Pub Date : 2015-06-01DOI: 10.1109/ARSO.2015.7428197
T. Dewi, N. Uchiyama, S. Sano
One of the crucial features of a service robot is the ability “to see” the environment and a target object for smooth navigation. This paper deals with a mobile robot that recognizes and tracks a moving object attached to a wheelchair in a obstacle existing environment. The experiment was conducted in three scenarios, the first one is that the robot is set to recognize and track a moving object in obstacle free environment, and the second and the third ones are the L-course and the crank course bordered by boxes as the obstacles. The third scenario was conducted five times with five different human-targets. The experimental results show that the proposed method is effective in recognizing and tracking the moving object.
{"title":"Service mobile robot control for tracking a moving object with collision avoidance","authors":"T. Dewi, N. Uchiyama, S. Sano","doi":"10.1109/ARSO.2015.7428197","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428197","url":null,"abstract":"One of the crucial features of a service robot is the ability “to see” the environment and a target object for smooth navigation. This paper deals with a mobile robot that recognizes and tracks a moving object attached to a wheelchair in a obstacle existing environment. The experiment was conducted in three scenarios, the first one is that the robot is set to recognize and track a moving object in obstacle free environment, and the second and the third ones are the L-course and the crank course bordered by boxes as the obstacles. The third scenario was conducted five times with five different human-targets. The experimental results show that the proposed method is effective in recognizing and tracking the moving object.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130618850","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The calibration process of a stereo rig is normally done by making two cameras view one special designed calibration pattern (such as checkerboard) at the same time to estimate the relative rotation between two cameras. Multiple image pairs from different perspectives are required for better estimation accuracy. Stereo rig with wide baseline is necessary when accurate depth estimation for distant object is desired. However, in order to make calibration pattern to be viewed from both left and right cameras, the wider the baseline the bigger the calibration pattern should be. Manpower even equipment such as crane is required to operate such a big checkerboard for the calibration purpose only. In contrast to the traditional stereo calibration method using calibration pattern, we propose a self-calibration approach that can easily estimate cameras' rotation matrices for stereo rig with very wide baseline using sea horizon and a point at infinite distance. Compared with conventional techniques which require expensive equipments or manpower, our approach only needs a pair of sea images, moreover, special calibration patterns and feature correspondences are not required. As a result, it is flexible and very easy to implement. Real world experiments demonstrate the feasibility of our approach.
{"title":"An automatic self-calibration approach for wide baseline stereo cameras using sea surface images","authors":"Han Wang, Wei Mou, Xiaozheng Mou, Shenghai Yuan, Soner Ulun, Shuai Yang, Bok-Suk Shin","doi":"10.1109/ARSO.2015.7428195","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428195","url":null,"abstract":"The calibration process of a stereo rig is normally done by making two cameras view one special designed calibration pattern (such as checkerboard) at the same time to estimate the relative rotation between two cameras. Multiple image pairs from different perspectives are required for better estimation accuracy. Stereo rig with wide baseline is necessary when accurate depth estimation for distant object is desired. However, in order to make calibration pattern to be viewed from both left and right cameras, the wider the baseline the bigger the calibration pattern should be. Manpower even equipment such as crane is required to operate such a big checkerboard for the calibration purpose only. In contrast to the traditional stereo calibration method using calibration pattern, we propose a self-calibration approach that can easily estimate cameras' rotation matrices for stereo rig with very wide baseline using sea horizon and a point at infinite distance. Compared with conventional techniques which require expensive equipments or manpower, our approach only needs a pair of sea images, moreover, special calibration patterns and feature correspondences are not required. As a result, it is flexible and very easy to implement. Real world experiments demonstrate the feasibility of our approach.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116609106","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-01DOI: 10.1109/ARSO.2015.7428200
E. Lucet, A. Micaelli
This paper addresses the problem of accurate and reliable path following of a heavy industrial mobile robot evolving with centimetric accuracy requirement. For this purpose sliding estimation is a crucial issue, even more in off-road context with uneven and slippery terrains. So, we focus on position and sliding observers design in function of the distance covered, thus allowing to carry on maneuvers at any operational speed with constant accuracy. Furthermore, these observers are not affected by path tracking errors. Implementation in simulation demonstrates efficiency of such algorithms.
