Pub Date : 2015-06-01DOI: 10.1109/ARSO.2015.7428201
R. Awad, Laura Korting, A. J. V. D. Meer
As a key factor for driving innovation in European robotics and manufacturing, it is the main objective of The European Robotics Challenges (EuRoC) to strengthen collaboration and cross-fertilization between the industrial and the research community. Towards this aim EuRoC launched and is running three industrially relevant challenges in European robotics with applicability to the factory of the future. The EuRoC challenges are organized as three successive stages of increasing complexity. The aim of this paper is to report on and present the results of Stage I, in order to identify strengths and weaknesses of the challenges design/processes, report on exploited/missed opportunities, avoided/encountered risks, etc. Ultimately, the goal of this paper is to suggest improvements wrt to the design of challenges in the future.
{"title":"European robotics challenges — A retrospective analysis of stage I towards a better challenge design in the future","authors":"R. Awad, Laura Korting, A. J. V. D. Meer","doi":"10.1109/ARSO.2015.7428201","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428201","url":null,"abstract":"As a key factor for driving innovation in European robotics and manufacturing, it is the main objective of The European Robotics Challenges (EuRoC) to strengthen collaboration and cross-fertilization between the industrial and the research community. Towards this aim EuRoC launched and is running three industrially relevant challenges in European robotics with applicability to the factory of the future. The EuRoC challenges are organized as three successive stages of increasing complexity. The aim of this paper is to report on and present the results of Stage I, in order to identify strengths and weaknesses of the challenges design/processes, report on exploited/missed opportunities, avoided/encountered risks, etc. Ultimately, the goal of this paper is to suggest improvements wrt to the design of challenges in the future.","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":"132183493","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.2015.7428209
Cong Dung Pham, Christine Spiten, P. From
This paper presents a new set of approaches for teleoperation of remotely operated vehicles (ROVs), or autonomous underwater vehicles (AUVs) with on-board cameras. We address the control allocation problem for underwater vehicles, i.e., how to best distribute the control forces so that the robot behaves as intuitively as possible based on the operator's commands. This calls for intelligent control allocation in order to obtain intuitive control of the camera as we do not control the camera directly, but rather the underwater robot, with slow and inaccurate dynamics, in addition to normally just a few degrees of freedom to the camera, which has a lot faster dynamics. For the presented approach, the operator only needs to control the camera motion, while the vehicle will follow the camera naturally. The operator is thus able to control a system that is kinematically very different from the haptic device very intuitively. The control allocation problem, i.e., how the vehicle and camera actuation is applied, is then performed automatically so that the operator can concentrate on the camera motion.
{"title":"A control allocation approach to haptic control of underwater robots","authors":"Cong Dung Pham, Christine Spiten, P. From","doi":"10.1109/ARSO.2015.7428209","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428209","url":null,"abstract":"This paper presents a new set of approaches for teleoperation of remotely operated vehicles (ROVs), or autonomous underwater vehicles (AUVs) with on-board cameras. We address the control allocation problem for underwater vehicles, i.e., how to best distribute the control forces so that the robot behaves as intuitively as possible based on the operator's commands. This calls for intelligent control allocation in order to obtain intuitive control of the camera as we do not control the camera directly, but rather the underwater robot, with slow and inaccurate dynamics, in addition to normally just a few degrees of freedom to the camera, which has a lot faster dynamics. For the presented approach, the operator only needs to control the camera motion, while the vehicle will follow the camera naturally. The operator is thus able to control a system that is kinematically very different from the haptic device very intuitively. The control allocation problem, i.e., how the vehicle and camera actuation is applied, is then performed automatically so that the operator can concentrate on the camera motion.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"121 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":"114582777","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.2015.7428203
O. Masson, Jean Baratgin, Frank Jamet
In this experiment, a humanoid robot (NAO), for the first time, replaces the experimenter to study the endowment effect that describes the fact that individuals prefer an object or a service that belongs to them over an equivalent object or service. The traditional methodology used to observe the endowment effect was based on a simple experimental exchange paradigm. The effect is measured along the proportion of participants reluctant to accept the exchange. This robust effect of endowment is considered in the economic literature as a serious decisional bias that seems to exist since the younger age. Two explanations have been advanced in the literature. The first explanation refers to the aversion to the loss that individuals would have as it is detailed by the prospect theory. The second explanation, the most recent one, specifies that the willingness to possess is a consequence of the evolution. We propose an additional explanation; that social rules of the individuals can explain the reluctance to exchange an object or to prefer an object already possessed over the same object that these individuals do not possess. The paradigm of the exchange would implicitly favor a response in line with politeness norms at use in Western societies. In order to account for this third explanation, the use of NAO robot allows reproducing the exchange experimental paradigm in a neutral disambiguated context where the politeness norms are not prompted by the interaction experimenters/participants. This experiment concluded to no endowment effect. This procedure reveals a new paradigm to understand the emergence of social norms at play in an interaction robot-human researching what “behaviors” programmed in NAO triggers an endowment effect and favors the emergence of politeness norms.
