28,819 research outputs found
Modular Customizable ROS-Based Framework for Rapid Development of Social Robots
Developing socially competent robots requires tight integration of robotics,
computer vision, speech processing, and web technologies. We present the
Socially-interactive Robot Software platform (SROS), an open-source framework
addressing this need through a modular layered architecture. SROS bridges the
Robot Operating System (ROS) layer for mobility with web and Android interface
layers using standard messaging and APIs. Specialized perceptual and
interactive skills are implemented as ROS services for reusable deployment on
any robot. This facilitates rapid prototyping of collaborative behaviors that
synchronize perception with physical actuation. We experimentally validated
core SROS technologies including computer vision, speech processing, and GPT2
autocomplete speech implemented as plug-and-play ROS services. Modularity is
demonstrated through the successful integration of an additional ROS package,
without changes to hardware or software platforms. The capabilities enabled
confirm SROS's effectiveness in developing socially interactive robots through
synchronized cross-domain interaction. Through demonstrations showing
synchronized multimodal behaviors on an example platform, we illustrate how the
SROS architectural approach addresses shortcomings of previous work by lowering
barriers for researchers to advance the state-of-the-art in adaptive,
collaborative customizable human-robot systems through novel applications
integrating perceptual and social abilities
Who am I talking with? A face memory for social robots
In order to provide personalized services and to
develop human-like interaction capabilities robots need to rec-
ognize their human partner. Face recognition has been studied
in the past decade exhaustively in the context of security systems
and with significant progress on huge datasets. However, these
capabilities are not in focus when it comes to social interaction
situations. Humans are able to remember people seen for a
short moment in time and apply this knowledge directly in
their engagement in conversation. In order to equip a robot with
capabilities to recall human interlocutors and to provide user-
aware services, we adopt human-human interaction schemes to
propose a face memory on the basis of active appearance models
integrated with the active memory architecture. This paper
presents the concept of the interactive face memory, the applied
recognition algorithms, and their embedding into the robotâs
system architecture. Performance measures are discussed for
general face databases as well as scenario-specific datasets
On the Integration of Adaptive and Interactive Robotic Smart Spaces
© 2015 Mauro Dragone et al.. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License. (CC BY-NC-ND 3.0)Enabling robots to seamlessly operate as part of smart spaces is an important and extended challenge for robotics R&D and a key enabler for a range of advanced robotic applications, such as AmbientAssisted Living (AAL) and home automation. The integration of these technologies is currently being pursued from two largely distinct view-points: On the one hand, people-centred initiatives focus on improving the userâs acceptance by tackling human-robot interaction (HRI) issues, often adopting a social robotic approach, and by giving to the designer and - in a limited degree â to the final user(s), control on personalization and product customisation features. On the other hand, technologically-driven initiatives are building impersonal but intelligent systems that are able to pro-actively and autonomously adapt their operations to fit changing requirements and evolving usersâ needs,but which largely ignore and do not leverage human-robot interaction and may thus lead to poor user experience and user acceptance. In order to inform the development of a new generation of smart robotic spaces, this paper analyses and compares different research strands with a view to proposing possible integrated solutions with both advanced HRI and online adaptation capabilities.Peer reviewe
Multi-Modal Human-Machine Communication for Instructing Robot Grasping Tasks
A major challenge for the realization of intelligent robots is to supply them
with cognitive abilities in order to allow ordinary users to program them
easily and intuitively. One way of such programming is teaching work tasks by
interactive demonstration. To make this effective and convenient for the user,
the machine must be capable to establish a common focus of attention and be
able to use and integrate spoken instructions, visual perceptions, and
non-verbal clues like gestural commands. We report progress in building a
hybrid architecture that combines statistical methods, neural networks, and
finite state machines into an integrated system for instructing grasping tasks
by man-machine interaction. The system combines the GRAVIS-robot for visual
attention and gestural instruction with an intelligent interface for speech
recognition and linguistic interpretation, and an modality fusion module to
allow multi-modal task-oriented man-machine communication with respect to
dextrous robot manipulation of objects.Comment: 7 pages, 8 figure
'Playing robot': an interactive sound installation in human-robot interaction design for new media art
In this study artistic human-robot interaction design is in- troduced as a means for scientific research and artistic inves- tigations. It serves as a methodology for situated cognition integrating empirical methodology and computational mod- eling, and is exemplified by the installation playing robot. Its artistic purpose is to aid to create and explore robots as a new medium for art and entertainment. We discuss the use of finite state machines to organize robotsâ behavioral reac- tions to sensor data, and give a brief outlook on structured observation as a potential method for data collection
Beyond Gazing, Pointing, and Reaching: A Survey of Developmental Robotics
Developmental robotics is an emerging field located
at the intersection of developmental psychology
and robotics, that has lately attracted
quite some attention. This paper gives a survey of
a variety of research projects dealing with or inspired
by developmental issues, and outlines possible
future directions
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