• Title, Summary, Keyword: Human-robot interaction

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POMDP-based Human-Robot Interaction Behavior Model (POMDP 기반 사용자-로봇 인터랙션 행동 모델)

  • Kim, Jong-Cheol
    • Journal of Institute of Control, Robotics and Systems
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    • v.20 no.6
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    • pp.599-605
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    • 2014
  • This paper presents the interactive behavior modeling method based on POMDP (Partially Observable Markov Decision Process) for HRI (Human-Robot Interaction). HRI seems similar to conversational interaction in point of interaction between human and a robot. The POMDP has been popularly used in conversational interaction system. The POMDP can efficiently handle uncertainty of observable variables in conversational interaction system. In this paper, the input variables of the proposed conversational HRI system in POMDP are the input information of sensors and the log of used service. The output variables of system are the name of robot behaviors. The robot behavior presents the motion occurred from LED, LCD, Motor, sound. The suggested conversational POMDP-based HRI system was applied to an emotional robot KIBOT. In the result of human-KIBOT interaction, this system shows the flexible robot behavior in real world.

A Portable Mediate Interface 'Handybot' for the Rich Human-Robot Interaction (인관과 로봇의 다양한 상호작용을 위한 휴대 매개인터페이스 ‘핸디밧’)

  • Hwang, Jung-Hoon;Kwon, Dong-Soo
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.8
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    • pp.735-742
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    • 2007
  • The importance of the interaction capability of a robot increases as the application of a robot is extended to a human's daily life. In this paper, a portable mediate interface Handybot is developed with various interaction channels to be used with an intelligent home service robot. The Handybot has a task-oriented channel of an icon language as well as a verbal interface. It also has an emotional interaction channel that recognizes a user's emotional state from facial expression and speech, transmits that state to the robot, and expresses the robot's emotional state to the user. It is expected that the Handybot will reduce spatial problems that may exist in human-robot interactions, propose a new interaction method, and help creating rich and continuous interactions between human users and robots.

Hole Identification Method Based on Template Matching for Ear Pins Insertion Automation System (이어핀 삽입 자동화 시스템을 위한 템플릿 매칭 기반 홀 판별 방법)

  • Baek, Jonghwan;Lee, Jaeyoul;Jung, Myungsoo;Jang, Minwoo;Shin, Dongho;Seo, Kapho;Hong, Sungho
    • Proceedings of the Korea Information Processing Society Conference
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    • pp.330-333
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    • 2020
  • 장신구 산업은 인건비의 비중이 높고 노동자의 역량에 따라 제품의 제작 작업 시간 및 품질의 편차가 심하다. 이에 산업계의 수요에 맞추어 실리콘 금형 표면 지름 0.75mm 홀에 이어핀을 삽입하는 공정을 자동화하기 위하여 삽입 자동화 시스템이 개발되고 있다. 본 논문에서는 이어핀 삽입 자동화시스템에서 적용할 수 있는 템플릿 매칭 방법과 관심 영역 레이블링을 통한 홀 판별 방법을 제안한다. 제안한 방법의 안정성을 확보하기 위하여 실험을 통해 최적의 매칭 방법과 이진화 기법을 적용하였으며 이어핀 홀의 좌표를 확보하여 X-Y 정밀 이송 시스템에 적용할 수 있다.

Comprehensive architecture for intelligent adaptive interface in the field of single-human multiple-robot interaction

  • Ilbeygi, Mahdi;Kangavari, Mohammad Reza
    • ETRI Journal
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    • v.40 no.4
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    • pp.483-498
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    • 2018
  • Nowadays, with progresses in robotic science, the design and implementation of a mechanism for human-robot interaction with a low workload is inevitable. One notable challenge in this field is the interaction between a single human and a group of robots. Therefore, we propose a new comprehensive framework for single-human multiple-robot remote interaction that can form an efficient intelligent adaptive interaction (IAI). Our interaction system can thoroughly adapt itself to changes in interaction context and user states. Some advantages of our devised IAI framework are lower workload, higher level of situation awareness, and efficient interaction. In this paper, we introduce a new IAI architecture as our comprehensive mechanism. In order to practically examine the architecture, we implemented our proposed IAI to control a group of unmanned aerial vehicles (UAVs) under different scenarios. The results show that our devised IAI framework can effectively reduce human workload and the level of situation awareness, and concurrently foster the mission completion percentage of the UAVs.