{"title":"NAO robot and the “endowment effect”","authors":"O. Masson, Jean Baratgin, Frank Jamet","doi":"10.1109/ARSO.2015.7428203","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428203","url":null,"abstract":"In this experiment, a humanoid robot (NAO), for the first time, replaces the experimenter to study the endowment effect that describes the fact that individuals prefer an object or a service that belongs to them over an equivalent object or service. The traditional methodology used to observe the endowment effect was based on a simple experimental exchange paradigm. The effect is measured along the proportion of participants reluctant to accept the exchange. This robust effect of endowment is considered in the economic literature as a serious decisional bias that seems to exist since the younger age. Two explanations have been advanced in the literature. The first explanation refers to the aversion to the loss that individuals would have as it is detailed by the prospect theory. The second explanation, the most recent one, specifies that the willingness to possess is a consequence of the evolution. We propose an additional explanation; that social rules of the individuals can explain the reluctance to exchange an object or to prefer an object already possessed over the same object that these individuals do not possess. The paradigm of the exchange would implicitly favor a response in line with politeness norms at use in Western societies. In order to account for this third explanation, the use of NAO robot allows reproducing the exchange experimental paradigm in a neutral disambiguated context where the politeness norms are not prompted by the interaction experimenters/participants. This experiment concluded to no endowment effect. This procedure reveals a new paradigm to understand the emergence of social norms at play in an interaction robot-human researching what “behaviors” programmed in NAO triggers an endowment effect and favors the emergence of politeness norms.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"92 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":"122042448","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.2015.7428196
Annemarie Turnwald, Sebastian Eger, D. Wollherr
Providing robots with the ability to move humanlike is one of the recent challenges for researchers who work on motion planning in human populated environments. Human-like motions help a human interaction partner to intuitively grasp the intention of the robot. However, the problem of validating the degree of human-likeness of a robot motion is rarely addressed, especially for the forward motion during navigation. One approach is using similarity measures to compare the robot trajectories directly with human ones. For this reason, this paper investigates different methods from the time series analysis that can be applied to measure the similarity between trajectories: the average Euclidean distance, the Dynamic Time Warping distance, and the Longest Common Subsequence. We aim to identify the measure that performs the same way as a human who rates the similarity. Thus, the evaluation of the methods is based on a questionnaire that examines the human perception of differences between walking motions. It is concluded that the human similarity perception is reproduced best by using the Dynamic Time Warping and comparing the derivatives of the path and velocity profiles instead of the absolute values.
