Pub Date : 2000-09-27DOI: 10.1109/ROMAN.2000.892517
H. Ogawa, Tomio Watanabe
The concept of a speech driven embodied interaction robots system is introduced for supporting human interaction by generating the expressive actions or motions of robots coherently related to speech input. Then, the prototype of the system which consists of 2 interaction robots called InterRobots with both functions of speaker and listener is developed in which two models are incorporated: one is a listener's action model in which nodding, blinking and the motions of head, arms and body are estimated by the hierarchical moving average (MA) model of the burst-pause (ON-OFF) of speech to the nodding; the other is a speaker's action model in which the motions of head, arms and body are estimated by its own MA model of the ON-OFF of speech to the head motion. By the sensory evaluation and behavioral analysis in human-robot interaction, the effectiveness of InterRobot's interaction is demonstrated. The effectiveness of the embodied interaction robots system is also confirmed in remote communication.
{"title":"InterRobot: a speech driven embodied interaction robot","authors":"H. Ogawa, Tomio Watanabe","doi":"10.1109/ROMAN.2000.892517","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892517","url":null,"abstract":"The concept of a speech driven embodied interaction robots system is introduced for supporting human interaction by generating the expressive actions or motions of robots coherently related to speech input. Then, the prototype of the system which consists of 2 interaction robots called InterRobots with both functions of speaker and listener is developed in which two models are incorporated: one is a listener's action model in which nodding, blinking and the motions of head, arms and body are estimated by the hierarchical moving average (MA) model of the burst-pause (ON-OFF) of speech to the nodding; the other is a speaker's action model in which the motions of head, arms and body are estimated by its own MA model of the ON-OFF of speech to the head motion. By the sensory evaluation and behavioral analysis in human-robot interaction, the effectiveness of InterRobot's interaction is demonstrated. The effectiveness of the embodied interaction robots system is also confirmed in remote communication.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"345 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124264236","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892485
S. Aihara, T. Kabeuchi
We consider a finite-time stochastic stability for distributed parameter systems with free boundary condition. This mathematical model is deduced from the analysis of the tracking error of the installed pipe from the designed path in the micro-tunneling machine. After showing that the proposed mathematical system has a solution in some function spaces, we study the finite-time stability problem. The buckling phenomena of the installed pipe is simulated related to the derived sufficient conditions for the finite-time stability.
{"title":"On the finite time stability for stochastic distributed parameter systems with free boundary-application to the micro-tunneling machine","authors":"S. Aihara, T. Kabeuchi","doi":"10.1109/ROMAN.2000.892485","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892485","url":null,"abstract":"We consider a finite-time stochastic stability for distributed parameter systems with free boundary condition. This mathematical model is deduced from the analysis of the tracking error of the installed pipe from the designed path in the micro-tunneling machine. After showing that the proposed mathematical system has a solution in some function spaces, we study the finite-time stability problem. The buckling phenomena of the installed pipe is simulated related to the derived sufficient conditions for the finite-time stability.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121813332","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892523
Jing-long Wu, K. Tsukamoto, Y. Nishikawa
The distance information is very important to develop a virtual reality system with high reality performance. In order to develop a distance man-machine interface with high reality performance, human characteristics on the distance perception are needed to be measured. In our previous study (2000), the characteristics of human distance perception of the upper limbs were measured. The results suggested that the human perceptive distance was different from the actual distance. And, a model of distance perception was also proposed. In this study, the authors measured characteristics of human distance perception of the lower limbs with walk condition. The experimental results suggested that the human perceptive distance of the lower limbs is also different from the actual distance. The experimental results provide useful basic data to design the distance man-machine interface of the virtual reality systems, and to investigate human mechanism of the distance perception.
{"title":"Human distance perception of the lower limbs with walk condition","authors":"Jing-long Wu, K. Tsukamoto, Y. Nishikawa","doi":"10.1109/ROMAN.2000.892523","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892523","url":null,"abstract":"The distance information is very important to develop a virtual reality system with high reality performance. In order to develop a distance man-machine interface with high reality performance, human characteristics on the distance perception are needed to be measured. In our previous study (2000), the characteristics of human distance perception of the upper limbs were measured. The results suggested that the human perceptive distance was different from the actual distance. And, a model of distance perception was also proposed. In this study, the authors measured characteristics of human distance perception of the lower limbs with walk condition. The experimental results suggested that the human perceptive distance of the lower limbs is also different from the actual distance. The experimental results provide useful basic data to design the distance man-machine interface of the virtual reality systems, and to investigate human mechanism of the distance perception.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"485 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125014740","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892491
T. Kitazoe, Sung-Ill Kim, Y. Yoshitomi, Tatsuhiko Ikeda
A new integrated method is presented to recognize the emotional expressions of human using both voices and facial expressions. For voices, we use such prosodic parameters as pitch signals, energy, and their derivatives, which are trained by hidden Markov model for recognition. For facial expressions, we use feature parameters from thermal images in addition to visible images, which are trained by neural networks for recognition. The thermal images are observed by infrared ray which is not influenced by lighting conditions. The total recognition rates show better performance than that obtained from each single experiment. The results are compared with the recognition by human questionnaire.
