Alle Publikationen
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2019
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(2019): An affordance and distance minimization based method for computing object orientations for robot human handovers. In: International Journal of Social Robotics, S. 143-162. DOI: 10.1007/s12369-019-00546-7
DOI: https://doi.org/10.1007/s12369-019-00546-7 Abstract: The ability to hand over objects to humans is an important skill for service robots. However, determining the proper object pose for handover is a challenging task. Our approach, based on observations of a set of natural human handovers, addresses three related challenges in teaching robots how to hand over objects: (1) how to compute mathematically an appropriate ‘standard’ or ‘mean’ handover orientation, (2) how to ascertain whether an observed set is of good or poor quality, and (3) using (1) and (2), how to compute an appropriate handover orientation from a set, in a manner that is robust to the quality of the set. We first compare three methods for computing mean orientations and show that our proposed distance minimization based method yields the best results. Next, we show that using the concept of affordance axes, we can evaluate the quality of a set of observed orientations. Finally, using affordance axes together with random sample consensus, we devise a method for computing an appropriate handover orientation from a set of observed natural handover orientations. User study data verified that our methods are successful in identifying both good and poor quality sets of handover orientations and in computing appropriate handover orientations from observed natural handover orientations. These results enable robots to automatically learn proper handover orientations for various objects. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
2012
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(2012): