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Proceedings of the 28th ACM Conference on User Modeling, Adaptation and Personalization (UMAP)

作者： Metta, Giorgio Ist Italiano Tecnol Via Morego 30 I-16163 Genoa Italy

ISBN: (纸本)9781450368612

This talk covers two main research directions based on the iCub humanoid robot. The iCub is a humanoid robot designed to support research in embodied AI. At 104 cm tall, the iCub has the size of a five-year-old child. It can crawl on all fours, walk, and sit up to manipulate objects. Its hands have been designed to support sophisticate manipulation skills. The iCub is distributed as Open Source following the GPL license and can now count on a worldwide community of enthusiastic developers. There are more than 40 robots available in laboratories across the globe. The iCub sensory system allows seeing, hearing and feeling physical contacts. It is one of the few platforms in the world with a sensitive full-body skin. The iCub is being used at the Italian Institute of Technology as a model platform to develop the technology of future interactive service robots. In particular, I will describe our work in the field of physical and social interaction. For example, through extensive use of machine learning, we developed algorithms to interpret and use external contact information in a variety of tasks as well as contactless cues - vision, sound - to ease interaction between the user and the robot.

关键词： humanoid robotics Human-robot interaction Whole-body control Cognitive Science

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On the Time-Invariance Properties of Upper Limb Synergies

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IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING 2019年第7期27卷 1397-1406页

作者： Averta, Giuseppe Valenza, Gaetano Catrambone, Vincenzo Barontini, Federica Scilingo, Enzo Pasquale Bicchi, Antonio Bianchi, Matteo Univ Pisa Ctr Ric Enrico Piaggio I-56126 Pisa Italy Fdn Ist Italiano Tecnol I-16163 Genoa Italy Univ Pisa Dipartimento Ingn Informaz I-56122 Pisa Italy

In this paper, we present a novel approach to dynamically describe human upper limb trajectories, addressing the question on whether and to which extent synergistic multi-joint behavior is observed and preserved over time evolution and across subjects. To this goal, we performed experiments to collect human upper limb joint angle trajectories and organized them in a dataset of daily living tasks. We then characterized the upper limb poses at each time frame through a technique that we named repeated-principal component analysis (R-PCA). We found that, although there is no strong evidence on the predominance of one principal component (PC) over the others, the subspace identified by the first three PCs takes into account most of the motion variability. We evaluated the stability of these results over time, showing that during the reaching phase, there is a strong consistency of these findings across participants. In other words, our results suggest that there is a time-invariant low-dimensional approximation of upper limb kinematics, which can be used to define a suitable reduced dimensionality control space for upper limb robotic devices in motion phases.

关键词： Motor control upper-limb synergies repeated-principal component analysis (R-PCA) humanoid robotics daily-living activities

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Human-humanoid Collaborative Carrying

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IEEE TRANSACTIONS ON robotics 2019年第4期35卷 833-846页

作者： Agravante, Don Joven Cherubini, Andrea Sherikov, Alexander Wieber, Pierre-Brice Kheddar, Abderrahmane Univ Montpellier CNRS LIRMM F-34090 Montpellier France IBM Res Tokyo 1030015 Japan Univ Montpellier CNRS LIRMM Interact Digital Human F-34090 Montpellier France PAL Robot Barcelona 08005 Spain Univ Grenoble Alpes INRIA F-38334 Grenoble France CNRS AIST Joint Robot Lab Tsukuba Ibaraki 3058568 Japan

This paper contributes to the field of physical human-robot collaboration. We present a complete control framework, which aims at making humanoid robots capable of carrying objects together with humans. First, we design a template identifying the primitive subtasks necessary for collaborative carrying. Then, these subtasks are formulated as constrained optimization problems for controlling the whole-body motion of a humanoid robot. The subtasks include two walking pattern generators that account for physical collaboration, as well as posture and grasping controllers. Finally, we validate our framework in a variety of collaborative carrying experiments, using the HRP-4 humanoid robot.

关键词： humanoid robotics physical human-robot interaction task-space optimization control

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Shapeable Planar Hall Sensor With a Stable Sensitivity Under Concave and Convex Bending

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IEEE SENSORS JOURNAL 2019年第14期19卷 5493-5498页

作者： Ozer, Burak Piskin, Hasan Akdogan, Numan Gebze Tech Univ Dept Phys TR-41400 Gebze Turkey IFW Dresden Inst Integrat Nanosci D-01069 Dresden Germany

A shapeable planar Hall effect (PHE) sensor has been fabricated by lift-off of a bilayer structure of NiFe(10 nm)/IrMn(8 nm) grown on a Kapton/PDMS substrate without using a buffer layer. The sensor exhibits a magnetic field sensitivity of 0.74 mu V/*** and provides a stable response under repetitive ON/OFF experiments. The concave and convex bending measurements indicate that the anisotropic magnetoresistance (AMR) of the sensor is very sensitive to the stress and strain. However, the planar Hall sensitivity is independent from them with a stable linear region and unchanged peak positions in the magnetic field axis. This type of behavior has been observed for the first time in the planar Hall sensors. Therefore, this novel device can fulfill simultaneous multifunctional sensing of small magnetic fields, stress, and strain. This makes it promising for tactile sensing applications in humanoid robotics.

