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Author : Sarwar Paplu
Publisher :
ISBN 13 : 9783843953535
Total Pages : 0 pages
Book Rating : 4.9/5 (535 download)
Download or read book Personalized Human-Robot Interaction Based on Multimodal Perceptual Cues written by Sarwar Paplu and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Chuang Yu
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (126 download)
Download or read book Robot Behavior Generation and Human Behavior Understanding in Natural Human-Robot Interaction written by Chuang Yu and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Having a natural interaction makes a significant difference in a successful human-robot interaction (HRI). The natural HRI refers to both human multimodal behavior understanding and robot verbal or non-verbal behavior generation. Humans can naturally communicate through spoken dialogue and non-verbal behaviors. Hence, a robot should perceive and understand human behaviors so as to be capable of producing a natural multimodal and spontaneous behavior that matches the social context. In this thesis, we explore human behavior understanding and robot behavior generation for natural HRI. This includes multimodal human emotion recognition with visual information extracted from RGB-D and thermal cameras and non-verbal multimodal robot behavior synthesis.Emotion recognition based on multimodal human behaviors during HRI can help robots understand user states and exhibit a natural social interaction. In this thesis, we explored multimodal emotion recognition with thermal facial information and 3D gait data in HRI scene when the emotion cues from thermal face and gait data are difficult to disguise. A multimodal database with thermal face images and 3D gait data was built through the HRI experiments. We tested the various unimodal emotion classifiers (i.e., CNN, HMM, Random Forest model, SVM) and one decision-based hybrid emotion classifier on the database for offline emotion recognition. We also explored an online emotion recognition system with limited capability in the real-time HRI setting. Interaction plays a critical role in skills learning for natural communication. Robots can get feedback during the interaction to improve their social abilities in HRI.To improve our online emotion recognition system, we developed an interactive robot learning (IRL) model with the human in the loop. The IRL model can apply the human verbal feedback to label or relabel the data for retraining the emotion recognition model in a long-term interaction situation. After using the interactive robot learning model, the robot could obtain a better emotion recognition accuracy in real-time HRI.The human non-verbal behaviors such as gestures and face action occur spontaneously with speech, which leads to a natural and expressive interaction. Speech-driven gesture and face action generation are vital to enable a social robot to exhibit social cues and conduct a successful HRI. This thesis proposes a new temporal GAN (Generative Adversarial Network) architecture for a one-to-many mapping from acoustic speech representation to the humanoid robot's corresponding gestures. We also developed an audio-visual database to train the speaking gesture generation model. The database includes the speech audio data extracted directly from the videos and the associated 3D human pose data extracted from 2D RGB images. The generated gestures from the trained co-speech gesture synthesizer can be applied to social robots with arms. The evaluation result shows the effectiveness of our generative model for speech-driven robot gesture generation. Moreover, we developed an effective speech-driven facial action synthesizer based on GAN, i.e., given an acoustic speech, a synchronous and realistic 3D facial action sequence is generated. A mapping between the 3D human facial actions to real robot facial actions that regulate the Zeno robot facial expression is completed. The application of co-speech non-verbal robot behaviors (gesture and face action) synthesis for the social robot can make a friendly and natural human-robot interaction.
Author : Abdulaziz Al Ali
Publisher : Springer Nature
ISBN 13 : 9819987180
Total Pages : 427 pages
Book Rating : 4.8/5 (199 download)
Download or read book Social Robotics written by Abdulaziz Al Ali and published by Springer Nature. This book was released on 2024-01-03 with total page 427 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two-volume set LNAI 14453 and 14454 constitutes the refereed post-conference proceedings of the 15th International Conference on Social Robotics, ICSR 2023, held in Doha, Qatar, during December 4–7, 2023. The 68 revised full papers presented in these proceedings were carefully reviewed and selected from 83 submissions. They deal with topics around the interaction between humans and intelligent robots and on the integration of robots into the fabric of society. This year the special topic is "Human-Robot Collaboration: Sea; Air; Land; Space and Cyberspace”, focusing on all physical and cyber-physical domains where humans and robots collaborate.
Author : Gholamreza Anbarjafari
Publisher : BoD – Books on Demand
ISBN 13 : 178923316X
Total Pages : 186 pages
Book Rating : 4.7/5 (892 download)
Download or read book Human-Robot Interaction written by Gholamreza Anbarjafari and published by BoD – Books on Demand. This book was released on 2018-07-04 with total page 186 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book takes the vocal and visual modalities and human-robot interaction applications into account by considering three main aspects, namely, social and affective robotics, robot navigation, and risk event recognition. This book can be a very good starting point for the scientists who are about to start their research work in the field of human-robot interaction.
Author : Amir Aly
Publisher :
ISBN 13 :
Total Pages : 179 pages
Book Rating : 4.:/5 (95 download)
Download or read book Towards an Interactive Human-Robot Relationship written by Amir Aly and published by . This book was released on 2014 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots become more and more omnipresent in our life and society, and many challenges arise when we try to use them in a social context. This thesis focuses on how to generate an adapted robot's behavior to human's profile so as to enhance the human-robot relationship. This research addresses a wide range of complex problems varying from analyzing and understanding human's emotion and personality to synthesizing a complete synchronized multimodal behavior that combines gestures, speech, and facial expressions. Our methodologies have been examined experimentally with NAO robot from Aldebaran Robotics and ALICE robot from Hanson Robotics. The first part of this thesis focuses on emotion analysis and discusses its evolutionary nature. The fuzzy nature of emotions imposes a big obstacle in front of defining precise membership criteria for each emotion class. Therefore, fuzzy logic looks appropriate for modeling these complex data sets, as it imitates human logic by using a descriptive and imprecise language in order to cope with fuzzy data. The variation of emotion expressivity through cultures and the difficulty of including many emotion categories inside one database, makes the need for an online recognition system of emotion as a critical issue. A new online fuzzy-based emotion recognition system through prosodic cues was developed in order to detect whether the expressed emotion confirms one of the previously learned emotion clusters, or it constitutes a new cluster (not learned before) that requires a new verbal and/or nonverbal action to be synthesized. On the other hand, the second part of this thesis focuses on personality traits, which play a major role in human social interaction. Different researches studied the long term effect of the extraversion-introversion personality trait on human's generated multimodal behavior. This trait can, therefore, be used to characterize the combined verbal and nonverbal behavior of a human interacting with a robot so as to allow the robot to adapt its generated multimodal behavior to the interacting human's personality. This behavior adaptation could follow either the similarity attraction principle (i.e., individuals are more attracted by others who have similar personality traits) or the complementarity attraction principle (i.e., individuals are more attracted by others whose personalities are complementary to their own personalities) according to the context of interaction. In this thesis, we examine the effects of the multimodality and unimodality of the generated behavior on interaction, in addition to the similarity attraction principle as it considers the effect of the initial interaction between human and robot on the developing relationship (e.g., friendship), which makes it more appropriate for our interaction context. The detection of human's personality trait as being introverted or extraverted is based on a psycholinguistic analysis of human's speech, upon which the characteristics of the generated robot's speech and gestures are defined. Last but not least, the third part of this thesis focuses on gesture synthesis. The generation of appropriate head-arm metaphoric gestures does not follow a specific linguistic analysis. It is mainly based on the prosodic cues of human's speech, which correlate firmly with emotion and the dynamic characteristics of metaphoric gestures. The proposed system uses the Coupled Hidden Markov Models (CHMM) that contain two chains for modeling the characteristic curves of the segmented speech and gestures. When a speech-test signal is present to the trained CHMM, a corresponding set of adapted metaphoric gestures will be synthesized. An experimental study (in which the robot adapts the emotional content of its generated multimodal behavior to the context of interaction) is set for examining the emotional content of the generated robot's metaphoric gestures by human's feedback di- rectly. Besides, we examine the effects of both the generated facial expressions using the expressive face of ALICE robot, and the synthesized emotional speech using the text to speech toolkit (Mary-TTS) on enhancing the expressivity of the robot, in addition to comparing between the effects of the multimodal interaction and the interaction that employs less affective cues on human. Generally, the research on understanding human's profile and generating an adapted robot's behavior opens the door to other topics that need to be addressed in an elaborate way. These topics include, but not limited to: developing a computational cognitive architecture that can simulate the functionalities of the human brain areas that allow understanding and generating speech and physical actions appropriately to the context of interaction, which constitutes a future research scope for this thesis.
