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20th Annual ACM/IEEE International Conference on human-robot interaction, HRI 2025

作者： Yoon, Heeyoon Kim, Min-Gyu Kim, SunKyoung Human-Robot Interaction Research Center Korea Institute of Robotics and Technology Convergence Korea Republic of Institute of Library Information and Media Science University of Tsukuba Japan

ISBN: (纸本)9798350378931

This study investigates the impact of active listening and mirroring behaviors on intimacy and trust in human-robot interaction. Based on the principles of effective human communication, active listening and mirroring were adapted for robotic systems to enhance relationship dynamics like intimacy, negative attitudes, and trust. The experimental setup involved a social robot to exhibit non-verbal cues that aligned with active listening and mirroring during interactions in the cooking scenario. The participants experienced two conditions: active listening and active listening with mirroring. The results indicated that the combination of active listening with mirroring significantly enhances intimacy and perceived trust compared to active listening only, while there is no significant difference in reducing negative attitudes. These findings suggest that incorporating non-verbal cues can substantially improve engagement in human-robot interactions, making robots more relatable and trustworthy companions. © 2025 IEEE.

关键词： Social robots

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Active Listening and Mirroring: Communication Strategies for Building Trust and Intimacy in human-robot interaction 25

Active Listening and Mirroring: Communication Strategies for...

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ACM/IEEE International Conference on human-robot interaction (HRI)

作者： Heeyoon Yoon Min-Gyu Kim SunKyoung Kim Human-Robot Interaction Research Center Korea Institute of Robotics and Technology Convergence South Korea Institute of Library Information and Media Science University of Tsukuba Japan

ISBN: (数字)9798350378931

ISBN: (纸本)9798350378948

关键词： Social robots Buildings human-robot interaction

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A Model-Free and Chattering-Suppression Approach with Time-Delay Estimation and Fuzzy Logic for robot Manipulators 21

A Model-Free and Chattering-Suppression Approach with Time-D...

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21st International Conference on Control, Automation and Systems, ICCAS 2021

作者： Lee, Junyoung Shin, Dong-Gwan Seo, Kap-Ho Jin, Maolin Human-Centered Robotics Research Center Korea Institute of Robotics and Technology Convergence Gyeongbuk Pohang37553 Korea Republic of Human-Robot Interaction Center Korea Institute of Robotics and Technology Convergence Gyeongbuk Pohang37553 Korea Republic of

ISBN: (纸本)9788993215212

This paper provides a practical solution for robot manipulators that include nonlinearities and uncertainties. The proposed controller consists of three parts: the time-delay estimation (TDE) term to generate the estimated value of complex robot dynamics effectively;a Fuzzy inference system (FIS) term to compensate for the discrepancy between the actual model and its estimate;the equivalent control term to assign the equation of motion. Compared with existing TDE-based control approaches, the new contribution lies in the FIS, which improves tracking accuracy and eliminates inappropriate control input chattering by using the sigmoid membership functions and simple rules. In addition to that, since the FIS in the proposed method has a simple structure and does not require a lot of rules designed by heuristic procedures, the practical implementation is as simple as the previous TDE-based method without the FIS. The merit of the proposed technique has been verified with simulations. © 2021 ICROS.

关键词： Time delay

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Multi-sensor-based Target Pose Estimation for Autonomous Precision Perching of Nano Aerial Vehicles 22

Multi-sensor-based Target Pose Estimation for Autonomous Pre...

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22nd International Conference on Control, Automation and Systems, ICCAS 2022

作者： Do, Truong-Dong Xuan-Mung, Nguyen Nguyen, Ngoc-Phi Lee, Ji-Won Lee, Yong-Seok Lee, Seok-Tae Hong, Sung-Kyung Sejong University Department of Convergence Engineering for Intelligent Drone Seoul05006 Korea Republic of Sejong University Faculty of Mechanical and Aerospace Engineering Seoul05006 Korea Republic of Korea Institute of Robotics and Technology Convergence Human-Robot Interaction Research Center Pohang37553 Korea Republic of Sejong University Department of Aerospace Engineering Seoul05006 Korea Republic of

ISBN: (纸本)9788993215243

Nano Aerial Vehicles have become widely used for a variety of complex missions due to their mobility and the ability to access hard-to-reach areas. In most cases, these tasks require the vehicles to land on ground targets or perch on platforms mounted on diverse surfaces. Considering the surface the vehicle will reach, controlling perching is obviously a challenging task. Besides, the reliability of target position and direction estimation has a significant impact on perching performance. In this paper, a multi-sensor-based target pose estimation for autonomous precision perching of nano drones is proposed. First, the perching target, a cube cage containing a small marker inside a larger one, is designed to enhance pose estimation capability at a wide range of distances. Second, we constructed a nano drone with an upward monocular camera and a 5-direction multi-ranger deck. Next, the flying vehicle's pose toward the perching target is calculated, followed by a Kalman filter for filtering and estimating the missing data. Finally, we introduced an algorithm to merge the pose data from multiple sensors when drones approach close to the target. Real measurements are conducted on the testbed. The experimental results demonstrated the utility and potential of the adopted approach with millimeter-level precision. © 2022 ICROS.

