Pub Date : 2019-10-01DOI: 10.1109/RO-MAN46459.2019.8956358
L. E. Hamamsy, W. Johal, Thibault Asselborn, Jauwairia Nasir, P. Dillenbourg
This paper presents the design of a novel and engaging collaborative learning activity for handwriting where a group of participants simultaneously tutor a Nao robot. This activity was intended to take advantage of both collaborative learning and the learning by teaching paradigm to improve children’s meta-cognition (perception of their own skills). Multiple engagement probes were integrated into the activity as a first step towards fostering long term interactions. As a lot of research targets social interactions, the goal here was to determine whether an engagement strategy focused on the task could be as, or more efficient than one focused on social interactions and participants’ introspection. To that effect, two engagement strategies were implemented. They differed in content but used the same multi-modal design in order to increase participants’ meta-cognitive reflection, once on the task and performances, and once on participants’ enjoyment and emotions. Both strategies were compared to a baseline by probing and assessing engagement at the individual and group level, along the behavioural, emotional and cognitive dimensions, in a between subject experiment with 12 groups of children. The experiments showed that the collaborative task pushed the children to adapt their manner of writing to the group, even though the adopted solution was not always correct. Furthermore, there was no significant difference between the strategies in terms of behaviour on task (behavioural engagement), satisfaction (emotional engagement) or performance (cognitive engagement) as the group dynamics had a stronger impact on the outcome of the collaborative teaching task. Therefore, the task and social engagement strategies can be considered as efficient in the context of collaboration.
{"title":"Learning By Collaborative Teaching: An Engaging Multi-Party CoWriter Activity","authors":"L. E. Hamamsy, W. Johal, Thibault Asselborn, Jauwairia Nasir, P. Dillenbourg","doi":"10.1109/RO-MAN46459.2019.8956358","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956358","url":null,"abstract":"This paper presents the design of a novel and engaging collaborative learning activity for handwriting where a group of participants simultaneously tutor a Nao robot. This activity was intended to take advantage of both collaborative learning and the learning by teaching paradigm to improve children’s meta-cognition (perception of their own skills). Multiple engagement probes were integrated into the activity as a first step towards fostering long term interactions. As a lot of research targets social interactions, the goal here was to determine whether an engagement strategy focused on the task could be as, or more efficient than one focused on social interactions and participants’ introspection. To that effect, two engagement strategies were implemented. They differed in content but used the same multi-modal design in order to increase participants’ meta-cognitive reflection, once on the task and performances, and once on participants’ enjoyment and emotions. Both strategies were compared to a baseline by probing and assessing engagement at the individual and group level, along the behavioural, emotional and cognitive dimensions, in a between subject experiment with 12 groups of children. The experiments showed that the collaborative task pushed the children to adapt their manner of writing to the group, even though the adopted solution was not always correct. Furthermore, there was no significant difference between the strategies in terms of behaviour on task (behavioural engagement), satisfaction (emotional engagement) or performance (cognitive engagement) as the group dynamics had a stronger impact on the outcome of the collaborative teaching task. Therefore, the task and social engagement strategies can be considered as efficient in the context of collaboration.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121059102","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 : 2019-10-01DOI: 10.1109/RO-MAN46459.2019.8956445
Chaudhary Muhammad Aqdus Ilyas, Viktor Schmuck, M. A. Haque, Kamal Nasrollahi, M. Rehm, T. Moeslund
Social signal extraction from the facial analysis is a popular research area in human-robot interaction. However, recognition of emotional signals from Traumatic Brain Injured (TBI) patients with the help of robots and non-intrusive sensors is yet to be explored. Existing robots have limited abilities to automatically identify human emotions and respond accordingly. Their interaction with TBI patients could be even more challenging and complex due to unique, unusual and diverse ways of expressing their emotions. To tackle the disparity in a TBI patient’s Facial Expressions (FEs), a specialized deep-trained model for automatic detection of TBI patients’ emotions and FE (TBI-FER model) is designed, for robot-assisted rehabilitation activities. In addition, the Pepper robot’s built-in model for FE is investigated on TBI patients as well as on healthy people. Variance in their emotional expressions is determined by comparative studies. It is observed that the customized trained system is highly essential for the deployment of Pepper robot as a Socially Assistive Robot (SAR).
