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WHOLE-BODY MOTION GENERATION OF android robot USING MOTION CAPTURE AND NONLINEAR CONSTRAINED OPTIMIZATION

INTERNATIONAL JOURNAL OF HUMANOID robotICS 2013年第2期10卷

作者： Kim, Jung-Yup Kim, Young-Seog Seoul Natl Univ Sci & Technol Dept Mech Syst Design Engn Humanoid Robot Res Lab Seoul 139743 South Korea

This paper describes a whole-body motion generation scheme for an android robot using motion capture and an optimization method. android robots basically require human-like motions due to their human-like appearances. However, they have various limitations on joint angle, and joint velocity as well as different numbers of joints and dimensions compared to humans. Because of these limitations and differences, one appropriate approach is to use an optimization technique for the motion capture data. Another important issue in whole-body motion generation is the gimbal lock problem, where a degree of freedom at the three-DOF shoulder disappears. Since the gimbal lock causes two DOFs at the shoulder joint diverge, a simple and effective strategy is required to avoid the divergence. Therefore, we propose a novel algorithm using nonlinear constrained optimization with special cost functions to cope with the aforementioned problems. To verify our algorithm, we chose a fast boxing motion that has a large range of motion and frequent gimbal lock situations as well as dynamic stepping motions. We then successfully obtained a suitable boxing motion very similar to captured human motion and also derived a zero moment point (ZMP) trajectory that is realizable for a given android robot model. Finally, quantitative and qualitative evaluations in terms of kinematics and dynamics are carried out for the derived android boxing motion.

关键词： Whole-body motion android robot motion capture nonlinear constrained optimization

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A Conversational robotic Approach to Dementia Symptoms Measuring Its Effect on Older Adults 19

A Conversational Robotic Approach to Dementia Symptoms Measu...

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7th International Conference on Human-Agent Interaction (HAI)

作者： Yamazaki, Ryuji Kase, Hiroko Nishio, Shuichi Ishiguro, Hiroshi Osaka Univ Inst Open & Transdisciplinary Res Initiat Symbiot Intelligent Syst Res Ctr Toyonaka Osaka Japan Waseda Univ Grad Sch Human Sci Tokorozawa Saitama Japan Osaka Univ Grad Sch Engn Sci Dept Syst Innovat Toyonaka Osaka Japan

ISBN: (纸本)9781450369220

The purpose of this study was to investigate the effect of robotic mediation in promoting conversation of older adults with dementia for improving behavioral and psychological symptoms of dementia (BPSD). In the longitudinal study, we explored how the BPSD in older adults could be affected by use of a teleoperated android robot named Telenoid that could potentially promote conversation. This study was conducted at a long-term residential care facility, and it was a prospective, 10-week, single arm, exploratory user study. Diminishing the barrier of digital divide, the android robot provided those with dementia with a way to remotely communicate with others. BPSD were assessed using the Neuropsychiatric Inventory Nursing Home Version (NPI-NH), and we investigated changes in the participants over time. According to NPI-NH scores, Telenoid could improve BPSD in older adults with "anxiety," and "appetite and eating change." The results indicate that as a non-pharmacological approach, daily use of the conversation promoting android robot could have a therapeutic effect on the BPSD in older adults.

关键词： behavioral and psychological symptoms of dementia (BPSD) anxiety communication support android robot Neuropsychiatric Inventory (NPI)

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Brief Report: Evaluating the Utility of Varied Technological Agents to Elicit Social Attention from Children with Autism Spectrum Disorders

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JOURNAL OF AUTISM AND DEVELOPMENTAL DISORDERS 2019年第4期49卷 1700-1708页

作者： Kumazaki, Hirokazu Warren, Zachary Swanson, Amy Yoshikawa, Yuichiro Matsumoto, Yoshio Yoshimura, Yuko Shimaya, Jiro Ishiguro, Hiroshi Sarkar, Nilanjan Wade, Joshua Mimura, Masaru Minabe, Yoshio Kikuchi, Mitsuru Kanazawa Univ Res Ctr Child Mental Dev 13-1 Takaramachi Kanazawa Ishikawa 9208640 Japan Vanderbilt Kennedy Ctr Dept Pediat Nashville TN USA Vanderbilt Kennedy Ctr Dept Psychiat Nashville TN USA Vanderbilt Kennedy Ctr Dept Special Educ Nashville TN USA Vanderbilt Kennedy Ctr Treatment & Res Inst Autism Spectrum Disorders Nashville TN USA Osaka Univ Grad Sch Engn Sci Dept Syst Innovat Toyonaka Osaka Japan JST ERATO ISHIGURO Symbiot Human Robot Interact Osaka Japan Natl Inst Adv Ind Sci & Technol Intelligent Syst Inst Serv Robot Res Grp Tsukuba Ibaraki Japan Vanderbilt Univ Dept Mech Engn Nashville TN 37235 USA Keio Univ Sch Med Dept Neuropsychiat Tokyo Japan