Evaluation Study of a Human-sized Bipedal Humanoid Robot Through a Public Demonstration in a Science Museum (과학관에서의 대중 시연을 통한 인간크기 이족보행 휴머노이드 로봇의 평가 연구)

  • Ahn, Tae-Beom;Kang, E-Sok
    • Journal of Institute of Control, Robotics and Systems
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    • v.21 no.9
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    • pp.849-857
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    • 2015
  • Although human-sized bipedal humanoid robots have been developed as the ideal form of human-friendly robots, studies of humanoid robots from the user perspective and of actual interaction between humanoid robots and the public in daily environments are few. This paper presents a long-term public demonstration that encouraged interaction between a humanoid robot and unspecified individuals. We have collected a significant amount of subjective evaluation data from the public by performing a storytelling demonstration that enhanced people's empathy towards the robot. The evaluation model consists of the robot's human friendliness, which involves its impression on humans, interaction with humans, and imitation of human motions and the robot's human appearance which involves gender, age, height, and body type. This study shows that there is no significant difference in human-friendliness between gender groups (male and female), while there is a significant difference between age groups (children and adults). In human appearance, it appears that there is no significant difference between either gender groups or age groups, except for the case of the robot's height.

Geometric Formulation of Rectangle Based Relative Localization of Mobile Robot (이동 로봇의 상대적 위치 추정을 위한 직사각형 기반의 기하학적 방법)

  • Lee, Joo-Haeng;Lee, Jaeyeon;Lee, Ahyun;Kim, Jaehong
    • The Journal of Korea Robotics Society
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    • v.11 no.1
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    • pp.9-18
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    • 2016
  • A rectangle-based relative localization method is proposed for a mobile robot based on a novel geometric formulation. In an artificial environment where a mobile robot navigates, rectangular shapes are ubiquitous. When a scene rectangle is captured using a camera attached to a mobile robot, localization can be performed and described in the relative coordinates of the scene rectangle. Especially, our method works with a single image for a scene rectangle whose aspect ratio is not known. Moreover, a camera calibration is unnecessary with an assumption of the pinhole camera model. The proposed method is largely based on the theory of coupled line cameras (CLC), which provides a basis for efficient computation with analytic solutions and intuitive geometric interpretation. We introduce the fundamentals of CLC and describe the proposed method with some experimental results in simulation environment.

Robot Vision to Audio Description Based on Deep Learning for Effective Human-Robot Interaction (효과적인 인간-로봇 상호작용을 위한 딥러닝 기반 로봇 비전 자연어 설명문 생성 및 발화 기술)

  • Park, Dongkeon;Kang, Kyeong-Min;Bae, Jin-Woo;Han, Ji-Hyeong
    • The Journal of Korea Robotics Society
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    • v.14 no.1
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    • pp.22-30
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    • 2019
  • For effective human-robot interaction, robots need to understand the current situation context well, but also the robots need to transfer its understanding to the human participant in efficient way. The most convenient way to deliver robot's understanding to the human participant is that the robot expresses its understanding using voice and natural language. Recently, the artificial intelligence for video understanding and natural language process has been developed very rapidly especially based on deep learning. Thus, this paper proposes robot vision to audio description method using deep learning. The applied deep learning model is a pipeline of two deep learning models for generating natural language sentence from robot vision and generating voice from the generated natural language sentence. Also, we conduct the real robot experiment to show the effectiveness of our method in human-robot interaction.

Robot's Motivational Emotion Model with Value Effectiveness for Social Human and Robot Interaction (사람과 로봇의 사회적 상호작용을 위한 로봇의 가치효용성 기반 동기-감정 생성 모델)

  • Lee, Won Hyong;Park, Jeong Woo;Kim, Woo Hyun;Lee, Hui Sung;Chung, Myung Jin
    • Journal of Institute of Control, Robotics and Systems
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    • v.20 no.5
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    • pp.503-512
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    • 2014
  • People would like to be socially engaged not only with humans but also with robots. One of the most common ways in the robotic field to enhance human robot interaction is to use emotion and integrate emotional concepts into robots. Many researchers have been focusing on developing a robot's emotional expressions. However, it is first necessary to establish the psychological background of a robot's emotion generation model in order to implement the whole process of a robot's emotional behavior. Therefore, this article suggests a robot's motivational emotion model with value effectiveness from a Higgins' motivation definition, regulatory focus theory, and Circumplex model. For the test, a game with the best-two-out-of-three rule is introduced. Each step of the game was evaluated by the proposed model. As the results imply, the proposed model generated psychologically appropriate emotions for a robot in the given situation. The empirical survey remains for future work to prove that this research improves social human robot interaction.