关键词： Drones

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Development of pneumatic distributor for soft actuator of wearable suit

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Journal of Institute of Control, robotics and Systems 2020年第7期26卷 564-570页

作者： Koo, Jaewan Han, Jong-Boo Lee, Seokjae Gwak, Dong-Gi Hahm, Jehun Sohn, Dong-Seop Seo, Kap-Ho Human-Robot Interaction Research Center Korea Institute of Robotics and Technology Convergence Korea Republic of Korea Republic of

With an aging society, research into wearable suits to support the elderly is actively being conducted. While these suits can use various driving methods, such as motors, pneumatics, and wires, many researchers prefer pneumatic-based soft actuators due to their high degree of safety and low weight. However, the use of a valve in these actuators is essential and requires high-precision control techniques and periodic replacement. To solve this problem, this paper proposes a low-cost pneumatic distributor design for pneumatic-based soft actuators. The advantage of the proposed pneumatic distributor is that it can be easily controlled by continuously adjusting the rotation speed according to the walking cycle of an elderly person. In addition, it is easy to design a pneumatic distributor suitable for the walking characteristics of the elderly, and costs can be kept low by utilizing a 3D printer for fabrication. In order to verify the final design, an experimental environment is constructed and the effectiveness of the distributer is analyzed through pneumatic measurement. © ICROS 2020.

关键词： Pneumatics

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research on HRI Evaluation System and Diver Safety Equipment

Research on HRI Evaluation System and Diver Safety Equipment

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OCEANS

作者： Ye Jun Lee Min-Gyu Kim Myung-Jun Shin Tae Sung Park Jinhyung Kim Sunghun Kim Kichoon Lee Jihun Lee Jeongtack Min HRI(Human Robot Interaction) Research Center KIRO(Korea Institute of Robotics and Technology Convergence) Pohang South Korea Department of Rehabilitation Medicine Pusan National University Hospital and Pusan National University School of Medicine Busan South Korea Department of Convergence Medical Institute of Technology Pusan National University Hospital Busan South Korea Technical Research Center RNWare Co. Ltd Daegu South Korea System Development Division Gleam-Systems Daejeon South Korea Modeling and Simulation Division Gleam-Systems Daejeon South Korea Marine Leisure Equipment R&D Center KIRO(Korea Institute of Robotics and Technologh Convergence) Pohang South Korea

ISBN: (数字)9798331540081

ISBN: (纸本)9798331540098

Scuba diving is a common aquatic leisure sport that many individuals enjoy in the sea. With the increasing number of people participating, there is a corresponding rise in related incidents and accidents. Typically, such events are caused by inadequate user proficiency with equipment, sudden onset of physical symptoms, failure to respond to external obstacles, and equipment malfunctions. As interest in scuba diving grows, the development of diver safety equipment that enhances convenience and usability through the interaction between divers and equipment is crucial, not only to assist underwater activities but also to preemptively prevent accidents. This paper explores the analysis of divers' physiological conditions and diver equipment evaluation criteria. Building upon this, it proposes a HRI(human-robot interaction) evaluation system to facilitate the research and development of safety equipment for secure scuba diving operations.

关键词： Oceans human-robot interaction Physiology Safety Personnel Usability robots research and development Accidents Sports

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Multi-sensor-based Target Pose Estimation for Autonomous Precision Perching of Nano Aerial Vehicles

Multi-sensor-based Target Pose Estimation for Autonomous Pre...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Truong-Dong Do Nguyen Xuan-Mung Ngoc-Phi Nguyen Ji-Won Lee Yong-Seok Lee Seok-Tae Lee Sung-Kyung Hong Department of Convergence Engineering for Intelligent Drone Sejong University Seoul South Korea Faculty of Mechanical and Aerospace Engineering Sejong University Seoul South Korea Human-Robot Interaction Research Center Korea Institute of Robotics and Technology Convergence Pohang South Korea Department of Aerospace Engineering Sejong University Seoul South Korea

Nano Aerial Vehicles have become widely used for a variety of complex missions due to their mobility and the ability to access hard-to-reach areas. In most cases, these tasks require the vehicles to land on ground targets or perch on platforms mounted on diverse surfaces. Considering the surface the vehicle will reach, controlling perching is obviously a challenging task. Besides, the reliability of target position and direction estimation has a significant impact on perching performance. In this paper, a multi-sensor-based target pose estimation for autonomous precision perching of nano drones is proposed. First, the perching target, a cube cage containing a small marker inside a larger one, is designed to enhance pose estimation capability at a wide range of distances. Second, we constructed a nano drone with an upward monocular camera and a 5-direction multi-ranger deck. Next, the flying vehicle’s pose toward the perching target is calculated, followed by a Kalman filter for filtering and estimating the missing data. Finally, we introduced an algorithm to merge the pose data from multiple sensors when drones approach close to the target. Real measurements are conducted on the testbed. The experimental results demonstrated the utility and potential of the adopted approach with millimeter-level precision.