Technological agents could be effective tools to be used in interventions for enhancing social orienting for some young children with ASD. We examined response to social bids in preschool children with ASD and typical development (TD) at a very early age (i.e., around 3years) using social prompts presented by technological agents of various forms and human comparisons. Children with ASD demonstrated less response overall to social bids compared to TD controls, across agents or human. They responded more often to a simple humanoid robot and the simple avatar compared to the human. These results support the potential utilization of specific robotic and technological agents for harnessing and potentially increasing motivation to socially-relevant behaviors in some young children with ASD.

关键词： Autism spectrum disorders Technological agents robot android robot Digital avatar

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android Patient robot Simulating Depressed Patients for Diagnosis Training of Psychiatric Trainees

Android Patient Robot Simulating Depressed Patients for Diag...

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2nd International Conference on robot, Vision and Signal Processing (RVSP)

作者： Hashimoto, Takuya Nakane, Hideyuki Kobayashi, Hiroshi Univ Electrocommun Dept Mech Engn & Intelligent Syst Tokyo Japan Nagasaki Univ Dept Neuropsychiat Nagasaki 852 Japan Tokyo Univ Sci Dept Mech Engn Tokyo 162 Japan

ISBN: (纸本)9781479931842

This paper proposes a depression patient robot using the android robot. The purpose of this patient robot is to offer standardized and reproducible diagnosis training and education to psychiatrist trainees by using robot technologies instead of human standardized patients. Furthermore, it can be expected that psychiatrist trainees are able to experience realistic diagnosis as if they have an interview with a real human standardized patient by taking advantage of android robot technologies. In the proposed system, as the first step, the patient robot mimics unipolar depression, because it is a typical psychiatric disease. The robot expresses symptoms of unipolar depression by exploiting its communicative functions such as facial expressions, eye and head movements, and speech. robot's speech and communicative behavior are controlled remotely by an operator according to a diagnosis scenario. The diagnosis scenario, question and answer process between an interviewer and the patient robot, is prepared based on the "Structured Interview Guide for the Hamilton Depression Rating Scale" (SIGH-D) which are widely used for diagnosis of depressed symptoms. Finally, some psychiatrists evaluate the proposed system through a diagnosis experiment.

关键词： android robot patient robot psychiatric education unipolar depression

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Embodied responses to musical experience detected by human bio-feedback brain features in a Geminoid augmented architecture

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BIOLOGICALLY INSPIRED COGNITIVE ARCHITECTURES 2018年 23卷 19-26页

作者： Sorbello, Rosario Tramonte, Salvatore Cali, Carmelo Giardina, Marcello Nishio, Shuichi Ishiguro, Hiroshi Chella, Antonio Univ Palermo Dept Ind & Digital Innovat DIID Robot Lab Palermo Italy Univ Palermo Dipartimento Sci Umanist Palermo Italy Osaka Univ Grad Sch Engn Sci Intelligent Robot Lab Osaka Japan Adv Telecommun Res Inst Int Hiroshi Ishiguro Labs Kyoto Japan ICAR CNR Palermo Italy

This paper presents the conceptual framework for a study of musical experience and the associated architecture centred on Human-Humanoid Interaction (HHI). On the grounds of the theoretical and experimental literature on the biological foundation of music, the grammar of music perception and the perception and feeling of emotions in music hearing, we argue that music cognition is specific and that it is realized by a cognitive capacity for music that consists of conceptual and affective constituents. We discuss the relationship between such constituents that enables understanding, that is extracting meaning from music at the different levels of the organization of sounds that are felt as bearers of affects and emotions. To account for the way such cognitive mechanisms are realized in music hearing and extended to movements and gestures we bring in the construct of tensions and of music experience as a cognitive frame. Finally, we describe the principled approach to the design and the architecture of a BCI-controlled robotic system that can be employed to map and specify the constituents of the cognitive capacity for music as well as to simulate their contribution to music meaning understanding in the context of music experience by displaying it through the Geminoid robot movements.

关键词： Human Humanoid Interaction (HHI) Brain Computer Interface (BCI) Geminoid android robot Social robot Cognitive architecture Emotions

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A Cognitive Model of Trust for Biological and Artificial Humanoid robots 9

A Cognitive Model of Trust for Biological and Artificial Hum...