{"title":"Effect of sensor fusion for recognition of emotional states using voice, face image and thermal image of face","authors":"T. Kitazoe, Sung-Ill Kim, Y. Yoshitomi, Tatsuhiko Ikeda","doi":"10.1109/ROMAN.2000.892491","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892491","url":null,"abstract":"A new integrated method is presented to recognize the emotional expressions of human using both voices and facial expressions. For voices, we use such prosodic parameters as pitch signals, energy, and their derivatives, which are trained by hidden Markov model for recognition. For facial expressions, we use feature parameters from thermal images in addition to visible images, which are trained by neural networks for recognition. The thermal images are observed by infrared ray which is not influenced by lighting conditions. The total recognition rates show better performance than that obtained from each single experiment. The results are compared with the recognition by human questionnaire.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121088007","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892466
N. Kakasaki, K. Tsuruta, A. Ikuta, M. Ohta
The problem of independent component analysis and/or blind signal separation becomes a very popular and emerging field of research, because the problem contains many potential applications. In such a problem, a priori information we can utilize is the statistical independency between source signals. In many actual fields, the independent component analysis must play an essential role but it also contains problems: it cannot be applicable to non-physical quantity like a human psychological or sensory one, etc. This paper proposes a fundamental trial of independent component analysis by introducing the fuzzy theory. More precisely, the parameters of unknown system are estimated on the basis of fuzzy observations. Finally, the effectiveness of this method is confirmed through digital simulation.
{"title":"A fundamental trial on independent component analysis under the introduction of fuzzy theory","authors":"N. Kakasaki, K. Tsuruta, A. Ikuta, M. Ohta","doi":"10.1109/ROMAN.2000.892466","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892466","url":null,"abstract":"The problem of independent component analysis and/or blind signal separation becomes a very popular and emerging field of research, because the problem contains many potential applications. In such a problem, a priori information we can utilize is the statistical independency between source signals. In many actual fields, the independent component analysis must play an essential role but it also contains problems: it cannot be applicable to non-physical quantity like a human psychological or sensory one, etc. This paper proposes a fundamental trial of independent component analysis by introducing the fuzzy theory. More precisely, the parameters of unknown system are estimated on the basis of fuzzy observations. Finally, the effectiveness of this method is confirmed through digital simulation.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129709897","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892463
Y. Fujita, K. Nishijima
In this paper, we propose and discuss about some communication layers of conversation analogous to that of computer networks. The layers relate to understanding levels of participants of the conversation whether among artificial or human agents. Human beings control the layers to perform efficient and correct communication. To control the layers, it is necessary to get discrimination of them from receiver's behaviors and to make selection of responses. Some analysis about these problems are given based on the proposed communication model. Furthermore, efficiency and ease of communication are considered from the viewpoint of communication layers.
{"title":"Communication layers between robot and human","authors":"Y. Fujita, K. Nishijima","doi":"10.1109/ROMAN.2000.892463","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892463","url":null,"abstract":"In this paper, we propose and discuss about some communication layers of conversation analogous to that of computer networks. The layers relate to understanding levels of participants of the conversation whether among artificial or human agents. Human beings control the layers to perform efficient and correct communication. To control the layers, it is necessary to get discrimination of them from receiver's behaviors and to make selection of responses. Some analysis about these problems are given based on the proposed communication model. Furthermore, efficiency and ease of communication are considered from the viewpoint of communication layers.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129725540","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892482
T. Fukuda
The purpose of this paper is to analyze statistically vague data obtained from the observation of human feelings. Considering that the data mentioned above are the realizations of the fuzzy random variables (FRV), the method for estimating their statistical properties is proposed. First, using the set representation approach, the reasonable definition of FRV is proposed, which may be a mathematical model for the data being intrinsically and simultaneously vague and random. Secondly, the statistical moments for the proposed FRV and their estimates are investigated. Finally, the proposed FRV are tried to apply the analysis of the statistical properties of the data obtained from the questionnaire on taste of (mainly middle aged and old) persons for the bicycle designs.
