 2010
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Ingår i: Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010). - : IEEE Press. ; , s. 2276-2282
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Konferensbidrag (refereegranskat)abstract
- People like to play, and robotic technology offersthe opportunity to interact with artifacts in new ways. Robots co-existing with humans in domestic and public environments are expected to behave as companions, also engaging in playful interaction. If a robot is small, we foresee that people will want to be able to pick it up and express their intentions playfully by hugging, shaking and moving it around in various ways. Such robots will need to recognize these gestures -- which we call "full-body gestures" because they affect the robot’s full body. Inertial sensors inside the robot could be used to detect these gestures, in order to avoid having to rely on external sensors in the environment. However, it is not obvious which gestures typically occur during play, and which of these can be reliably detected. We therefore investigate full-body gesture recognition using Sponge Robot, a small humanoid robot equipped with inertial sensors and designed for playful human-robot interaction.
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| 8. |
- Cooney, Martin, 1980-, et al.
(författare)
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Importance of Touch for Conveying Affection in a Multimodal Interaction with a Small Humanoid Robot
- 2015
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Ingår i: International Journal of Humanoid Robotics. - Singapore : World Scientific. - 0219-8436. ; 12:1
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Tidskriftsartikel (refereegranskat)abstract
- To be accepted as a part of our everyday lives, companion robots will require the capability to communicate socially, recognizing people's behavior and responding appropriately. In particular, we hypothesized that a humanoid robot should be able to recognize affectionate touches conveying liking or dislike because (a) a humanoid form elicits expectations of a high degree of social intelligence, (b) touch behavior plays a fundamental and crucial role in human bonding, and (c) robotic responses providing affection could contribute to people's quality of life. The hypothesis that people will seek to affectionately touch a robot needed to be verified because robots are typically not soft or warm like humans, and people can communicate through various other modalities such as vision and sound. The main challenge faced was that people's social norms are highly complex, involving behavior in multiple channels. To deal with this challenge, we adopted an approach in which we analyzed free interactions and also asked participants to rate short video-clips depicting human–robot interaction. As a result, we verified that touch plays an important part in the communication of affection from a person to a humanoid robot considered capable of recognizing cues in touch, vision, and sound. Our results suggest that designers of affectionate interactions with a humanoid robot should not ignore the fundamental modality of touch.
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| 9. |
- Cooney, Martin, et al.
(författare)
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Interaction Design for an Enjoyable Play Interaction with a Small Humanoid Robot
- 2011
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Ingår i: Proceedings of the 2011 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011). - : IEEE Press. ; , s. 112-119
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Konferensbidrag (refereegranskat)abstract
- Robots designed to act as companions are expected to be able to interact with people in an enjoyable fashion. In particular, our aim is to enable small companion robots to respond in a pleasant way when people pick them up and play with them. To this end, we developed a gesture recognition system capable of recognizing play gestures which involve a person moving a small humanoid robot's full body (“full-body gestures”). However, such recognition by itself is not enough to provide a nice interaction. We find that interactions with an initial, naïve version of our system frequently fail. The question then becomes: what more is required? I.e., what sort of design is required in order to create successful interactions? To answer this question, we analyze typical failures which occur and compile a list of guidelines. Then, we implement this model in our robot, proposing strategies for how a robot can provide “reward” and suggest goals for the interaction. As a consequence, we conduct a validation experiment. We find that our interaction design with “persisting intentions” can be used to establish an enjoyable play interaction.
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| 10. |
- Geem, Jooyeon, et al.
(författare)
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(3200) Phaethon polarimetry in the negative branch: new evidence for the anhydrous nature of the DESTINY+ target asteroid
- 2022
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Ingår i: Monthly Notices of the Royal Astronomical Society: Letters. - : Oxford University Press. - 1745-3925 .- 1745-3933. ; 516:1, s. L53-L57
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Tidskriftsartikel (refereegranskat)abstract
- We report on the first polarimetric study of (3200) Phaethon, the target of JAXA’s DESTINY+ mission, in the negative branch to ensure its anhydrous nature and to derive an accurate geometric albedo. We conducted observations at low phase angles (Sun-target-observer angle, α = 8.8–32.4°) from 2021 October to 2022 January and found that Phaethon has a minimum polarization degree Pmin = −1.3 ± 0.1 per cent, a polarimetric slope h = 0.22 ± 0.02 per cent deg−1, and an inversion angle α0 = 19.9 ± 0.3°. The derived geometric albedo is pV = 0.11 (in the range of 0.08–0.13). These polarimetric properties are consistent with anhydrous chondrites, contradict hydrous chondrites, and typical cometary nuclei.
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