Author : Hande Ayanoğlu
Publisher : Springer Nature
ISBN 13 : 3319967223
Total Pages : 199 pages
Book Rating : 4.3/5 (199 download)
Download or read book Emotional Design in Human-Robot Interaction written by Hande Ayanoğlu and published by Springer Nature. This book was released on 2019-09-09 with total page 199 pages. Available in PDF, EPUB and Kindle. Book excerpt: While social robots participation increases in everyday human life, their presence in diverse contexts and situations is expected. At the same point, users tend to become more demanding regarding their roles, abilities, behaviour and appearance. Thus, designers and developers are confronted with the need to design more sophisticated robots that can produce such a positive reaction from users so as to become well accepted in various cases of use. Like this, Human-Robot Interaction has become a developing area. Emotions are an important part in human life, since they mediate the interaction with other humans, entities and/or products. In recent years, there has been an increase in the importance of emotions applied to the design field, giving rise to the so-called Emotional Design area. In the case of Human-Robot Interaction, the emotional design can help to elicit (e.g., pleasurable) or prevent (e.g., unpleasant) emotional/affective reactions/responses. This book gives a practical introduction to emotional design in human-robot interaction and supports designers with knowledge and research tools to help them take design decisions based on a User-Centred Design approach. It should also be useful to people interested in design processes, even if not directly related to the design of social robots but, instead, to other technology-based artefacts. The text is meant as a reference source with practical guidelines and advice for design issues.
Author : Ramana Vinjamuri
Publisher : BoD – Books on Demand
ISBN 13 : 1803564105
Total Pages : 228 pages
Book Rating : 4.8/5 (35 download)
Download or read book Human-Robot Interaction written by Ramana Vinjamuri and published by BoD – Books on Demand. This book was released on 2023-05-10 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book Human-Robot Interaction - Perspectives and Applications highlights the latest developments and obstacles in the field of human-machine interaction, including collaborative and humanoid robots, symbiosis between humans and robots, human-human collaboration, and robotics. Human-robot interaction has immense potential in areas like healthcare, education, manufacturing, military, and space exploration. This volume consists of several chapters that explore various topics such as the use of robotic wheelchairs, deep neural networks for robot grasp recognition, materials and sensors required for human-robot interaction, the use of drone technology in agriculture, healthcare robots in smart hospitals, and more.
Author : Bin Fang
Publisher : Frontiers Media SA
ISBN 13 : 2889668444
Total Pages : 224 pages
Book Rating : 4.8/5 (896 download)
Download or read book Integrated Multi-modal and Sensorimotor Coordination for Enhanced Human-Robot Interaction written by Bin Fang and published by Frontiers Media SA. This book was released on 2021-06-08 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Sara Kiesler
Publisher : CRC Press
ISBN 13 : 1482269562
Total Pages : 184 pages
Book Rating : 4.4/5 (822 download)
Download or read book Human-robot Interaction written by Sara Kiesler and published by CRC Press. This book was released on 2004-06-17 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: This special issue is made up of five articles which cover the emerging area of human-robot interaction. The first paper offers a theoretical ecological framework for the design of personal service robots in homes of elderly people. Next, a field study of two robots that visited a children's elementary school in Japan for two weeks, with the purpos
Author : Frank Broz
Publisher : John Benjamins Publishing Company
ISBN 13 : 9027267642
Total Pages : 180 pages
Book Rating : 4.0/5 (272 download)
Download or read book Gaze in Human-Robot Communication written by Frank Broz and published by John Benjamins Publishing Company. This book was released on 2015-12-15 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: Gaze in Human-Robot Communication is a volume collecting recent research studying gaze behaviour in human-robot interaction (HRI). The selected articles draw inspiration from related research into gaze in human-human interaction in fields ranging from ethnography to neuroscience. The major themes of these articles include: the experimental investigation of human responses to robot gaze, the investigation of the impact of coordinating gaze acts with speech, and the development of hardware and software technologies for enabling robot gaze. This volume provides an excellent introduction to the depth and breadth of this growing research area in HRI. The highly interdisciplinary nature of the work presented should make it of interest both to robotics researchers and to researchers from other fields with an interest in the role of gaze in communication. Originally published in Interaction Studies Vol. 14:3 (2013).