{"title":"Teaching Pepper Robot to Recognize Emotions of Traumatic Brain Injured Patients Using Deep Neural Networks","authors":"Chaudhary Muhammad Aqdus Ilyas, Viktor Schmuck, M. A. Haque, Kamal Nasrollahi, M. Rehm, T. Moeslund","doi":"10.1109/RO-MAN46459.2019.8956445","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956445","url":null,"abstract":"Social signal extraction from the facial analysis is a popular research area in human-robot interaction. However, recognition of emotional signals from Traumatic Brain Injured (TBI) patients with the help of robots and non-intrusive sensors is yet to be explored. Existing robots have limited abilities to automatically identify human emotions and respond accordingly. Their interaction with TBI patients could be even more challenging and complex due to unique, unusual and diverse ways of expressing their emotions. To tackle the disparity in a TBI patient’s Facial Expressions (FEs), a specialized deep-trained model for automatic detection of TBI patients’ emotions and FE (TBI-FER model) is designed, for robot-assisted rehabilitation activities. In addition, the Pepper robot’s built-in model for FE is investigated on TBI patients as well as on healthy people. Variance in their emotional expressions is determined by comparative studies. It is observed that the customized trained system is highly essential for the deployment of Pepper robot as a Socially Assistive Robot (SAR).","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123699743","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 : 2019-10-01DOI: 10.1109/RO-MAN46459.2019.8956447
Prerna Singh, Virender Singh, S. Dutta, Swagat Kumar
This paper presents a feature agnostic and model-free visual servoing (VS) technique using deep reinforcement learning (DRL) which exploits two new architectures of experience replay buffer in deep deterministic policy gradient (DDPG). The proposed architectures are significantly fast and converge in a few numbers of steps. We use the proposed method to learn an end-to-end VS with eye-in-hand configuration. In traditional DDPG, the experience replay memory is randomly sampled for training the actor-critic network. This results in a loss of useful experiences when the buffer contains very few successful examples. We solve this problem by proposing two new replay buffer architectures: (a) min-heap DDPG (mH-DDPG) and (b) dual replay buffer DDPG (dR-DDPG). The former uses a min-heap data structure to implement the replay buffer whereas the latter uses two buffers to separate “good” examples from the “bad” examples. The training data for the actor-critic network is created as a weighted combination of the two buffers. The proposed algorithms are validated in simulation with the UR5 robotic manipulator model. It is observed that as the number of good experiences increases in the training data, the convergence time decreases. We find 27.25% and 43.25% improvements in the rate of convergence respectively by mH-DDPG and dR-DDPG over state-of-the-art DDPG.
{"title":"Model & Feature Agnostic Eye-in-Hand Visual Servoing using Deep Reinforcement Learning with Prioritized Experience Replay","authors":"Prerna Singh, Virender Singh, S. Dutta, Swagat Kumar","doi":"10.1109/RO-MAN46459.2019.8956447","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956447","url":null,"abstract":"This paper presents a feature agnostic and model-free visual servoing (VS) technique using deep reinforcement learning (DRL) which exploits two new architectures of experience replay buffer in deep deterministic policy gradient (DDPG). The proposed architectures are significantly fast and converge in a few numbers of steps. We use the proposed method to learn an end-to-end VS with eye-in-hand configuration. In traditional DDPG, the experience replay memory is randomly sampled for training the actor-critic network. This results in a loss of useful experiences when the buffer contains very few successful examples. We solve this problem by proposing two new replay buffer architectures: (a) min-heap DDPG (mH-DDPG) and (b) dual replay buffer DDPG (dR-DDPG). The former uses a min-heap data structure to implement the replay buffer whereas the latter uses two buffers to separate “good” examples from the “bad” examples. The training data for the actor-critic network is created as a weighted combination of the two buffers. The proposed algorithms are validated in simulation with the UR5 robotic manipulator model. It is observed that as the number of good experiences increases in the training data, the convergence time decreases. We find 27.25% and 43.25% improvements in the rate of convergence respectively by mH-DDPG and dR-DDPG over state-of-the-art DDPG.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"53 89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125314382","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 : 2019-10-01DOI: 10.1109/RO-MAN46459.2019.8956434
Surender Hans, M. F. Orlando
The major challenge in percutaneous interventions involving rigid needles are to assure accuracy in target reaching and stability. Human factor such as breathing process and human errors along with image distortion during needle deformation process can lead to the abovementioned challenges. Thus, in this piece of work, a robust second order sliding mode controller called super twisting algorithm to ensure chattering free response of the bevel tip flexible needle motion is proposed. Through the kinematic model of the bevel tip needle, the performance of the proposed controller is tested. Furthermore, the comparison study through extensive simulations are also performed with conventional sliding mode controller. From the results, it is observed that the stable maneuvering performance of the needle due to the proposed algorithm will be suitable for real-time clinical scenarios involving minimal invasive surgeries.
