5,907 research outputs found
Classifying types of gesture and inferring intent
In order to infer intent from gesture, a rudimentary classification of types of gestures into five main classes is introduced. The classification is intended as a basis for incorporating the understanding of gesture into human-robot interaction (HRI). Some requirements for the operational classification of gesture by a robot interacting with humans are also suggested
Human-robot interaction for assistive robotics
This dissertation presents an in-depth study of human-robot interaction (HRI) withapplication to assistive robotics. In various studies, dexterous in-hand manipulation is included, assistive robots for Sit-To-stand (STS) assistance along with the human intention estimation. In Chapter 1, the background and issues of HRI are explicitly discussed. In Chapter 2, the literature review introduces the recent state-of-the-art research on HRI, such as physical Human-Robot Interaction (HRI), robot STS assistance, dexterous in hand manipulation and human intention estimation. In Chapter 3, various models and control algorithms are described in detail. Chapter 4 introduces the research equipment. Chapter 5 presents innovative theories and implementations of HRI in assistive robotics, including a general methodology of robotic assistance from the human perspective, novel hardware design, robotic sit-to-stand (STS) assistance, human intention estimation, and control
Alternative model-building for the study of socially interactive robots
In this discussion paper, we consider the potential merits of applying an alternative approach to model building (Empirical Modelling, also known as EM) in studying social aspects of human-robot interaction (HRI). The first section of the paper considers issues in modelling for HRI. The second introduces EM principles, outlining their potential application to modelling for HRI and its implications. The final section examines the prospects for applying EM to HRI from a practical perspective with reference to a simple case study and to existing models
Early Recognition of Human Activities from First-Person Videos Using Onset Representations
In this paper, we propose a methodology for early recognition of human
activities from videos taken with a first-person viewpoint. Early recognition,
which is also known as activity prediction, is an ability to infer an ongoing
activity at its early stage. We present an algorithm to perform recognition of
activities targeted at the camera from streaming videos, making the system to
predict intended activities of the interacting person and avoid harmful events
before they actually happen. We introduce the novel concept of 'onset' that
efficiently summarizes pre-activity observations, and design an approach to
consider event history in addition to ongoing video observation for early
first-person recognition of activities. We propose to represent onset using
cascade histograms of time series gradients, and we describe a novel
algorithmic setup to take advantage of onset for early recognition of
activities. The experimental results clearly illustrate that the proposed
concept of onset enables better/earlier recognition of human activities from
first-person videos
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