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9th Annual International Conference of the Biologically-Inspired-Cognitive-Architectures-Society (BICA) held as part of the Joint Multi-Conference on Human-Level Artificial Intelligence (HLAI)

作者： Sorbello, Rosario Cali, Carmelo Tramonte, Salvatore Nishio, Shuichi Ishiguro, Hiroshi Chella, Antonio Univ Palermo Dipartimento Innovaz Ind & Digitale DIID Viale Sci I-90100 Palermo Italy Univ Palermo Dipartimento Sci Umanist Viale Sci I-90100 Palermo Italy Osaka Univ Intelligent Robot Lab Grad Sch Engn Sci Osaka Japan Adv Telecommun Res Inst Int Hiroshi Ishiguro Labs Kyoto Japan

This paper presents a model of trust for biological and artificial humanoid robots and agents as antecedent condition of interaction. We discuss the cognitive engines of social perception that accounts for the units on which agents operate and the rules they follow when they bestow trust and assess trustworthiness. We propose that this structural information is the domain of the model. The model represents it in terms of modular cognitive structures connected by a parallel architecture. Finally we give a preliminary formalization of the model in the mathematical framework of the I/O automata for future computational and human-humanoid application. (C) 2018 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/) Peer-review under responsibility of the scientific committee of the 9th Annual International Conference on Biologically Inspired Cognitive Architectures.

关键词： Human-Humanoid interaction android robot Cognitive Architecture Trust Trustworthiness

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How people perceive different robot types A direct comparison of an android, humanoid, and non-biomimetic robot 8

How people perceive different robot types A direct compariso...

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8th International Conference on Knowledge and Smart Technology (KST 206)

作者： Haring, Kerstin S. Silvera-Tawil, David Takahashi, Tomotaka Watanabe, Katsumi Velonaki, Mari Waseda Univ Dept Intermedia Art & Sci Tokyo Japan Univ New S Wales Creat Robot Lab Sydney NSW Australia Univ Tokyo Res Ctr Adv Sci & Technol Tokyo Japan

ISBN: (纸本)9781467381390

During first encounters and short-term interaction with robots, the robot's appearance and initial behavior plays a major role. In this paper we compare the outcome of three human-robot interaction studies using three different robot types in two different countries, Japan and Australia. The participants' perception of an android robot, a humanoid robot and a non-biomimetic robot are compared before and after interacting with the robots. The experimental results show significant differences in the way people perceive the robots based on appearance alone, and based on appearance and behavior after a short interaction.

关键词： Human-robot interaction humanoid robot android robot technology perception social robots human factors

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The robot and the human. Where's their similarity limit?

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PHYSICS-USPEKHI 2018年第9期61卷 871-895页

作者： Ivanitskii, G. R. Russian Acad Sci Inst Theoret & Expt Biophys Ul Inst Skaya 3 Pushchino 142290 Moscow Region Russia

It is shown that the primary goal of robot-human collaboration is to ensure dynamic stability under varying environmental conditions. Compared with the robotic computer 'brain', its human counterpart has a multilevel hierarchical organization, with information processing occurring at all levels-from the quantum up to the social. Humans themselves set goals and improve the virtual model synthesized by their brains. The human brain can work by simultaneously using both classical deterministic logic and dialectical probabilistic logic.

关键词： android robot adaptation creativity memory hierarchy of organization classical and probabilistic logic

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A Cognitive Model of Trust for Biological and Artificial Humanoid robots

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Procedia Computer Science 2018年 145卷 526-532页

作者： Rosario Sorbello Carmelo Cali Salvatore Tramonte Shuichi Nishio Hiroshi Ishiguro Antonio Chella University of Palermo Dipartimento dell’ Innovazione Industriale e Digitale (DIID) Viale delle Scienze 90100 Palermo Italy University of Palermo Dipartimento di Scienze Umanistiche Viale delle Scienze 90100 Palermo Italy Hiroshi Ishiguro Laboratories Advanced Telecommunications Research Institute International Kyoto Japan Intelligent Robotics Laboratory Graduate School of Engineering Science Osaka University Osaka Japan

关键词： Human-Humanoid interaction android robot Cognitive Architecture Trust Trustworthiness

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How people perceive different robot types: A direct comparison of an android, humanoid, and non-biomimetic robot

How people perceive different robot types: A direct comparis...

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International Conference on Knowledge and Smart Technology

作者： Kerstin S. Haring David Silvera-Tawil Tomotaka Takahashi Katsumi Watanabe Mari Velonaki Department of Intermedia Art and Science Waseda University Creative Robotics Lab University of New South Wales Research Center of Advanced Science and Technology The University of Tokyo

ISBN: (纸本)9781467381406

关键词： Human-robot interaction Humanoid robot android robot Technology perception Social robots Human factors

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