{"title":"Continuous Higher Order Sliding Mode Control of Bevel-Tip Needle for Percutaneous Interventions","authors":"Surender Hans, M. F. Orlando","doi":"10.1109/RO-MAN46459.2019.8956434","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956434","url":null,"abstract":"The major challenge in percutaneous interventions involving rigid needles are to assure accuracy in target reaching and stability. Human factor such as breathing process and human errors along with image distortion during needle deformation process can lead to the abovementioned challenges. Thus, in this piece of work, a robust second order sliding mode controller called super twisting algorithm to ensure chattering free response of the bevel tip flexible needle motion is proposed. Through the kinematic model of the bevel tip needle, the performance of the proposed controller is tested. Furthermore, the comparison study through extensive simulations are also performed with conventional sliding mode controller. From the results, it is observed that the stable maneuvering performance of the needle due to the proposed algorithm will be suitable for real-time clinical scenarios involving minimal invasive surgeries.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128365416","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 : 2019-10-01DOI: 10.1109/RO-MAN46459.2019.8956257
Aida Zhanatkyzy, A. Turarova, Zhansaule Telisheva, G. Abylkasymova, A. Sandygulova
This paper presents a study that aims to investigate the effects of Robot-Assisted Therapy (RAT) on children who have a form of verbal development retardation such as Delayed Speech Development (DSD). To this end, we developed a number of applications for a humanoid robot NAO with the aim to engage children during RAT sessions. We conducted an evaluation of these applications with DSD children who interacted with the robot on a few occasions. Our findings demonstrate the utility of such applications for the therapy of DSD children which was both engaging and entertaining. Similar approach could be utilized for the therapy of children with Autism Spectrum Disorder and Attention Deficit Hyperactivity Disorder.
{"title":"Robot-Assisted Therapy for Children with Delayed Speech Development: a Pilot Study","authors":"Aida Zhanatkyzy, A. Turarova, Zhansaule Telisheva, G. Abylkasymova, A. Sandygulova","doi":"10.1109/RO-MAN46459.2019.8956257","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956257","url":null,"abstract":"This paper presents a study that aims to investigate the effects of Robot-Assisted Therapy (RAT) on children who have a form of verbal development retardation such as Delayed Speech Development (DSD). To this end, we developed a number of applications for a humanoid robot NAO with the aim to engage children during RAT sessions. We conducted an evaluation of these applications with DSD children who interacted with the robot on a few occasions. Our findings demonstrate the utility of such applications for the therapy of DSD children which was both engaging and entertaining. Similar approach could be utilized for the therapy of children with Autism Spectrum Disorder and Attention Deficit Hyperactivity Disorder.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129084051","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 : 2019-10-01DOI: 10.1109/RO-MAN46459.2019.8956446
A. Hietanen, Alireza Changizi, Minna Lanz, J. Kämäräinen, Pallab Ganguly, R. Pieters, J. Latokartano
In the past years human-robot collaboration has gained interest among industry and production environments. While there is interest towards the topic, there is a lack of industrially relevant cases utilizing novel methods and technologies. The feasibility of the implementation, worker safety and production efficiency are the key questions in the field. The aim of the proposed work is to provide a conceptual safety system for context-dependent, multi-modal communication in human-robot collaborative assembly, which will contribute to safety and efficiency of the collaboration. The approach we propose offers an addition to traditional interfaces like push buttons installed at fixed locations. We demonstrate an approach and corresponding technical implementation of the system with projected safety zones based on the dynamically updated depth map and a graphical user interface (GUI). The proposed interaction is a simplified two-way communication between human and the robot to allow both parties to notify each other, and for the human to coordinate the operations.