Author : Andrea Thomaz
Publisher :
ISBN 13 : 9781680832082
Total Pages : 140 pages
Book Rating : 4.8/5 (32 download)
Download or read book Computational Human-Robot Interaction written by Andrea Thomaz and published by . This book was released on 2016-12-20 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computational Human-Robot Interaction provides the reader with a systematic overview of the field of Human-Robot Interaction over the past decade, with a focus on the computational frameworks, algorithms, techniques, and models currently used to enable robots to interact with humans.
Author : Salah Al-Darraji
Publisher :
ISBN 13 : 9783843928526
Total Pages : pages
Book Rating : 4.9/5 (285 download)
Download or read book Perception of Nonverbal Cues for Human-Robot Interaction written by Salah Al-Darraji and published by . This book was released on 2016 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Erwin Prassler
Publisher : Springer
ISBN 13 : 9783642062209
Total Pages : 414 pages
Book Rating : 4.0/5 (622 download)
Download or read book Advances in Human-Robot Interaction written by Erwin Prassler and published by Springer. This book was released on 2010-10-22 with total page 414 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Advances in Human-Robot Interaction" provides a unique collection of recent research in human-robot interaction. It covers the basic important research areas ranging from multi-modal interfaces, interpretation, interaction, learning, or motion coordination to topics such as physical interaction, systems, and architectures. The book addresses key issues of human-robot interaction concerned with perception, modelling, control, planning and cognition, covering a wide spectrum of applications. This includes interaction and communication with robots in manufacturing environments and the collaboration and co-existence with assistive robots in domestic environments. Among the presented examples are a robotic bartender, a new programming paradigm for a cleaning robot, or an approach to interactive teaching of a robot assistant in manufacturing environment. This carefully edited book reports on contributions from leading German academic institutions and industrial companies brought together within MORPHA, a 4 year project on interaction and communication between humans and anthropomorphic robot assistants.
Author : Christian G. Puehn
Publisher :
ISBN 13 :
Total Pages : 92 pages
Book Rating : 4.:/5 (928 download)
Download or read book Development of a Low-cost Social Robot for Personalized Human-robot Interaction written by Christian G. Puehn and published by . This book was released on 2015 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents two social robotic platforms, Philos V.1 and Philos V.2, which are designed for personalized human-robot interaction (HRI). Personalized HRI is realized through programmable expressive (i.e. gestures and sound/speech generation) and perceptive functions (i.e. human face tracking and recognition, touch detection, and speech recognition) of the robots. In addition, a wearable sensor device was developed for integration with these social robots to further improve the health monitoring and assessment functions of the robots as well as personalizing the robot's social behavior based on the user's biobehavioral data. Among the many potential applications of a social robot, this thesis focuses on elderly healthcare where positive health outcomes are expected by providing companionship, assisting with daily activities, and monitoring health status.
Author : Marko Tkalčič
Publisher : Springer
ISBN 13 : 3319314130
Total Pages : 400 pages
Book Rating : 4.3/5 (193 download)
Download or read book Emotions and Personality in Personalized Services written by Marko Tkalčič and published by Springer. This book was released on 2016-07-13 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt: Personalization is ubiquitous from search engines to online-shopping websites helping us find content more efficiently and this book focuses on the key developments that are shaping our daily online experiences. With advances in the detection of end users’ emotions, personality, sentiment and social signals, researchers and practitioners now have the tools to build a new generation of personalized systems that will really understand the user’s state and deliver the right content. With leading experts from a vast array of domains from user modeling, mobile sensing and information retrieval to artificial intelligence, human-computer interaction (HCI) social computing and psychology, a broad spectrum of topics are covered. From discussing psychological theoretical models and exploring state-of-the-art methods for acquiring emotions and personality in an unobtrusive way, as well as describing how these concepts can be used to improve various aspects of the personalization process and chapters that discuss evaluation and privacy issues. Emotions and Personality in Personalized Systems will help aid researchers and practitioners develop and evaluate user-centric personalization systems that take into account the factors that have a tremendous impact on our decision-making – emotions and personality.