{"title":"State and parameters observation for accurate off-road navigation of wheeled mobile robots","authors":"E. Lucet, A. Micaelli","doi":"10.1109/ARSO.2015.7428200","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428200","url":null,"abstract":"This paper addresses the problem of accurate and reliable path following of a heavy industrial mobile robot evolving with centimetric accuracy requirement. For this purpose sliding estimation is a crucial issue, even more in off-road context with uneven and slippery terrains. So, we focus on position and sliding observers design in function of the distance covered, thus allowing to carry on maneuvers at any operational speed with constant accuracy. Furthermore, these observers are not affected by path tracking errors. Implementation in simulation demonstrates efficiency of such algorithms.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122973976","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-01DOI: 10.1109/ARSO.2015.7428219
E. Yoshida, Ko Ayusawa, I. Ramirez-Alpizar, K. Harada, C. Duriez, A. Kheddar
This paper presents a method for planning motions of a flexible objects based on precise simulation using Finite Element Method (FEM). The proposed method is applied to ring-shape objects manipulated by robot arms, which is often seen in various applications. Since large deformation is implied, assembly planning with realistic simulation is important to ensure task efficiency for the robot and also to avoid damage of the object. We first verify that the behavior of a ring-shape object by dual-arm manipulation is well predicted using FEM model of bent beam through a simulation along the trajectory computed by optimization-based motion planning previously reported. Next, a precise FEM model is integrated into optimization to compute a trajectory of robot hands minimizing the deformation energy as well as satisfying such criteria as collision avoidance and smoothness. Since the direct computation leads huge computational cost, we present a realistic formula which transforms the planning problem into the static equilibrium problem of several FEM models located along the trajectory. Simulation results show that the proposed method is promising for such assembly tasks requiring large deformation.
{"title":"Simulation-based optimal motion planning for deformable object","authors":"E. Yoshida, Ko Ayusawa, I. Ramirez-Alpizar, K. Harada, C. Duriez, A. Kheddar","doi":"10.1109/ARSO.2015.7428219","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428219","url":null,"abstract":"This paper presents a method for planning motions of a flexible objects based on precise simulation using Finite Element Method (FEM). The proposed method is applied to ring-shape objects manipulated by robot arms, which is often seen in various applications. Since large deformation is implied, assembly planning with realistic simulation is important to ensure task efficiency for the robot and also to avoid damage of the object. We first verify that the behavior of a ring-shape object by dual-arm manipulation is well predicted using FEM model of bent beam through a simulation along the trajectory computed by optimization-based motion planning previously reported. Next, a precise FEM model is integrated into optimization to compute a trajectory of robot hands minimizing the deformation energy as well as satisfying such criteria as collision avoidance and smoothness. Since the direct computation leads huge computational cost, we present a realistic formula which transforms the planning problem into the static equilibrium problem of several FEM models located along the trajectory. Simulation results show that the proposed method is promising for such assembly tasks requiring large deformation.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"193 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121276863","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-01DOI: 10.1109/ARSO.2015.7428208
J. Guerrero, M. Jaud, R. Lenain, R. Rouveure, P. Faure
This paper addresses the problem of perception for autonomous vehicle navigation in real environments. Integrity safe navigation of autonomous vehicles in unknown environments poses a traversability problem. We are interested in the integrity-safe navigation in unknown environments. Safe navigation is a task that depends on the knowledge of the surrounding environment and the vehicle dynamics. Classical navigation approach focus on obstacle avoidance often based on occupancy and elevation maps. We propose to combine an optical sensor and an electromagnetic sensor to build a richer map of the environment which will be used for traversability analysis and path planning. The proposed lidar-radar map encodes the geometry of the environment such that traversability analysis and trajectory planning guarantee the robot's integrity in a stability sense. A comparative analysis of two mapping algorithms using lidar, radar, IMU and GPS sensors shows the advantages of such bimodal perception system. Results have been validated experimentally.
{"title":"Towards LIDAR-RADAR based terrain mapping","authors":"J. Guerrero, M. Jaud, R. Lenain, R. Rouveure, P. Faure","doi":"10.1109/ARSO.2015.7428208","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428208","url":null,"abstract":"This paper addresses the problem of perception for autonomous vehicle navigation in real environments. Integrity safe navigation of autonomous vehicles in unknown environments poses a traversability problem. We are interested in the integrity-safe navigation in unknown environments. Safe navigation is a task that depends on the knowledge of the surrounding environment and the vehicle dynamics. Classical navigation approach focus on obstacle avoidance often based on occupancy and elevation maps. We propose to combine an optical sensor and an electromagnetic sensor to build a richer map of the environment which will be used for traversability analysis and path planning. The proposed lidar-radar map encodes the geometry of the environment such that traversability analysis and trajectory planning guarantee the robot's integrity in a stability sense. A comparative analysis of two mapping algorithms using lidar, radar, IMU and GPS sensors shows the advantages of such bimodal perception system. Results have been validated experimentally.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133009852","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-01DOI: 10.1109/ARSO.2015.7428214
M. Sorour
High demand for painters is required nowadays and foreseen in the near future for both developed and developing countries. To satisfy such demand, this paper presents the detailed computer aided design (CAD) model of a fully functional wall painting robot for interior finishes. The RoboPainter is capable of performing full scale wall-ceil painting in addition to decorative wall drawings. The 8 degrees of freedom (DOF) mobile robot structure consists of a 6DOF spray painting arm mounted on a 2DOF differentially driven mobile base. The design presented endows several achievements in terms of total robot mass and painting rate as compared to existing literature. Detailed dynamic model parameters are presented to allow for further enhancement in terms of robot motion control.
