| 1. |
- Salt Ducaju, Julian M., et al.
(författare)
-
Joint Stiction Avoidance with Null-Space Motion in Real-Time Model Predictive Control for Redundant Collaborative Robots
- 2021
-
Ingår i: 2021 30th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2021. - 1944-9445 .- 1944-9437. - 9781665404921 ; , s. 307-314
-
Konferensbidrag (refereegranskat)abstract
- Model Predictive Control (MPC) is an efficient point-to-point trajectory-generation method for robots that can be used in situations that occur under time constraints. The motion plan can be recalculated online to increase the accuracy of the trajectory when getting close to the goal position. We have implemented this strategy in a Franka Emika Panda robot, a redundant collaborative robot, by extending previous research that was performed on a 6-DOF robot. We have also used null-space motion to ensure a continuous movement of all joints during the entire trajectory execution as an approach to avoid joint stiction and allow accurate kinesthetic teaching. As is conventional for collaborative and industrial robots, the Panda robot is equipped with an internal controller, which allows to send position and velocity references directly to the robot. Therefore, null-space motion can be added directly to the MPC-generated velocity references. The observed trajectory deviation caused by discretization approximations of the Jacobian matrix when implementing null-space motion has been corrected experimentally using sensor feedback for the real-time velocity-reference recalculation and by performing a fast sampling of the null-space vector. Null-space motion has been experimentally seen to contribute to reducing the friction torque dispersion present in static joints.
|
|
| 2. |
- Bekiroglu, Yasemin, 1982, et al.
(författare)
-
Learning grasp stability with tactile data and HMMs
- 2010
-
Ingår i: IEEE International Symposium on Robot and Human Interactive Communication. - 1944-9437 .- 1944-9445. ; , s. 132-137
-
Konferensbidrag (refereegranskat)abstract
- In this paper, the problem of learning grasp stability in robotic object grasping based on tactile measurements is studied. Although grasp stability modeling and estimation has been studied for a long time, there are few robots today able of demonstrating extensive grasping skills. The main contribution of the work presented here is an investigation of probabilistic modeling for inferring grasp stability based on learning from examples. The main objective is classification of a grasp as stable or unstable before applying further actions on it, e.g. lifting. The problem cannot be solved by visual sensing which is typically used to execute an initial robot hand positioning with respect to the object. The output of the classification system can trigger a regrasping step if an unstable grasp is identified. An off-line learning process is implemented and used for reasoning about grasp stability for a three-fingered robotic hand using Hidden Markov models. To evaluate the proposed method, experiments are performed both in simulation and on a real robot system.
|
|
| 3. |
- Frennert, Susanne, PhD, et al.
(författare)
-
Using attention cards to facilitate active participation in eliciting old adults' requirements for assistive robots
- 2013
-
Ingår i: IEEE International Workshop on Robot and Human Interactive Communication. - : IEEE conference proceedings. - 9781479905072 ; , s. 774-779, s. 774-779
-
Konferensbidrag (refereegranskat)abstract
- Engaging old users in the exploration of future product concepts can be challenging. It is of great value to find ways to actively involve them in the design of novel technologies intended for them, particularly when they have no prior experience of the technology in question. One obstacle in this process is that many old people do not identify themselves as being old or they think that it (the technology) would be good for others but not themselves. This paper presents a card method to overcome this obstacle. A full-day workshop with three internal focus groups was run with 14 participants. Based on our experience, we propose a way in which active participation in the process of eliciting user requirements for assistive robots from old users with no prior experience of assistive robots can be carried out.
|
|
| 4. |
- Somashekarappa, Vidya, 1994, et al.
(författare)
-
Neural Network Implementation of Gaze-Target Prediction for Human-Robot Interaction
- 2023
-
Ingår i: IEEE International Workshop on Robot and Human Communication, RO-MAN. - 1944-9445 .- 1944-9437. - 9798350336702
-
Konferensbidrag (refereegranskat)abstract
- Gaze cues, which initiate an action or behaviour, are necessary for a responsive and intuitive interaction. Using gaze to signal intentions or request an action during conversation is conventional. We propose a new approach to estimate gaze using a neural network architecture, while considering the dynamic patterns of real world gaze behaviour in natural interaction. The main goal is to provide foundation for robot/avatar to communicate with humans using natural multimodal-dialogue. Currently, robotic gaze systems are reactive in nature but our Gaze-Estimation framework can perform unified gaze detection, gaze-object prediction and object-landmark heatmap in a single scene, which paves the way for a more proactive approach. We generated 2.4M gaze predictions of various types of gaze in a more natural setting (GHIGaze). The predicted and categorised gaze data can be used to automate contextualized robotic gaze-tracking behaviour in interaction. We evaluate the performance on a manually-annotated data set and a publicly available gaze-follow dataset. Compared to previously reported methods our model performs better with the closest angular error to that of a human annotator. As future work, we propose an implementable gaze architecture for a social robot from Furhat robotics11https://furhatrobotics.com/
|
|
| 5. |
- Kosinski, Tomasz, 1989, et al.