Author : Indranil Sur
Publisher :
ISBN 13 :
Total Pages : 43 pages
Book Rating : 4.:/5 (123 download)
Download or read book Robots that Anticipate Pain written by Indranil Sur and published by . This book was released on 2017 with total page 43 pages. Available in PDF, EPUB and Kindle. Book excerpt: To ensure system integrity, robots need to proactively avoid any unwanted physical perturbation that may cause damage to the underlying hardware. In this thesis work, we investigate a machine learning approach that allows robots to anticipate impending physical perturbations from perceptual cues. In contrast to other approaches that require knowledge about sources of perturbation to be encoded before deployment, our method is based on experiential learning. Robots learn to associate visual cues with subsequent physical perturbations and contacts. In turn, these extracted visual cues are then used to predict potential future perturbations acting on the robot. To this end, we introduce a novel deep network architecture which combines multiple sub-networks for dealing with robot dynamics and perceptual input from the environment. We present a self-supervised approach for training the system that does not require any labeling of training data. Extensive experiments in a human-robot interaction task show that a robot can learn to predict physical contact by a human interaction partner without any prior information or labeling. Furthermore, the network is able to successfully predict physical contact from either depth stream input or traditional video input or using both modalities as input.
Author : Qi Wu
Publisher :
ISBN 13 :
Total Pages : 96 pages
Book Rating : 4.:/5 (128 download)
Download or read book Multimodal Communication for Embodied Human-Robot Interaction with Natural Gestures written by Qi Wu and published by . This book was released on 2021 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt: Communication takes place in various forms and is an essential part of human-human communication. Researchers have done a plethora of studies to understand it biologically and computationally. Likewise, it also plays a significant role in Human-Robot Interaction (HRI) in order to endow Artificial Intelligence (AI) systems with humanlike cognition and sociality. With the advancement of realistic simulators, multimodal HRI is also a hotspot with embodied agents in the simulation. Human users should be able to manipulate or collaborate with embodied agents in multimodal ways, including verbal and non-verbal methods. Up to now, most prior works with embodied AI have been focusing on addressing embodied agent tasks using verbal cues along with visual perceptions, e.g., using human languages as natural language instructions to assist embodied visual navigation tasks. Nonetheless, nonverbal means of communication like gestures, which are rooted in human communication, are rarely examined in embodied agent tasks. In this dissertation, I contemplate on existing research topics in embodied AI and propose to tackle embodied visual navigation tasks with natural human gestures to fill the deficiency of non-verbal communicative interfaces in embodied HRI. It has the following contributions: - To this end, I first develop a 3D photo-realistic simulation environment, Gesture-based THOR (GesTHOR). In this simulator, the human user can wear a Virtual Reality (VR) Head-Mounted Display (HMD) to be immersed as a humanoid agent in the same environment as the robot agent and communicate with the robot interactively using instructional gestures by sensory devices that can track body and hand motions. I provide data collection tools so that users can generate their own gesture data in our simulation environment.- I created Gesture ObjectNav Dataset (GOND) and standardized benchmarks to evaluate how gestures contribute to the embodied object navigation task. This dataset contains natural gestures collected from human users and object navigation tasks defined in GesTHOR. - To demonstrate the effectiveness of gestures for embodied navigation, I build an end-to-end Reinforcement Learning (RL) model that can integrate multimodal perceptions for the robot to learn the optimal navigation policies. Through cases studies with GOND in GesTHOR, I illustrate that the robot agent can perform the navigation task successfully and efficiently with gestures instead of natural languages. I also show that the navigation agent can learn the underlined semantics of unpredefined gestures, which is beneficial to its navigation. By introducing GesTHOR and GOND as well as related experimental results, I aim to spur growing interest in embodied HRI with non-verbal communicative interfaces toward building cognitive AI systems.