{"title":"RoboPainter — A detailed robot design for interior wall painting","authors":"M. Sorour","doi":"10.1109/ARSO.2015.7428214","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428214","url":null,"abstract":"High demand for painters is required nowadays and foreseen in the near future for both developed and developing countries. To satisfy such demand, this paper presents the detailed computer aided design (CAD) model of a fully functional wall painting robot for interior finishes. The RoboPainter is capable of performing full scale wall-ceil painting in addition to decorative wall drawings. The 8 degrees of freedom (DOF) mobile robot structure consists of a 6DOF spray painting arm mounted on a 2DOF differentially driven mobile base. The design presented endows several achievements in terms of total robot mass and painting rate as compared to existing literature. Detailed dynamic model parameters are presented to allow for further enhancement in terms of robot motion control.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133376777","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-01DOI: 10.1109/ARSO.2015.7428215
H. Ardiny, S. Witwicki, F. Mondada
After a terrible disaster such as an earthquake or a nuclear accident, finding victims and isolating them from hazards are usually the first priorities for rescuers. As the security of rescuers and the stabilization of the environment are critical components of the first rescue phase, we assume that robots could be used to secure the environment by performing construction tasks, to stabilize large structures, and/or protect the victims. In this paper we suggest an approach consisting of using mobile robots to construct protective walls on a site affected by a nuclear disaster. Protective walls can help to block radiation from toxic sources and protect both victims and rescuers. On the other hand, the robot's vulnerability to radiation restricts its freedom of movements into unsafe regions. Therefore, building protective walls needs a plan (construction plan) that involves three competing objectives: victim safety, rescuer safety, and robot safety. Weighting these factors is a societal choice, is not trivial, and impacts the whole system. In this paper, we provide and optimize the construction plan using a genetic algorithm based on three objectives. We analyze the construction plan performance with respect to execution time. We also analyze the trade-offs involved between these competing objectives in different environments with ranging physical complexity (e.g., a number of victims or sources).
{"title":"Providing and optimizing a robotic construction plan for rescue operations","authors":"H. Ardiny, S. Witwicki, F. Mondada","doi":"10.1109/ARSO.2015.7428215","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428215","url":null,"abstract":"After a terrible disaster such as an earthquake or a nuclear accident, finding victims and isolating them from hazards are usually the first priorities for rescuers. As the security of rescuers and the stabilization of the environment are critical components of the first rescue phase, we assume that robots could be used to secure the environment by performing construction tasks, to stabilize large structures, and/or protect the victims. In this paper we suggest an approach consisting of using mobile robots to construct protective walls on a site affected by a nuclear disaster. Protective walls can help to block radiation from toxic sources and protect both victims and rescuers. On the other hand, the robot's vulnerability to radiation restricts its freedom of movements into unsafe regions. Therefore, building protective walls needs a plan (construction plan) that involves three competing objectives: victim safety, rescuer safety, and robot safety. Weighting these factors is a societal choice, is not trivial, and impacts the whole system. In this paper, we provide and optimize the construction plan using a genetic algorithm based on three objectives. We analyze the construction plan performance with respect to execution time. We also analyze the trade-offs involved between these competing objectives in different environments with ranging physical complexity (e.g., a number of victims or sources).","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123597354","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-01DOI: 10.1109/ARSO.2015.7428223
Philipp Kerschbaum, Lutz Lorenz, Sebastian Hergeth, K. Bengler
During the last years, intensive research has been conducted to make high degrees of automation available in cars. However, driver assistance systems today still need the driver to monitor the system. This will most probably change in near future, as highly automated driving becomes available. With the driver out of the control loop, this driving mode has beneficial aspects for the driver and could improve traffic safety as a high portion of traffic accidents are due to human error. On the other hand, high degrees of automation can have detrimental effects which are well known from other domains like aviation. These effects have led to fatal accidents in the past. The authors investigate various aspects of this topic and the corresponding challenges for the human-machine interface in future cars. In this paper, we present three of our research areas: the take-over process, trust in automation and utilization of drivetime. For each area, we explain theoretical background, current challenges and studies we conducted.