关键词： Shapeable sensors magnetoresistive devices planar Hall sensors flexible electronics tactile sensing humanoid robotics

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An Effective and Efficient Genetic-Fuzzy Algorithm for Supporting Advanced Human-Machine Interfaces in Big Data Settings

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ALGORITHMS 2020年第1期13卷 13页

作者： Cuzzocrea, Alfredo Mumolo, Enzo Grasso, Giorgio Mario Univ Calabria iDEA Lab I-87036 Arcavacata Di Rende Italy Univ Trieste DIA Dept I-34127 Trieste Italy Univ Messina COSPECS Dept I-98121 Messina Italy

In this paper we describe a novel algorithm, inspired by the mirror neuron discovery, to support automatic learning oriented to advanced man-machine interfaces. The algorithm introduces several points of innovation, based on complex metrics of similarity that involve different characteristics of the entire learning process. In more detail, the proposed approach deals with an humanoid robot algorithm suited for automatic vocalization acquisition from a human tutor. The learned vocalization can be used to multi-modal reproduction of speech, as the articulatory and acoustic parameters that compose the vocalization database can be used to synthesize unrestricted speech utterances and reproduce the articulatory and facial movements of the humanoid talking face automatically synchronized. The algorithm uses fuzzy articulatory rules, which describe transitions between phonemes derived from the International Phonetic Alphabet (IPA), to allow simpler adaptation to different languages, and genetic optimization of the membership degrees. Large experimental evaluation and analysis of the proposed algorithm on synthetic and real data sets confirms the benefits of our proposal. Indeed, experimental results show that the vocalization acquired respects the basic phonetic rules of Italian languages and that subjective results show the effectiveness of multi-modal speech production with automatic synchronization between facial movements and speech emissions. The algorithm has been applied to a virtual speaking face but it may also be used in mechanical vocalization systems as well.

关键词： genetic optimization fuzzy algorithms advanced human-machine interfaces humanoid robotics

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A Bayesian System for Noise-Robust Binaural Sound Localisation for humanoid Robots 13

A Bayesian System for Noise-Robust Binaural Sound Localisati...

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13th IEEE International Symposium on Robotic and Sensors Environments (ROSE)

作者： Kothig, Austin Ilievski, Marko Grasse, Lukas Rea, Francesco Tata, Matthew Univ Lethbridge Dept Neurosci Lethbridge AB Canada Italian Inst Technol Robot Brain & Cognit Sci Genoa Italy Univ Waterloo Dept Comp Sci Waterloo ON Canada

ISBN: (纸本)9781728119649

Humans make use of auditory cues to navigate and communicate in complex acoustic environments, but this remains out of reach for most binaural robots. This process remains computationally difficult due to multiple distinct acoustic events mixing together to create a single informationally dense audio stream, which needs to be decomposed. In this paper we introduce a Bayesian method of combining acoustic data from multiple head locations to help resolve ambiguities and better decompose the acoustic scene into individual sound sources. We go on to show that the method utilizing head movements performs significantly better than its static counterpart.

关键词： Sound Localisation Cognitive robotics humanoid robotics

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Lessons Learned from the Development of an Affordable Open-Source Based humanoid Socially Assistive Robot 22

Lessons Learned from the Development of an Affordable Open-S...

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22nd IEEE International Symposium on Measurement and Control in robotics (ISMCR) - robotics for the Benefit of Humanity

作者： Rangel, Pablo Brotherton, Kimberly Anderson, Erika Hennad, Adam Vega, Aaron Plotkin, Matt Texas A&M Univ Dept Engn Corpus Christi TX 78412 USA

ISBN: (纸本)9781728148984

Affordable elderly care has become a motivator for the development of low-cost and efficient healthcare related technologies. Among those technologies, multiple Socially Assistive robotics (SAR) devices have been implemented as a possible solution on elderly care tasks. More robotic applications have also been implemented in order to monitoring human vitals and motion for those in need. A team of undergraduate students developed a SAR with the express intent to assist those in need of personal care. The Personal Assistance humanoid Robot (PAR) combined not only the socially assistive capabilities of a SAR, but it also seeks to expand its capabilities into assisting with vitals and motion monitoring. The development of the PAR was crafted from functional open-source technologies. The student team was able to emulate and enhance existing platforms in a cost effective and simplified way, using fundamental academic and hands-on engineering principles. This document describes the process towards the development of an initial prototype PAR platform. It also documents structural and subsystem integration difficulties encountered through the assembly and implementation process. The scope of the prototype included the robot upper body with dynamic limbs, object recognition, object tracking, human gesture emulation, color and depth perception, auditory sensing, and pre-programmed verbal responses for social interaction.

