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Conversational gaze mechanisms for humanlike robots

ACM Transactions on Interactive Intelligent systems 2012年第2期1卷 1–33页

作者： Mutlu, Bilge Kanda, Takayuki Forlizzi, Jodi Hodgins, Jessica Ishiguro, Hiroshi Department of Computer Sciences University of Wisconsin-Madison 1210W. Dayton St. Madison WI 53706 United States Intelligent Robotics and Communication Laboratories ATR 2-2-2 Hikaridai Soraku-gun Seika-cho Kyoto 619-0224 Japan Human-Computer Interaction Institute Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 United States Robotics Institute Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 United States Department of System Innovation Graduate School of Engineering Science Osaka University 1-3 Machikaneyama Toyonaka Osaka Japan

During conversations, speakers employ a number of verbal and nonverbal mechanisms to establish who participates in the conversation, when, and in what capacity. Gaze cues and mechanisms are particularly instrumental in establishing the participant roles of interlocutors, managing speaker turns, and signaling discourse structure. If humanlike robots are to have fluent conversations with people, they will need to use these gaze mechanisms effectively. The current work investigates people's use of key conversational gaze mechanisms, how they might be designed for and implemented in humanlike robots, and whether these signals effectively shape human-robot conversations. We focus particularly on whether humanlike gaze mechanisms might help robots signal different participant roles, manage turn-exchanges, and shape how interlocutors perceive the robot and the conversation. The evaluation of these mechanisms involved 36 trials of three-party human-robot conversations. In these trials, the robot used gaze mechanisms to signal to its conversational partners their roles either of two addressees, an addressee and a bystander, or an addressee and a nonparticipant. Results showed that participants conformed to these intended roles 97% of the time. Their conversational roles affected their rapport with the robot, feelings of groupness with their conversational partners, and attention to the task. © 2012 ACM.

关键词： Human robot interaction

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Robot Companions for Citizens

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Procedia Computer Science 2011年 7卷 47-51页

作者： Paolo Dario Paul F.M.J. Verschure Tony Prescott Gordon Cheng Giulio Sandini Roberto Cingolani Rüdiger Dillmann Dario Floreano Christophe Leroux Sheila MacNeil Pieter Roelfsema Xenophon Verykios Antonio Bicchi Chris Melhuish Alin Albu-Schäffer The BioRobotics Institute Scuola Superiore Sant’Anna viale Rinaldo Piaggio 34. 56025 Pontedera Italy Laboratory for Synthetic Perceptive Emotive and Cognitive Systems Catalan and Institute of Advanced Research (ICREA) Technology Department Universitat Pompeu Fabra Roc Boronat 138. 08018 Barcelona Spain Department of Psychology The University of Sheffield Western Bank Sheffield S10 2TN UK Institute for Cognitive Systems Technische Universität München Karlstrasse 45/II. 80333 München Germany Robotics Brain and Cognitive Sciences Istituto Italiano di Tecnologia Via Morego 30. 16163 Genova Italy Istituto Italiano di Tecnologia Via Morego 30. 16163 Genova Italy Institute for Anthropomatics Karlsruhe Institute of Technology Adenauerring 2 (Building 50.20). 76131 Karlsruhe Germany Laboratory of Intelligent Systems École polytechnique fédérale de Lausanne Station 11. CH-1015 Lausanne Switzerland CEA LIST Interactive Robotics Laboratory 18 route du panorama BP6. 92265 Fontenay Aux Roses cedex France The Kroto Research Institute North Campus University of Sheffield Broad Lane Sheffield S3 7HQ UK Netherlands Institute for Neuroscience Koninklijke Nederlandse Akademie Van Wetenschappen Meibergdreef 47. 1105 BA Amsterdam The Netherlands Department of Chemical Engineering University of Patras Karatheodoris 1 University Campus GR 265 00 Patras Interdepartmental Research Center “E. Piaggio” Faculty of Engineering University of Pisa via Diotisalvi 2.56100 Pisa Italy Department of Computing Engineering and Mathematical Sciences University of Bristol and the West of England Bristol Robotics Laboratory (BRL) DuPont Building Bristol Business Park Bristol BS16 1QD UK DLR Institute of Robotics and System Dynamics P.O.Box 1116. 82230 Wessling Germany

This paper describes the scientific vision and objectives of the FET Flagship candidate initiative Robot Companions for Citizens. Robot Companions will be a new generation of machines that will primarily help and assist elderly people in activities of daily living in their workplace, home and in society. They will be the ICT solution for a new sustainable welfare.