关键词： Location awareness Visualization Pose estimation Merging Land surface Sensors Reliability

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Collision-free formation control of multiple nano-quadrotors

arXiv

引用

arXiv 2021年

作者： Nguyen, Anh Tung Lee, Ji-Won Nguyen, Thanh Binh Hong, Sung Kyung Korea Republic of Human-Robot Interaction Research Center Korea Institute of Robotics and Technology Convergence Pohang37553 Korea Republic of Department of Control Engineering and Automation Thuyloi University 175 Tay Son Dong Da Hanoi Viet Nam

The utilisation of unmanned aerial vehicles has witnessed significant growth in real-world applications including surveillance tasks, military missions, and transportation deliveries. This letter investigates practical problems of formation control for multiple nano-quadrotor systems. To be more specific, the first aim of this work is to develop a theoretical framework for the time-varying formation flight of the multi-quadrotor system regarding anti-collisions. In order to achieve this goal, the finite cut-off potential function is devoted to avoiding collisions among vehicles in the group as well as between vehicles and an obstacle. The control algorithm navigates the group of nano-quadrotors to asymptotically reach an anticipated time-varying formation. The second aim is to implement the proposed algorithm on Crazyflies nano-quadrotors, one of the most ubiquitous indoor experimentation platforms. Several practical scenarios are conducted to tendentiously expose anti-collision abilities among group members as well as between vehicles and an obstacle. The experimental outcomes validate the effectiveness of the proposed method in the formation tracking and the collision avoidance of multiple nano-quadrotors. © 2021, CC BY.

关键词： Collision avoidance

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Decision-Level Fusion Method for Emotion Recognition using Multimodal Emotion Recognition Information 15

Decision-Level Fusion Method for Emotion Recognition using M...

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15th International Conference on Ubiquitous robots, UR 2018

作者： Song, Kyu-Seob Nho, Young-Hoon Seo, Ju-Hwan Kwon, Dong-Soo Department of Robotics Program Korea Advanced Institute of Science and Technology Human-Robot Interaction Research Center Korea Republic of Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Human-Robot Interaction Research Center Korea Republic of

ISBN: (纸本)9781538663349

human emotion recognition is an important factor for social robots. In previous research, emotion recognizers with many modalities have been studied, but there are several problems that make recognition rates lower when a recognizer is applied to a robot. This paper proposes a decision level fusion method that takes the outputs of each recognizer as an input and confirms which combination of features achieves the highest accuracy. We used EdNet, which was developed in KAIST based Convolutional Neural Networks (CNNs), as a facial expression recognizer and a speech analytics engine developed for speech emotion recognition. Finally, we confirmed a higher accuracy 43.40% using an artificial neural network (ANN) or the k-Nearest Neighbor (k-NN) algorithm for classification of combinations of features from EdN et and the speech analytics engine. © 2018 IEEE.

关键词： Engines

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robot Plan Model Generation and Execution with Natural Language Interface*

Robot Plan Model Generation and Execution with Natural Langu...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Kyon-Mo Yang Kap-Ho Seo Sang Hoon Kang Yoonseob Lim Research Center for Human Robot Interaction Korea Institute of Robotics and Technology Convergence Pohang South Korea School of Mechanical Aerospace and Nuclear Engineering Ulsan National Institute of Science and Technology Ulsan South Korea School of Mechanical Aerospace and Nuclear Engineering UNIST Ulsan South Korea Research Center for Diagnosis Treatment and Care System of Dementia and the Center for Robotics Research Korea Institute of Science and Technology Seoul South Korea

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Verbal interaction between a human and a robot may play a key role in conveying suitable directions for a robot to achieve the goal of a user's request. However, a robot may need to correct task plans or make new decisions with human help, which would make the interaction inconvenient and also increase the interaction time. In this paper, we propose a new verbal interaction-based method that can generate plan models and execute proper actions without human involvement in the middle of performing a task by a robot. To understand the verbal behaviors of humans when giving instructions to a robot, we first conducted a brief user study and found that a human user does not explicitly express the required task. To handle such unclear instructions by a human, we propose two different algorithms that can generate a component of new plan models based on intents and entities parsed from natural language and can resolve the unclear entities existed in human instructions. An experimental scenario with a robot, Cozmo, was tried in the lab environment to test whether or not the proposed method could generate an appropriate plan model. As a result, we found that the robot could successfully accomplish the task following human instructions and also found that the number of interactions and components in the plan model could be reduced as opposed to the general reactive plan model. In the future, we are going to improve the automated process of generating plan models and apply various scenarios under different service environments and robots.

关键词： Task analysis Service robots Natural languages human-robot interaction robot sensing systems Planning

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