{"title":"Proof of concept of a projection-based safety system for human-robot collaborative engine assembly","authors":"A. Hietanen, Alireza Changizi, Minna Lanz, J. Kämäräinen, Pallab Ganguly, R. Pieters, J. Latokartano","doi":"10.1109/RO-MAN46459.2019.8956446","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956446","url":null,"abstract":"In the past years human-robot collaboration has gained interest among industry and production environments. While there is interest towards the topic, there is a lack of industrially relevant cases utilizing novel methods and technologies. The feasibility of the implementation, worker safety and production efficiency are the key questions in the field. The aim of the proposed work is to provide a conceptual safety system for context-dependent, multi-modal communication in human-robot collaborative assembly, which will contribute to safety and efficiency of the collaboration. The approach we propose offers an addition to traditional interfaces like push buttons installed at fixed locations. We demonstrate an approach and corresponding technical implementation of the system with projected safety zones based on the dynamically updated depth map and a graphical user interface (GUI). The proposed interaction is a simplified two-way communication between human and the robot to allow both parties to notify each other, and for the human to coordinate the operations.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121152922","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 : 2019-10-01DOI: 10.1109/RO-MAN46459.2019.8956433
Long Kang, J. Seo, Sanghwa Kim, B. Yi
Development of an integrated gripping system for grasping various objects in different work environments is very useful in many practical applications, such as warehouse automation. In this paper, we propose a linkage-driven underactuated gripper combined with a suction mechanism. This underactuated gripper has two fingers which can be controlled independently and each finger is constructed by stacking one five-bar mechanism over one double parallelogram. The special architecture allows for installing all of the actuators on the base. The suction mechanism is used to grasp objects in narrow space and enhance the grasp stability. The ability of grasping various objects is confirmed through practical grasping experiment on a commercial robot arm.
{"title":"Design of an Integrated Gripper with a Suction System for Grasping in Cluttered Environment","authors":"Long Kang, J. Seo, Sanghwa Kim, B. Yi","doi":"10.1109/RO-MAN46459.2019.8956433","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956433","url":null,"abstract":"Development of an integrated gripping system for grasping various objects in different work environments is very useful in many practical applications, such as warehouse automation. In this paper, we propose a linkage-driven underactuated gripper combined with a suction mechanism. This underactuated gripper has two fingers which can be controlled independently and each finger is constructed by stacking one five-bar mechanism over one double parallelogram. The special architecture allows for installing all of the actuators on the base. The suction mechanism is used to grasp objects in narrow space and enhance the grasp stability. The ability of grasping various objects is confirmed through practical grasping experiment on a commercial robot arm.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121560214","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 : 2019-10-01DOI: 10.1109/RO-MAN46459.2019.8956450
R. Unnikrishnan, A. Deshmukh, S. Ramesh, Sooraj K. Babu, P. Anitha, R. R. Bhavani
We introduce “Pepe”, a social robot for encouraging proper handwashing behaviour among children. We discuss the motivation, the robot design and a pilot study conducted at a primary school located in the Western Ghats mountain ranges of Southern India with a significant presence of indigenous tribes. The study included individual & group interviews with a randomly selected sample of 45 children to gauge their perception of the Pepe robot across various dimensions including gender, animacy & technology acceptance. We also discuss some HRI implications for running user studies with rural children.