{"title":"Investigating similarity measures for locomotor trajectories based on the human perception of differences in motions","authors":"Annemarie Turnwald, Sebastian Eger, D. Wollherr","doi":"10.1109/ARSO.2015.7428196","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428196","url":null,"abstract":"Providing robots with the ability to move humanlike is one of the recent challenges for researchers who work on motion planning in human populated environments. Human-like motions help a human interaction partner to intuitively grasp the intention of the robot. However, the problem of validating the degree of human-likeness of a robot motion is rarely addressed, especially for the forward motion during navigation. One approach is using similarity measures to compare the robot trajectories directly with human ones. For this reason, this paper investigates different methods from the time series analysis that can be applied to measure the similarity between trajectories: the average Euclidean distance, the Dynamic Time Warping distance, and the Longest Common Subsequence. We aim to identify the measure that performs the same way as a human who rates the similarity. Thus, the evaluation of the methods is based on a questionnaire that examines the human perception of differences between walking motions. It is concluded that the human similarity perception is reproduced best by using the Dynamic Time Warping and comparing the derivatives of the path and velocity profiles instead of the absolute values.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"42 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":"130146721","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.2015.7428206
Weiwei Wan, K. Harada
When people fail to move his or her arms from one configuration to another, they attempt to break the task into smaller tasks and finish them separately. This kind of solution is usually named “divide and conquer”. In this paper, we propose an implementation of “divide and conquer” where the robot attempts to divide one difficult manipulation task into smaller but easier problems according to the results of lazy planning. It leverages the planning of different levels to build a weighted two-layer manipulation graph, and divides and conquer the original task by lazily searching the weighted two-layer manipulation graph. In the lowest level, the planning is motion planning. In the middle level, the planning is grasp planning and placement planning. In the highest level, the planning is manipulation planning. Our implementation uses the grasps and placements computed in the middle level to construct a weighted two-layer manipulation graph for the highest level. It finds a manipulation path through the weighted two-layer manipulation graph in the highest level using lazy searching, and uses motion planning in the lowest level to find the motions that connect the vertices of the weighted two-layer manipulation path. Simulation is developed to demonstrate the the performance of our implementation. The manipulation task in the simulation is divided and separately conquered by leveraging the planning at different levels.
{"title":"Divide-and-conquer manipulation planning by lazily searching a weighted two-layer manipulation graph","authors":"Weiwei Wan, K. Harada","doi":"10.1109/ARSO.2015.7428206","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428206","url":null,"abstract":"When people fail to move his or her arms from one configuration to another, they attempt to break the task into smaller tasks and finish them separately. This kind of solution is usually named “divide and conquer”. In this paper, we propose an implementation of “divide and conquer” where the robot attempts to divide one difficult manipulation task into smaller but easier problems according to the results of lazy planning. It leverages the planning of different levels to build a weighted two-layer manipulation graph, and divides and conquer the original task by lazily searching the weighted two-layer manipulation graph. In the lowest level, the planning is motion planning. In the middle level, the planning is grasp planning and placement planning. In the highest level, the planning is manipulation planning. Our implementation uses the grasps and placements computed in the middle level to construct a weighted two-layer manipulation graph for the highest level. It finds a manipulation path through the weighted two-layer manipulation graph in the highest level using lazy searching, and uses motion planning in the lowest level to find the motions that connect the vertices of the weighted two-layer manipulation path. Simulation is developed to demonstrate the the performance of our implementation. The manipulation task in the simulation is divided and separately conquered by leveraging the planning at different levels.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"42 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":"133710413","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.2015.7428221
K. Dinh, Ozgur S. Oguz, Gerold Huber, Volker Gabler, D. Wollherr
Within Human-Robot Collaboration (HRC) safety is one key-issue that has to be guaranteed at any time during joint collaboration. Collisions in a shared workspace of a Human-Robot-Team (HRT) must be prevented. In addition, the comfort of the collaboration behavior should be provided. Facing these challenges, a robot has to be able to detect critical states at an early stage on the one hand and should react to them within a very short time span on the other hand. In this paper a collision avoidance algorithm using compliance control that guarantees a fast reaction to dynamic obstacles, e.g. humans, without the need of high computational effort is outlined. To further improve the avoidance behavior of the robot, a human motion prediction algorithm based on the minimum-jerk model is integrated. In an experimental analysis of a case-study about collecting LEGO-bricks on a table with various subjects, the impact of the integration of human motion prediction on both the robot's reaction time and human's perception of the robot co-worker is studied. Finally, the comfort and acceptance of the robot colleague by the human collaborator is drawn out through an analysis of the subjective human feedback questionnaires.
