50,405 research outputs found
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
A study of event traffic during the shared manipulation of objects within a collaborative virtual environment
Event management must balance consistency and responsiveness above the requirements of shared object interaction within a Collaborative Virtual Environment
(CVE) system. An understanding of the event traffic during collaborative tasks helps in the design of all aspects of a CVE system. The application, user activity, the display
interface, and the network resources, all play a part in determining the characteristics of event management.
Linked cubic displays lend themselves well to supporting natural social human communication between remote users. To allow users to communicate naturally and subconsciously, continuous and detailed tracking is necessary. This, however, is hard to balance with the real-time consistency constraints of general shared object interaction.
This paper aims to explain these issues through a detailed examination of event traffic produced by a typical CVE, using both immersive and desktop displays, while supporting a variety of collaborative activities. We analyze event traffic during a highly collaborative task requiring various forms of shared object manipulation, including the concurrent manipulation of a shared object. Event sources are categorized and the influence of the form of object sharing as well as the display device
interface are detailed. With the presented findings the paper wishes to aid the design of future systems
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