{"title":"On fuzzy statistical analysis for vague random data associated with human feelings","authors":"T. Fukuda","doi":"10.1109/ROMAN.2000.892482","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892482","url":null,"abstract":"The purpose of this paper is to analyze statistically vague data obtained from the observation of human feelings. Considering that the data mentioned above are the realizations of the fuzzy random variables (FRV), the method for estimating their statistical properties is proposed. First, using the set representation approach, the reasonable definition of FRV is proposed, which may be a mathematical model for the data being intrinsically and simultaneously vague and random. Secondly, the statistical moments for the proposed FRV and their estimates are investigated. Finally, the proposed FRV are tried to apply the analysis of the statistical properties of the data obtained from the questionnaire on taste of (mainly middle aged and old) persons for the bicycle designs.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129762717","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892465
Y. Ishii, T. Watanabe
An embodied virtual face-to-face communication system with two types of avatars for human interaction analysis by synthesis is developed: one is a VirtualActor (VA) as a human avatar which represents interactive behavior such as the motions of head, arms and body, the other is a VirtualWave (VW) as an abstract avatar in which human behavior is simplified as the motion of wave to clarify an essential role of interaction. The system provides networked virtual communication environment in which two remote talkers can share embodied interaction through their VA or VW including themselves in the same virtual space. The effectiveness of the system is demonstrated by the sensory evaluation and behavioral analysis of the communication experiment in 13 pairs of 26 talkers under various conditions such as the time lag of motion and voice. The importance of mutual embodied sharing in communication is also clarified The system would be expected to form the foundation of information media and communication technologies as well as the methodology for the analysis and understanding of various human interactions.
{"title":"Evaluation of an embodied virtual communication system for human interaction analysis by synthesis","authors":"Y. Ishii, T. Watanabe","doi":"10.1109/ROMAN.2000.892465","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892465","url":null,"abstract":"An embodied virtual face-to-face communication system with two types of avatars for human interaction analysis by synthesis is developed: one is a VirtualActor (VA) as a human avatar which represents interactive behavior such as the motions of head, arms and body, the other is a VirtualWave (VW) as an abstract avatar in which human behavior is simplified as the motion of wave to clarify an essential role of interaction. The system provides networked virtual communication environment in which two remote talkers can share embodied interaction through their VA or VW including themselves in the same virtual space. The effectiveness of the system is demonstrated by the sensory evaluation and behavioral analysis of the communication experiment in 13 pairs of 26 talkers under various conditions such as the time lag of motion and voice. The importance of mutual embodied sharing in communication is also clarified The system would be expected to form the foundation of information media and communication technologies as well as the methodology for the analysis and understanding of various human interactions.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132840237","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892520
A. Edsinger, Una-May O’Reilly, C. Breazeal
Empirical studies have shown the great extent to which a face characterizes personality. For this reason, among others, the face of a humanoid robot is paramount. In fact, a social contract exists between the robot and each human it interacts with. We present the design issues we have encountered in designing a face for the humanoid robot Cog. The dimensions, organic form and mechanical constraints must be worked out to attain our goals. Our implementation of the design process is novel with respect to our use of solid modeling and stereo lithography processes and has proven to be essential to our quest for an iconic human-like face.
{"title":"Personality through faces for humanoid robots","authors":"A. Edsinger, Una-May O’Reilly, C. Breazeal","doi":"10.1109/ROMAN.2000.892520","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892520","url":null,"abstract":"Empirical studies have shown the great extent to which a face characterizes personality. For this reason, among others, the face of a humanoid robot is paramount. In fact, a social contract exists between the robot and each human it interacts with. We present the design issues we have encountered in designing a face for the humanoid robot Cog. The dimensions, organic form and mechanical constraints must be worked out to attain our goals. Our implementation of the design process is novel with respect to our use of solid modeling and stereo lithography processes and has proven to be essential to our quest for an iconic human-like face.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133997659","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892472
O. Grigore, O. Grigore
This paper presents a method of designing a controller for nonlinear systems based on a recurrent neural network which is trained in real time using the reinforcement learning (RL) procedure. The advantage of this method is to overcome the difficulties implied by the direct solving method of the differential models which are necessary in a classical approach. Moreover, this new technique using a real-time training is better then the MLP network controller as well as the RBF network implementation which needs both of them in a preliminary training process, based on a set of input-output data that has to be a priory experimentally determined.
{"title":"Reinforcement learning neural network used in a tracking system controller","authors":"O. Grigore, O. Grigore","doi":"10.1109/ROMAN.2000.892472","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892472","url":null,"abstract":"This paper presents a method of designing a controller for nonlinear systems based on a recurrent neural network which is trained in real time using the reinforcement learning (RL) procedure. The advantage of this method is to overcome the difficulties implied by the direct solving method of the differential models which are necessary in a classical approach. Moreover, this new technique using a real-time training is better then the MLP network controller as well as the RBF network implementation which needs both of them in a preliminary training process, based on a set of input-output data that has to be a priory experimentally determined.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133429959","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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