(författare)
-
A fuzzy data-based model for Human-Robot Proxemics
- 2016
-
Ingår i: Robot and Human Interactive Communication (RO-MAN), 2016 25th IEEE International Symposium on. - 1944-9437. - 9781509039296 ; , s. 335-340
-
Konferensbidrag (refereegranskat)abstract
- This work aims at bringing empirical knowledgeon Human-Robot Interaction obtained from user studies closerto being integrated into the capabilities of robots currentlyavailable on the market. The Takagi-Sugeno-Kang method andresults of a user study conducted with thirty two participantswere used to build a fuzzy data-based model for Human-RobotProxemics. The experiment investigated the effect of robotapproach distance and angle on perceived human comfort. Theproposed model, consisting of a set of rules, fuzzy sets and theirparameters, can be used by the robotics community thanksto their formal form. It can also be directly translated intonatural language statements. Results of model cross-validationare reported.
|
|
| 6. |
- Romeo, Marta, et al.
(författare)
-
Putting Robots in Context : Challenging the Influence of Voice and Empathic Behaviour on Trust
- 2023
-
Ingår i: 2023 32ND IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, RO-MAN. - : Institute of Electrical and Electronics Engineers (IEEE). - 1944-9445. - 9798350336702 ; , s. 2045-2050
-
Konferensbidrag (refereegranskat)abstract
- Trust is essential for social interactions, including those between humans and social artificial agents, such as robots. Several robot-related factors can contribute to the formation of trust. However, previous work has often treated trust as an absolute concept, whereas it is highly context-dependent, and it is possible that some robot-related features will influence trust in some contexts, but not in others. In this paper, we present the results of two video-based online studies aimed at investigating the role of robot voice and empathic behaviour on trust formation in a general context as well as in a task-specific context. We found that voice influences trust in the specific context, with no effect of voice or empathic behaviour in the general context. Thus, context mediated whether robot-related features play a role in people's trust formation towards robots.
|
|
| 7. |
- Sidorenko, Galina, 1985-, et al.
(författare)
-
The CAR Approach : Creative Applied Research Experiences for Master’s Students in Autonomous Platooning
- 2021
-
Ingår i: 2021 30th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2021. - : IEEE. - 9781665404921 - 9781665446372 ; , s. 214-221
-
Konferensbidrag (refereegranskat)abstract
- Autonomous vehicles (AVs) are crucial robotic systems that promise to improve our lives via safe, efficient, and inclusive transport-while posing some new challenges for the education of future researchers in the area, that our current research and education might not be ready to deal with: In particular, we don't know what the AVs of the future will look like, practical learning is restricted due to cost and safety concerns, and a high degree of multidisciplinary knowledge is required. Here, following the broad outline of Active Student Participation theory, we propose a pedagogical approach targeted toward AVs called CAR that combines Creativity theory, Applied demo-oriented learning, and Real world research context. Furthermore, we report on applying the approach to stimulate learning and engagement in a master's course, in which students freely created a demo with 10 small robots running ROS2 and Ubuntu on Raspberry Pis, in connection to an ongoing research project and a real current problem (SafeSmart and COVID-19). The results suggested the feasibility of the CAR approach for enabling learning, as well as mutual benefits for both the students and researchers involved, and indicated some possibilities for future improvement, toward more effective integration of research experiences into second cycle courses. © 2021 IEEE.
|
|
| 8. |
- Thunberg, Sofia, et al.
(författare)
-
Pandemic Effects on Social Companion Robot Use in Care Homes
- 2021
-
Ingår i: 2021 30TH IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN). - : IEEE. - 9781665404921 ; , s. 983-988
-
Konferensbidrag (refereegranskat)abstract
- During the past year with a pandemic, there have been many discussions of the use of robots in healthcare, and in particular the care of older adults. There are reports that COVID-19 drives adoption of robot technologies, and that health institutions are more positive to the use of robots due to the lower risk of virus spread, among other reasons. The media have contributed significantly to an increased interest in caring robots and from a societal perspective - given recent lockdowns, social distancing, etc. - an increase of robot usage in health care settings is not difficult to imagine. Older adults have in many countries been isolated, either at home or in care homes. This group, and especially individuals with dementia, were already vulnerable before the pandemic, living with an increased risk for loneliness and depression. For the last 10 years in Sweden, many actions have been taken to improve these peoples well-being and quality of life, including the use of social companion robots as psychological interventions. Given the increased isolation due to the pandemic, we wanted to investigate how the use of social companion robots has been affected in care homes during this time. We, therefore, interviewed nine health care staff members from seven different care homes for older adults in Sweden. The results summarised in this paper provides a real-world status report, one year after the outbreak, of how the pandemic has affected the usage of social companion robots in care homes.
|
|
| 9. |
- Torre, Ilaria, et al.
(författare)
-
Can a gender-ambiguous voice reduce gender stereotypes in human-robot interactions?
- 2023
-
Ingår i: Proceedings of the 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). - : IEEE. - 1944-9445. - 9798350336702 - 9798350336719 ; , s. 106-112
-
Konferensbidrag (refereegranskat)abstract
- When deploying robots, its physical characteristics, role, and tasks are often fixed. Such factors can also be associated with gender stereotypes among humans, which then transfer to the robots. One factor that can induce gendering but is comparatively easy to change is the robot’s voice. Designing voice in a way that interferes with fixed factors might therefore be a way to reduce gender stereotypes in human-robot interaction contexts. To this end, we have conducted a video-based online study to investigate how factors that might inspire gendering of a robot interact. In particular, we investigated how giving the robot a gender-ambiguous voice can affect perception of the robot. We compared assessments (n=111) of videos in which a robot’s body presentation and occupation mis/matched with human gender stereotypes. We found evidence that a gender-ambiguous voice can reduce gendering of a robot endowed with stereotypically feminine or masculine attributes. The results can inform more just robot design while opening new questions regarding the phenomenon of robot gendering.
|
|