关键词： robotics nanotechnologies material science tissue engineering biomaerials neuroscience social neuroscience human and social sciences ethical and legal issues

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Advanced Trajectory Planning for Obstacle Avoidance of Multiple Unmanned Marine Vehicles (MUMVs)

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IFAC Proceedings Volumes 2010年第20期43卷 354-359页

作者： Thomas Glotzbach Bassam Alrifaee Matthias Schneider Marco Jacobi Armin Zimmermann Christoph Ament Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) Torre Norte – 8 Av. Rovisco Pais 1 1049-001 Lisboa Portugal (Tel: +351-21-841 8051) Institute for Automation and Systems Engineering Ilmenau University of Technology 98684 Ilmenau Germany Fraunhofer Application Center System Technology 98683 Ilmenau Germany Institute of Computer Engineering Ilmenau University of Technology 98684 Ilmenau Germany

In this paper we present our work and results in the framework of obstacle avoiding for marine vehicle teams by means of trajectory planning. Based on a team of maritime systems, such as Autonomous Underwater Vehicles (AUVs) or Autonomous Surface Vehicles (ASVs), which are intended to perform a preplanned mission in a given formation topology, methods for trajectory planning are investigated which guarantee for both obstacle-free paths and formation preservation. The proposed solution contains advanced graph search and trajectory smoothing to generate executable path for the vehicles.

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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In-situ formation of a gel microbead for laser micromanipulation of microorganisms, DNA and virus

In-situ formation of a gel microbead for laser micromanipula...

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2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS

作者： Ichikawa, Akihiko Honda, Ayae Ejima, Miho Tanikawa, Tamio Arai, Fumihito Fukuda, Toshio Ubiquitous Functions Research Group Intelligent Systems Research Institute Advanced Industrial Science and Technology Umezono 1-1-1 Tukuba-city Ibaraki-state 305-8568 Japan Frontier Biosci. Dept. Engineering Hosei University Graduate School of Engineering Dept. Bioengineering Robotics Tohoku University Micro-Nano System Engineering Dept. Engineering Nagoya University

ISBN: (纸本)1424407176

We propose in situ formation of gel microbeads made of a thermoreversible hydrogel for indirect laser micromanipulation of microorganisms, DNA and viruses. Irradiation,using a 1064 nm laser, of an aqueous solution mixed with pol-(N-isopropylacrylamide) through a high magnification lens resulted in the formation of a gel microbead at the laser focus due to heating The gel microbead was trapped by the laser and was used for indirect laser micromanipulation of microscale and nanoscale samples. Laser tweezers can typically handle a microscale object with size ranging from several tens of nm to several hundreds of pjm in a stable manner. However, a nanoscale object with a size of a few nm cannot be stably manipulated, and laser beam heating is a major problem. This paper shows a method of indirect manipulation of microorganisms, DNA and viruses using a gel microbead made from the poly-(N-isopropylacrylamide) aqueous solution. We succeeded in reducing the laser power for gel microbead formation, and in using the laser-trapped gel microbead for the manipulation of microorganisms, DNA and viruses.

关键词： Viruses

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Mirror deformation by piezoelectric actuators

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IEEJ Transactions on Sensors and Micromachines 2006年第7期126卷 325-329页

作者： Tanaka, Fuminori Maeda, Shigeo Nagashima, Kenji Tsuchiya, Yoshiki Tanaka, Katsuhiko Ishii, Akira Sugiyama, Susumu R and D Engineering Department Funai Electric Co. Ltd. Ohgimachi Branch 1-3 Kamiyama-cho Kita-ku Osaka 530-0026 Japan Faculty of Science and Engineering Ritsumeikan University 1-1-1 Noji-higashi Kusatsu Shiga 525-8577 Japan R and D Engineering Department Funai Electric Co. Ltd. Faculty of Science and Engineering Ritsumeikan University R and D Engineering Department Japan Society of Mechanical Engineers Funai Electric Co. Ltd. Institute of Electrical Engineers of Japan Japan Society of Applied Physics Graduate Shool Ritsumeikan University Ritsumeikan University Shiga Japan Department of Micro System Technology Faculty of Science and Engineering NTT Electrical Communications Laboratories Department of Robotics Ritsumeikan University Kyoto Japan JSPE JSME RSJ IEICE SPIE IEEE College of Science and Engineering Department of Micro System Technology Research Institute for Micro System Technology Ritsumeikan University

Recently, MEMS devices are being studied for which the focus can be changed by moving a lens. Therefore, we propose a MEMS-based varifocal mirror in which piezoelectric actuators are used. In this study, we used micromachining to fabricate a varifocal mirror by bonding bulk PZT to Si single crystals, and then evaluated its performance.

关键词： Piezoelectric devices

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Development of a clinical jaw movement training robot for intermaxillary traction therapy

Development of a clinical jaw movement training robot for in...