{"title":"An approach to integrate human motion prediction into local obstacle avoidance in close human-robot collaboration","authors":"K. Dinh, Ozgur S. Oguz, Gerold Huber, Volker Gabler, D. Wollherr","doi":"10.1109/ARSO.2015.7428221","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428221","url":null,"abstract":"Within Human-Robot Collaboration (HRC) safety is one key-issue that has to be guaranteed at any time during joint collaboration. Collisions in a shared workspace of a Human-Robot-Team (HRT) must be prevented. In addition, the comfort of the collaboration behavior should be provided. Facing these challenges, a robot has to be able to detect critical states at an early stage on the one hand and should react to them within a very short time span on the other hand. In this paper a collision avoidance algorithm using compliance control that guarantees a fast reaction to dynamic obstacles, e.g. humans, without the need of high computational effort is outlined. To further improve the avoidance behavior of the robot, a human motion prediction algorithm based on the minimum-jerk model is integrated. In an experimental analysis of a case-study about collecting LEGO-bricks on a table with various subjects, the impact of the integration of human motion prediction on both the robot's reaction time and human's perception of the robot co-worker is studied. Finally, the comfort and acceptance of the robot colleague by the human collaborator is drawn out through an analysis of the subjective human feedback questionnaires.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"31 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":"121224796","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.2015.7428204
S. Lefèvre, D. Vasquez, C. Laugier, J. Guzman
This paper tackles the risk estimation problem from a new perspective: a framework is proposed for reasoning about traffic situations and collision risk at a semantic level, while classic approaches typically reason at a trajectory level. Risk is assessed by estimating the intentions of drivers and detecting conflicts between them, rather than by predicting the future trajectories of the vehicles and detecting collisions between them. More specifically, dangerous situations are identified by comparing what drivers intend to do with what they are expected to do according to the traffic rules. The reasoning is performed in a probabilistic manner, in order to take into account sensor uncertainties and interpretation ambiguities. This framework can in theory be applied to any type of traffic situation; here we present its application to road intersections. The approach was validated with field trials using passenger vehicles equipped with Vehicle-to-Vehicle wireless communication modems. The results demonstrate that the algorithm is able to detect dangerous situations early and complies with real-time constraints.
{"title":"Intention-aware risk estimation: Field results","authors":"S. Lefèvre, D. Vasquez, C. Laugier, J. Guzman","doi":"10.1109/ARSO.2015.7428204","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428204","url":null,"abstract":"This paper tackles the risk estimation problem from a new perspective: a framework is proposed for reasoning about traffic situations and collision risk at a semantic level, while classic approaches typically reason at a trajectory level. Risk is assessed by estimating the intentions of drivers and detecting conflicts between them, rather than by predicting the future trajectories of the vehicles and detecting collisions between them. More specifically, dangerous situations are identified by comparing what drivers intend to do with what they are expected to do according to the traffic rules. The reasoning is performed in a probabilistic manner, in order to take into account sensor uncertainties and interpretation ambiguities. This framework can in theory be applied to any type of traffic situation; here we present its application to road intersections. The approach was validated with field trials using passenger vehicles equipped with Vehicle-to-Vehicle wireless communication modems. The results demonstrate that the algorithm is able to detect dangerous situations early and complies with real-time constraints.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"184 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":"122351850","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.2015.7428217
Mohammad Ehsanul Karim, Séverin Lemaignan, F. Mondada
Can robots in classroom reshape K-12 STEM education, and foster new ways of learning? To sketch an answer, this article reviews, side-by-side, existing literature on robot-based learning activities featuring mathematics and physics (purposefully putting aside the well-studied field of “robots to teach robotics”) and existing robot platforms and toolkits suited for classroom environment (in terms of cost, ease of use, orchestration load for the teacher, etc.). Our survey suggests that the use of robots in classroom has indeed moved from purely technology to education, to encompass new didactic fields. We however identified several shortcomings, in terms of robotic platforms and teaching environments, that contribute to the limited presence of robotics in existing curricula; the lack of specific teacher training being likely pivotal. Finally, we propose an educational framework merging the tangibility of robots with the advanced visibility of augmented reality.