{"title":"Design and Perception of a Social Robot to Promote Hand Washing among Children in a Rural Indian School","authors":"R. Unnikrishnan, A. Deshmukh, S. Ramesh, Sooraj K. Babu, P. Anitha, R. R. Bhavani","doi":"10.1109/RO-MAN46459.2019.8956450","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956450","url":null,"abstract":"We introduce “Pepe”, a social robot for encouraging proper handwashing behaviour among children. We discuss the motivation, the robot design and a pilot study conducted at a primary school located in the Western Ghats mountain ranges of Southern India with a significant presence of indigenous tribes. The study included individual & group interviews with a randomly selected sample of 45 children to gauge their perception of the Pepe robot across various dimensions including gender, animacy & technology acceptance. We also discuss some HRI implications for running user studies with rural children.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121697770","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 : 2019-10-01DOI: 10.1109/RO-MAN46459.2019.8956383
Ravi Prakash, Mohit Vohra, L. Behera
Complex and interactive robot manipulation skills such as playing a game of table tennis against a human opponent is a multifaceted challenge and a novel problem. Accurate dynamic trajectory generation in such dynamic situations and an appropriate controller in order to respond to the incoming table tennis ball from the opponent is only a prerequisite to win the game. Decision making is a major part of an intelligent robot and a policy is needed to choose and execute the action which receives highest reward. In this paper, we address this very important problem on how to learn the higher level optimal strategies that enable competitive behaviour with humans in such an interactive game setting. This paper presents a novel technique to learn a higher level strategy for the game of table tennis using P-Q Learning (a mixture of Pavlovian learning and Q-learning) to learn a parameterized policy. The cooperative learning framework of Kohenon Self Organizing Map (KSOM) along with Replay Memory is employed for faster strategy learning in this short horizon problem. The strategy is learnt in simulation, using a simulated human opponent and an ideal robot that can perform hitting motion in its workspace accurately. We show that our method is able to improve the average received reward significantly in comparison to the other state-of-the-art methods.
{"title":"Learning Optimal Parameterized Policy for High Level Strategies in a Game Setting","authors":"Ravi Prakash, Mohit Vohra, L. Behera","doi":"10.1109/RO-MAN46459.2019.8956383","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956383","url":null,"abstract":"Complex and interactive robot manipulation skills such as playing a game of table tennis against a human opponent is a multifaceted challenge and a novel problem. Accurate dynamic trajectory generation in such dynamic situations and an appropriate controller in order to respond to the incoming table tennis ball from the opponent is only a prerequisite to win the game. Decision making is a major part of an intelligent robot and a policy is needed to choose and execute the action which receives highest reward. In this paper, we address this very important problem on how to learn the higher level optimal strategies that enable competitive behaviour with humans in such an interactive game setting. This paper presents a novel technique to learn a higher level strategy for the game of table tennis using P-Q Learning (a mixture of Pavlovian learning and Q-learning) to learn a parameterized policy. The cooperative learning framework of Kohenon Self Organizing Map (KSOM) along with Replay Memory is employed for faster strategy learning in this short horizon problem. The strategy is learnt in simulation, using a simulated human opponent and an ideal robot that can perform hitting motion in its workspace accurately. We show that our method is able to improve the average received reward significantly in comparison to the other state-of-the-art methods.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124299812","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 : 2019-10-01DOI: 10.1109/RO-MAN46459.2019.8956472
Giovanni Ercolano, P. D. Lambiase, Enrico Leone, Luca Raggioli, Davide Trepiccione, Silvia Rossi
In this work, we introduce a set of robot’s behavior aimed at being used for monitoring and interaction with elderly people affected by Alzheimer disease. Robot’s behaviors for a low cost robotic device rely on the use of microservices running on a local server. A microservice is an independent, self-contained, self-scope, and self-responsibility component of the robotic system proposed for decoupling the implemented functions needed to obtain the proper robot behaviors. The developed robotic behaviors include navigation, interaction, and monitoring capabilities. The requests and the signals of the patients are handled and managed relying on event-based communications between the system components. The use of design patterns like this one increases the overall reliability of a service composition. The system is currently operating in a private house with an elderly couple.
{"title":"Socially Assistive Robot’s Behaviors using Microservices","authors":"Giovanni Ercolano, P. D. Lambiase, Enrico Leone, Luca Raggioli, Davide Trepiccione, Silvia Rossi","doi":"10.1109/RO-MAN46459.2019.8956472","DOIUrl":"https://doi.org/10.1109/RO-MAN46459.2019.8956472","url":null,"abstract":"In this work, we introduce a set of robot’s behavior aimed at being used for monitoring and interaction with elderly people affected by Alzheimer disease. Robot’s behaviors for a low cost robotic device rely on the use of microservices running on a local server. A microservice is an independent, self-contained, self-scope, and self-responsibility component of the robotic system proposed for decoupling the implemented functions needed to obtain the proper robot behaviors. The developed robotic behaviors include navigation, interaction, and monitoring capabilities. The requests and the signals of the patients are handled and managed relying on event-based communications between the system components. The use of design patterns like this one increases the overall reliability of a service composition. The system is currently operating in a private house with an elderly couple.","PeriodicalId":286478,"journal":{"name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126559619","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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