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Proceedings- 2004 IEEE International Conference on robotics and Automation

作者： Okino, Akihisa Inoue, Takahiro Fujii, Yu Nasu, Toshihide Takanobu, Hideaki Takanishi, Atsuo Ohtsuki, Kayoko Ohnishi, Masatoshi Okino Industries Ltd. 285-8 Motohara Kamikawa-machi Kodama-gunn Saitama Pref. 367-0241 Japan Department of Mechanical Engineering School of Science and Engineering Waseda University Okubo 3-4-1 Shinjuku-ku Tokyo 169-8555 Japan Humanoid Robotics Institute Waseda University Japan Dept. of Mech. System Engineering Kogakuin University 1-24-2 Nishishinnjuku Shinjuku-ku Tokyo 163-8677 Japan Department of Oral Surgery Yamanashi University School of Medicine Shimokato 1111 Tamaho Nakakoma Yamanashi 409-3898 Japan

We developed a jaw movement training robot system implementing a 6-degree of freedom (DOF) parallel mechanism, and applied it to jaw opening and closing training, which is one of the therapies for temporomandibular joint disorders. As one application of this system, we developed an intermaxillary traction therapy system that provides non-physiological movements, whereby the patients' jaws receive traction to regenerate healthy temporomandibular joint tissue. This therapy is especially effective for patients with a symptom called "open bite" i.e., those who cannot completely close their jaws. Additionally, the previously developed mastication robot was applied to this robot system as a patient model, and the training movements of the training robot were evaluated.

关键词： Robot applications

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A Clinical Jaw Movement Training Robot for Mouth Opening/Closing and Lateral Movement Training

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Journal of robotics and Mechatronics 2004年第6期16卷 579-586页

作者： Okino, Akihisa Takanobu, Hideaki Takanishi, Atsuo Ohtsuki, Kayoko Ohnishi, Masatoshi Yoshida, Masayuki Okino Industries. Ltd. 285-8 Motohara Kamikawa-machi Kodama-gun Saitama367-0241 Japan Department of Mechanical Engineering School of Science and Engineering Waseda University 3-4-1 Okubo Shinjuku Tokyo 169-8555 Japan Humanoid Robotics Institute Waseda University Japan Department of Mechanical System Engineering Kogakuin University 1-24-2 Nishishinjuku Shinjuku Tokyo 163-8677 Japan Department of Oral & Maxillofacial Surgery Interdiciplinary Graduate School of Medicine and Engineering University of Yamanashi Shimokato 1110 Tamaho Nakakoma Yamanashi409-3898 Japan

This paper discusses a jaw movement training robot implementing a 6-DOF (degrees of freedom) parallel mechanism, and its application to mouth opening and closing and lateral movement training. Temporomandibular joints (TMJ) syndrome prevents patients from opening their mouths or moving their jaws easily due to problems with mandibular joints, mastication muscles, and other organs involved in food chewing. Conventional therapy involves simple mouth opening apparatuses, although individual techniques vary with the physician. We developed and improved a jaw movement training robot that aids jaw opening and closing and lateral jaw movement training. This system consists of a 6-DOF slave manipulator representing a patient manipulator and a 2-DOF or 3-DOF master manipulator representing the doctor command manipulator. © 2004, Fuji Technology Press. All rights reserved.

关键词： Robots

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Stretch Walking Pattern Generation for a Biped Humanoid Robot

Stretch Walking Pattern Generation for a Biped Humanoid Robo...

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2003 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Ogura, Yu Lim, Hun-Ok Takanishi, Atsuo Grad. Sch. of Sci. and Engineering Waseda University 3-4-1 Ohkubo Shinjyuku-ku Tokyo 169-8555 Japan Dept. of System Design Engineering Kanagawa Institute of Technology Humanoid Robotics Institute Waseda University

This paper describes the knee stretch walking of the biped robot that has three degrees of freedom (DOF) in the ankle, one DOF in the knee and three DOF in the hip. To create the stable stretch walking pattern, a walking pattern generation method capable of specifying arbitrarily the knee joint angle is introduced. The singularity of the swing leg that can exist in single support phase will be avoided by the motion of the waist. The waist motion is calculated by a compensatory motion algorithm to cancel the moments generated by the motion of the lower-limbs. Through stretch walking simulations, the effectiveness of the pattern generation method is confirmed.

关键词： Mobile robots

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Stiffness analysis of the humanoid robot WABIAN-RIV: Modelling

Stiffness analysis of the humanoid robot WABIAN-RIV: Modelli...

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2003 IEEE International Conference on robotics and Automation

作者： Carbone, Giuseppe Lim, Hun-Ok Takanishi, Atsuo Ceccarelli, Marco Italy Dept. of System Design Engineering Kanagawa Institute of Technology 1030 Shimoogino Atugi Kanagawa 243-0292 Japan Humanoid Robotics Institute Waseda University 3-4-1 Ookubo Shinjuku-ku Tokyo 169-8555 Japan

In this paper a humanoid robot named as WABIAN-RIV (WAseda BIpedal humANoid Refined IV) is analyzed in terms of stiffness characteristics. This paper proposes basic models and a formulation in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WABIAN architecture. The proposed formulation is useful for numerical estimation of stiffness performances.

关键词： Mobile robots

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