{"title":"Designing the human-machine interface for highly automated cars — Challenges, exemplary concepts and studies","authors":"Philipp Kerschbaum, Lutz Lorenz, Sebastian Hergeth, K. Bengler","doi":"10.1109/ARSO.2015.7428223","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428223","url":null,"abstract":"During the last years, intensive research has been conducted to make high degrees of automation available in cars. However, driver assistance systems today still need the driver to monitor the system. This will most probably change in near future, as highly automated driving becomes available. With the driver out of the control loop, this driving mode has beneficial aspects for the driver and could improve traffic safety as a high portion of traffic accidents are due to human error. On the other hand, high degrees of automation can have detrimental effects which are well known from other domains like aviation. These effects have led to fatal accidents in the past. The authors investigate various aspects of this topic and the corresponding challenges for the human-machine interface in future cars. In this paper, we present three of our research areas: the take-over process, trust in automation and utilization of drivetime. For each area, we explain theoretical background, current challenges and studies we conducted.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115928196","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-01DOI: 10.1109/ARSO.2015.7428222
A. C. Leite, Thiago B. Almeida-Antonio, P. From, F. Lizarralde, L. Hsu
In this work, we present a control and obstacle collision avoidance method for redundant robot manipulators operating in partially structured environments in the presence of humans. The control algorithm is based on the concept of artificial potential fields and it uses the pseudo-inverse of the Jacobian matrix with a weighting factor for the mechanical joint limits, taking advantage of the robot redundancy for the purpose of obstacle avoidance and control goal achievement. The detection algorithm uses a depth sensor based on the structured light to obtain a 2-1/2-D description of the surroundings from a point cloud. Repulsive fields are created around the detected obstacles, allowing for the robot to perform the task of interest without collisions. A filtering methodology based on geometric elements is presented to filter the RGB-D scene captured by the depth sensor, eliminating the robot body and the obstacles located outside its workspace. Experimental results, obtained with a Motoman DIA10 robot and a Microsoft KinectTM, illustrate the feasibility of the proposed scheme.
{"title":"Control and obstacle collision avoidance method applied to human-robot interaction","authors":"A. C. Leite, Thiago B. Almeida-Antonio, P. From, F. Lizarralde, L. Hsu","doi":"10.1109/ARSO.2015.7428222","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428222","url":null,"abstract":"In this work, we present a control and obstacle collision avoidance method for redundant robot manipulators operating in partially structured environments in the presence of humans. The control algorithm is based on the concept of artificial potential fields and it uses the pseudo-inverse of the Jacobian matrix with a weighting factor for the mechanical joint limits, taking advantage of the robot redundancy for the purpose of obstacle avoidance and control goal achievement. The detection algorithm uses a depth sensor based on the structured light to obtain a 2-1/2-D description of the surroundings from a point cloud. Repulsive fields are created around the detected obstacles, allowing for the robot to perform the task of interest without collisions. A filtering methodology based on geometric elements is presented to filter the RGB-D scene captured by the depth sensor, eliminating the robot body and the obstacles located outside its workspace. Experimental results, obtained with a Motoman DIA10 robot and a Microsoft KinectTM, illustrate the feasibility of the proposed scheme.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131010493","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-01DOI: 10.1109/ARSO.2015.7428218
Laura Aymerich-Franch, Damien Petit, G. Ganesh, A. Kheddar
Humanoid robot surrogates promise a plethora of new applications in the field of disaster management and human robot interactions. However, whole body embodiment for teleoperation or telepresence with mobile robot avatars is yet to be fully explored and understood. In this study we investigated whether partial and delayed control, necessitated by the large degree of freedom of a humanoid system, affects embodiment of a walking humanoid robot surrogate. For this, we asked participants to embody a walking humanoid robot in two conditions, one in which they had no control of its movement, and another in which they could control its direction of walking, but with delays. We utilized an embodiment questionnaire to evaluate the embodiment of the humanoid in each condition. Our results show first person visual feedback and congruent visuo-audio feedback to be sufficient for embodiment of the moving robot. Interestingly, participants reported a sense of agency even when they did not control the robot, and critically the sense of agency and embodiment were not affected by partial and delayed control typical of humanoid robots.
{"title":"Embodiment of a humanoid robot is preserved during partial and delayed control","authors":"Laura Aymerich-Franch, Damien Petit, G. Ganesh, A. Kheddar","doi":"10.1109/ARSO.2015.7428218","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428218","url":null,"abstract":"Humanoid robot surrogates promise a plethora of new applications in the field of disaster management and human robot interactions. However, whole body embodiment for teleoperation or telepresence with mobile robot avatars is yet to be fully explored and understood. In this study we investigated whether partial and delayed control, necessitated by the large degree of freedom of a humanoid system, affects embodiment of a walking humanoid robot surrogate. For this, we asked participants to embody a walking humanoid robot in two conditions, one in which they had no control of its movement, and another in which they could control its direction of walking, but with delays. We utilized an embodiment questionnaire to evaluate the embodiment of the humanoid in each condition. Our results show first person visual feedback and congruent visuo-audio feedback to be sufficient for embodiment of the moving robot. Interestingly, participants reported a sense of agency even when they did not control the robot, and critically the sense of agency and embodiment were not affected by partial and delayed control typical of humanoid robots.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125340285","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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