Building over algorithms previously developed for digital pens, this article introduces a novel 2D localization technique for mobile robots, based on simple printed patterns. This method combines high absolute accurac...
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Building over algorithms previously developed for digital pens, this article introduces a novel 2D localization technique for mobile robots, based on simple printed patterns. This method combines high absolute accuracy (below 0.3mm), unlimited scalability, low computational requirements (the presented open-source implementation runs at above 45Hz on a low-cost microcontroller) and low cost (below €30 per device at prototype stage). The article first presents the underlying algorithms and localization pipeline. It then describes our reference hardware and software implementations, and finally evaluates the performance of this technique for mobile robots.
Measuring “how much the human is in the interaction” - the level of engagement - is instrumental in building effective interactive robots. Engagement, however, is a complex, multi-faceted cognitive mechanism that is...
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ISBN:
(纸本)9781467383707
Measuring “how much the human is in the interaction” - the level of engagement - is instrumental in building effective interactive robots. Engagement, however, is a complex, multi-faceted cognitive mechanism that is only indirectly observable. This article formalizes with-me-ness as one of such indirect measures. With-me-ness, a concept borrowed from the field of computer-Supported Collaborative learning, measures in a well-defined way to what extent the human is with the robot over the course of an interactive task. As such, it is a meaningful precursor of engagement. We expose in this paper the full methodology, from real-time estimation of the human's focus of attention (relying on a novel, open-source, vision-based head pose estimator), to on-line computation of with-me-ness. We report as well on the experimental validation of this approach, using a naturalistic setup involving children during a complex robot-teaching task.
We present an omnidirectional ball wheel drive design that utilizes a permanent magnet as the drive roller to generate the contact force. Particularly interesting for novel human-mobile robot interaction scenarios whe...
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We present an omnidirectional ball wheel drive design that utilizes a permanent magnet as the drive roller to generate the contact force. Particularly interesting for novel human-mobile robot interaction scenarios where the users are expected to physically interact with many palm-sized robots, our design combines simplicity, low cost and compactness. We first detail our design and explain its key parameters. Then, we present our implementation and compare it with an omniwheel drive built with identical conditions and similar cost. Finally, we elaborate on the main advantages and drawbacks of our design.
We present an eye-tracking study where we augment a Massive Open Online Course (MOOC) video with the gaze information of the teacher. We tracked the gaze of a teacher while he was recording the content for a MOOC lect...
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Presented is PYROBOTS, a new open-source software toolkit for the executive control of complex robotic systems. Borrowing ideas from previous tools like URBI [1], it proposes a lightweight Python framework to develop ...
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Presented is PYROBOTS, a new open-source software toolkit for the executive control of complex robotic systems. Borrowing ideas from previous tools like URBI [1], it proposes a lightweight Python framework to develop (preemptive) concurrent and event-based executive controllers. Designed in a bottom-up fashion, out of the need for a practical, unobstrusive tool suitable for rapid prototyping of complex interaction scenarios, PYROBOTS also exposes several simple yet convenient abstractions for physical resources management and pose representation. While middleware-agnostic, it features specific integration with the ROS middleware. Experimental deployments and stress-tests on several robotic platforms (including PR2 and Nao) in dynamic human environments are reported.
EDITOR'S SUMMARY Makerspaces are environments where crafters and techies can come together to create, share and learn. Many libraries support the maker movement by providing access to a variety of technologies fro...
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EDITOR'S SUMMARY Makerspaces are environments where crafters and techies can come together to create, share and learn. Many libraries support the maker movement by providing access to a variety of technologies from sewing machines and looms to recording equipment and production tools, an expansion of services that is in line with promoting literacy, community and lifelong learning. About one third of makerspaces charged a fee or required membership in 2013, though some, including libraries and museums, are supported by major funding agencies. Digital fabrication technology or 3D printers are increasingly available through library-based makerspaces and extend opportunities for STEM education, but libraries face challenges from high initial and ongoing costs, user training and even encouraging users in 3D thinking and design. 3D printers can be a powerful stimulus for creativity, learning and sharing, even promoting jobs and community development.
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