Solving Ambiguities with Perspective Taking

Humans constantly generate and solve ambiguities while interacting with each other in their every day activities. Hence, having a robot that is able to solve ambiguous situations is essential if we aim at achieving a fluent and acceptable human-robot interaction. We propose a strategy that combines three mechanisms to clarify ambiguous situations generated by the human partner. We implemented our approach and successfully performed validation tests in several different situations both, in simulation and with the HRP-2 robot.Psycholog

Which One? Grounding the Referent Based on Efficient Human-Robot Interaction

In human-robot interaction, a robot must be prepared to handle possible ambiguities generated by a human partner. In this work we propose a set of strategies that allow a robot to identify the referent when the human partner refers to an object giving incomplete information, i.e. an ambiguous description. Moreover, we propose the use of an ontology to store and reason on the robot's knowledge to ease clarification, and therefore, improve interaction. We validate our work through both simulation and two real robotic platforms performing two tasks: a daily-life situation and a game.Psycholog

Towards a Platform-Independent Cooperative Human Robot Interaction System: III. An Architecture for Learning and Executing Actions and Shared Plans

Robots should be capable of interacting in a cooperative and adaptive manner with their human counterparts in open-ended tasks that can change in real-time. An important aspect of the robot behavior will be the ability to acquire new knowledge of the cooperative tasks by observing and interacting with humans. The current research addresses this challenge. We present results from a cooperative human-robot interaction system that has been specifically developed for portability between different humanoid platforms, by abstraction layers at the perceptual and motor interfaces. In the perceptual domain, the resulting system is demonstrated to learn to recognize objects and to recognize actions as sequences of perceptual primitives, and to transfer this learning, and recognition, between different robotic platforms. For execution, composite actions and plans are shown to be learnt on one robot and executed successfully on a different one. Most importantly, the system provides the ability to link actions into shared plans, that form the basis of human-robot cooperation, applying principles from human cognitive development to the domain of robot cognitive systems. © 2009-2011 IEEE

Action observation can prime visual object recognition

Observing an action activates action representations in the motor system. Moreover, the representations of manipulable objects are closely linked to the motor systems at a functional and neuroanatomical level. Here, we investigated whether action observation can facilitate object recognition using an action priming paradigm. As prime stimuli we presented short video movies showing hands performing an action in interaction with an object (where the object itself was always removed from the video). The prime movie was followed by a (briefly presented) target object affording motor interactions that are either similar (congruent condition) or dissimilar (incongruent condition) to the prime action. Participants had to decide whether an object name shown after the target picture corresponds with the picture or not (picture–word matching task). We found superior accuracy for prime–target pairs with congruent as compared to incongruent actions across two experiments. Thus, action observation can facilitate recognition of a manipulable object typically involving a similar action. This action priming effect supports the notion that action representations play a functional role in object recognition

Torques de varillas torsionadas y extremos piriformes. Plata - ARB107

Proyectos del Plan Nacional I+D+I con referencias PB94-0129, PB97-1132, BHA 2002-00138, HUM 2006-06250/HISTProyectos de la CAM con referencias 06/0020/1997, 06/0094/1998, 06/0090/2000, 06/0043/2001Programa Consolider-Ingenio 2010 con sigla CSD2007-00058NoMuseo de ZamoraArrabalde 1Torques de varillas torsionadas y extremos piriformes. Plat

Bulletin of pure and applied sciences : an international research journal of science

In human-robot interaction, a robot must be prepared to handle possible ambiguities generated by a human partner. In this work we propose a set of strategies that allow a robot to identify the referent when the human partner refers to an object giving incomplete information, i.e. an ambiguous description. Moreover, we propose the use of an ontology to store and reason on the robot's knowledge to ease clarification, and therefore, improve interaction. We validate our work through both simulation and two real robotic platforms performing two tasks: a daily-life situation and a game