Human Centered Robot Systems (eBook)

Preface 5
Contents 7
System Integration Supporting Evolutionary Development and Design 10
Introduction 10
Related Work 11
Creating Systems for HRI 12
Active Control Memory Interface - ACMI 15
Case - Study and Conclusion 17
References 18
Direct Control of an Active Tactile Sensor Using Echo State Networks 19
Introduction 19
Simulations 21
Discussion and Outlook 25
References 27
Dynamic Potential Fields for Dexterous Tactile Exploration 30
Introduction 30
Dynamic Potential Fields for Exploration 31
Tactile Exploration 32
Extraction of Grasp Affordances 34
Future Concepts for Object Recognition 35
Discussion 36
References 37
Unlimited Workspace - Coupling a Mobile Haptic Interface with a Mobile Teleoperator 39
Introduction 39
Proposed Methods 40
Coupling Schemes 41
Control Structure 43
Setup 44
Results 44
Conclusion 46
References 47
An Architecture for Real-Time Control in Multi-robot Systems 48
Introduction 48
The $ARCADE$ Framework 49
System Description 49
Evaluation of the Robot Architecture 52
Application Example 55
Conclusion 56
References 56
Shared-Control Paradigms in Multi-Operator-Single-Robot Teleoperation 58
Introduction 58
Overall MOSR Control Architecture 59
MOSR Shared-Control Paradigms 60
Visual Coupling of Operators 60
Visual and Haptic Coupling of Operators 61
Teleoperation System 62
Experimental Evaluation 63
Conclusion 66
References 66
Assessment of a Tangible User Interface for an Affordable Humanoid Robot 68
Introduction 68
Affordable Humanoid Platform 70
Experimental Method and Participants 71
Navigation Task 72
Gesture Reproduction Task 74
User Learning Rate 76
Conclusions 76
References 77
A Cognitively Motivated Route-Interface for Mobile Robot Navigation 78
Introduction 78
Related Work 79
Route Instruction Language (RIL) 80
Instruction Interpreter 83
Symbol Grounding 84
Conclusion 85
References 86
With a Flick of the Eye: Assessing Gaze-Controlled Human-Computer Interaction 88
Introduction 88
Method 91
Results and Discussion 93
General Discussion 96
References 97
Integrating Inhomogeneous Processing and Proto-object Formation in a Computational Model of Visual Attention 98
Introduction 99
Inhomogeneous Retinal/V1 Processing 101
Proto-object Formation 102
TVA 103
Results 104
Outlook 106
References 107
Dimensionality Reduction in HRTF by Using Multiway Array Analysis 108
Introduction 108
HRIR Reduction Techniques 109
Principal Component Analysis 110
Tensor-SVD of Three-Way Array 110
Generalized Low Rank Approximations of Matrices 111
Numerical Simulations 112
Experimental Settings 112
Experimental Results 112
Conclusion and Future Work 114
References 115
Multimodal Laughter Detection in Natural Discourses 116
Introduction 116
Utilized Data 118
Features 119
Echo State Network Approach 120
Experiments and Results 121
Summary and Discussion 124
References 124
Classifier Fusion Applied to Facial Expression Recognition: An Experimental Comparison 126
Introduction and Related Work 126
Classifiers and Classifier Fusion 127
Data Collection 128
Experiments and Results 130
Summary and Conclusion 133
References 133
Impact of Video Source Coding on the Performance of Stereo Matching 135
Introduction 135
Evaluation Framework 137
Framework Components 137
Simulation Environment 138
Results and Discussion 140
Conclusion and Outlook 143
References 143
3D Action Recognition in an Industrial Environment 145
Introduction 145
The 3D Tracking System 147
Recognition System 147
Trajectory Classifiers 148
Recognition of the Sequence of Working Actions 150
Experimental Evaluation 151
Summary and Conclusion 153
References 154
Investigating Human-Human Approach and Hand-Over 155
Introduction 156
Methods 157
Experimental Setup 157
Data Analysis 158
Results 158
Discussion 162
References 163
Modeling of Biomechanical Parameters Based on LTM Structures 165
Introduction 165
Experimental Design 167
Participants 167
Biomechanical Analysis 167
LTM Structure Analysis 169
Combination of Biomechanical Parameters and LTM Structures 170
Results 170
Discussion 172
References 173
Towards Meaningful Robot Gesture 176
Introduction 177
Related Work 177
An Incremental Model of Speech-Gesture Production 179
Control Architecture for Robot Gesture 182
Conclusion and Future Work 183
References 184
Virtual Partner for a Haptic Interaction Task 186
Introduction 186
State-of-the-Art 187
Haptic Interaction Task 187
Analysis of Human-Human Interaction 189
Synthesis of Virtual Partner 190
Trajectory Synthesis 190
Simulation 192
Evaluation of Virtual Male Partner Model 192
Conclusions and Future Work 193
References 194
Social Motorics – Towards an Embodied Basis of Social Human-Robot Interaction 195
Introduction 195
Related Works 196
Resonant Sensorimotor Basis 196
ForwardModels 198
Inverse Models 200
Resonance-Based Behavior Processing 201
Results 201
Conclusion and Outlook 203
References 204
Spatio-Temporal Situated Interaction in Ambient Assisted Living 206
Motivation 206
An Architecture for Situated Interaction in AAL 207
Spatial Knowledge in Context-Sensitive Interaction 209
Temporal Reasoning for Collaborative Interaction 210
Conclusion 213
References 213
Author Index 216