{"title":"A review: Can robots reshape K-12 STEM education?","authors":"Mohammad Ehsanul Karim, Séverin Lemaignan, F. Mondada","doi":"10.1109/ARSO.2015.7428217","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428217","url":null,"abstract":"Can robots in classroom reshape K-12 STEM education, and foster new ways of learning? To sketch an answer, this article reviews, side-by-side, existing literature on robot-based learning activities featuring mathematics and physics (purposefully putting aside the well-studied field of “robots to teach robotics”) and existing robot platforms and toolkits suited for classroom environment (in terms of cost, ease of use, orchestration load for the teacher, etc.). Our survey suggests that the use of robots in classroom has indeed moved from purely technology to education, to encompass new didactic fields. We however identified several shortcomings, in terms of robotic platforms and teaching environments, that contribute to the limited presence of robotics in existing curricula; the lack of specific teacher training being likely pivotal. Finally, we propose an educational framework merging the tangibility of robots with the advanced visibility of augmented reality.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"21 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":"127579843","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.2015.7428207
Leslie Guillaume, V. Aubergé, Romain Magnani, Frédéric Aman, Cecile Cottier, Y. Sasa, Christian Wolf, Florian Nebout, N. Neverova, Nicolas Bonnefond, Amaury Nègre, Liliya Tsvetanova, Maxence Girard-Rivier
As part of a human-robot interaction project, the gestural modality is one of many ways to communicate. In order to develop a relevant gesture recognition system associated to a smart home butler robot, our methodology is based on an IQ game-like Wizard of Oz experiment to collect spontaneous and implicitly produced gestures in an ecological context where the robot is the referee. These gestures are compared with explicitly produced gestures to determine a relevant ontology of gestures. This preliminary qualitative analysis will be the base to build a big data corpus in order to optimize acceptance of the gesture dictionary in coherence with the “socio-affective glue” dynamics.
{"title":"HRI in an ecological dynamic experiment: The GEE corpus based approach for the Emox robot","authors":"Leslie Guillaume, V. Aubergé, Romain Magnani, Frédéric Aman, Cecile Cottier, Y. Sasa, Christian Wolf, Florian Nebout, N. Neverova, Nicolas Bonnefond, Amaury Nègre, Liliya Tsvetanova, Maxence Girard-Rivier","doi":"10.1109/ARSO.2015.7428207","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428207","url":null,"abstract":"As part of a human-robot interaction project, the gestural modality is one of many ways to communicate. In order to develop a relevant gesture recognition system associated to a smart home butler robot, our methodology is based on an IQ game-like Wizard of Oz experiment to collect spontaneous and implicitly produced gestures in an ecological context where the robot is the referee. These gestures are compared with explicitly produced gestures to determine a relevant ontology of gestures. This preliminary qualitative analysis will be the base to build a big data corpus in order to optimize acceptance of the gesture dictionary in coherence with the “socio-affective glue” dynamics.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"9 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":"125472002","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.2015.7428202
Jérôme Lussereau, P. Stein, Jean-Alix David, Lukas Rummelhard, Amaury Nègre, C. Laugier, Nicolas Vignard, Gabriel Othmezouri
For several years, INRIA and Toyota Europe have been working together in the development of algorithms directed to ADAS. This paper will describe the main results of this joint project, applied to a prototype vehicle equipped with several sensors. This work will detail the framework, steps taken and motivation behind the developed technologies, as well as address the requirements for the automobile industry.
{"title":"Integration of ADAS algorithm into an experimental vehicle","authors":"Jérôme Lussereau, P. Stein, Jean-Alix David, Lukas Rummelhard, Amaury Nègre, C. Laugier, Nicolas Vignard, Gabriel Othmezouri","doi":"10.1109/ARSO.2015.7428202","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428202","url":null,"abstract":"For several years, INRIA and Toyota Europe have been working together in the development of algorithms directed to ADAS. This paper will describe the main results of this joint project, applied to a prototype vehicle equipped with several sensors. This work will detail the framework, steps taken and motivation behind the developed technologies, as well as address the requirements for the automobile industry.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"58 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":"126561986","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：