关键词： Socially Assistive robotics elderly care humanoid robotics open-source technologies

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Design of Virtual Reality for humanoid Robots with Inspiration from Video Games 11th

Design of Virtual Reality for Humanoid Robots with Inspirati...

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11th International Conference on Virtual, Augmented and Mixed Reality (VAMR) Held as Part of the 21st International Conference on Human-Computer Interaction (HCII)

作者： Allspaw, Jordan Heinold, Lilia Yanco, Holly A. Univ Massachusetts Dept Comp Sci Lowell MA 01854 USA

ISBN: (纸本)9783030215651;9783030215644

Advances in robotics have led to breakthroughs in several areas, including the development of humanoid robots. There are now several different models of humanoid robots available, but operating them remains a difficult challenge. Current operator control interfaces for humanoid robots often require very experienced operators and significant amounts of time for planning. A large amount of the planning and cognitive load is attributable to the operator attempting to gain adequate three-dimensional (3D) situation awareness and task awareness while viewing an interface on a flat, two-dimensional (2D) screen. Virtual reality (VR) has enormous potential to provide benefits to allow the operator to quickly and accurately understand the state of a robot in a scanned 3D environment and to issue accurate commands with less cognitive load. In the gaming sphere, VR headsets remain a new and promising interface for playing video games. In some cases, existing video games are being ported over to VR and, in others, brand new games are being designed with VR in mind. Control schemes and best practices for VR are emerging within the video game industry. This paper aims to leverage their lessons learned and to apply them to the teleoperation of humanoid robots.

关键词： Virtual reality Video games robotics humanoid robotics Human-robot interaction

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Artificially Enhanced Tele-operated humanoid Robot 6

Artificially Enhanced Tele-operated Humanoid Robot

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6th International Conference on Computing for Sustainable Global Development (INDIACom)

作者： Khan, Ali Shahbaaz Das, Amrit Jaipuriyar, Piyush Chourasia, Gunjan Shrivastava, Akarsh Sangeetha, M. SRM IST Dept IT KTR Campus Chennai Tamil Nadu India SRM IST Dept ECE KTR Campus Chennai Tamil Nadu India SRM IST Dept CSE KTR Campus Chennai Tamil Nadu India SRM IST KTR Campus Chennai Tamil Nadu India

ISBN: (纸本)9789380544342

This paper proposes an Artificially Enhanced Tele-Operated humanoid Robot System, henceforth referred to as AETHR. Our proposed system enables a humanoid robot to mimic human activities like walking, running, grasping etc. using a depth sensor and by generating skeleton markers which are further processed to calculate angles between various joints of the body. These angles produced are normalized to the dimension of the Robot and passed onto the various actuators present in the robot. A vision unit is present at the head of the user acts as a tele-visual unit for the user to monitor the surroundings of the robot through RGB feed of a camera present at the head of the robot. This camera feed is encoded and sent to the display unit worn by the user. In addition to these, an Inertial Measurement Unit, further referred as IMU, attached to the display unit provides the orientation of the Users head and is synchronized with the head actuators of the robot, enabling the user to freely monitor the robots surrounding. Robot Operating System, further referred to as ROS, is used for Inter-Process Communication for joining the various nodes present in the system thereby producing an fully tele-operated humanoid robot.

关键词： Tele-operation IOT humanoid robotics Depth Mapping Gesture Detection Pose Estimation

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Integrating multi-purpose natural language understanding, robot's memory, and symbolic planning for task execution in humanoid robots

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robotics AND AUTONOMOUS SYSTEMS 2018年 99卷 148-165页

作者： Waechter, Mirko Ovchinnikova, Ekaterina Wittenbeck, Valerij Kaiser, Peter Szedmak, Sandor Mustafa, Wail Kraft, Dirk Kruger, Norbert Piater, Justus Asfour, Tamim KIT Adenauerring 2 D-76131 Karlsruhe Germany Univ Innsbruck UIBK Tech Str 21a A-6020 Innsbruck Austria Univ Southern Denmark SDU Campusvej 55 DK-5230 Odense M Denmark Aalto Univ Konemiehentie 2 Espoo 6020 Finland

We propose an approach for instructing a robot using natural language to solve complex tasks in a dynamic environment. In this study, we elaborate on a framework that allows a humanoid robot to understand natural language, derive symbolic representations of its sensorimotor experience, generate complex plans according to the current world state, and monitor plan execution. The presented development supports replacing missing objects and suggesting possible object locations. It is a realization of the concept of structural bootstrapping developed in the context ofthe European project Xperience. The framework is implemented within the robot development environment ArmarX. We evaluate the framework on the humanoid robot ARMAR-III in the context of two experiments: a demonstration of the real execution of a complex task in the kitchen environment on ARMAR-III and an experiment with untrained users in a simulation environment. (c) 2017 Published by Elsevier B.V.

关键词： Structural bootstrapping Natural language understanding Planning Task execution Object replacement humanoid robotics

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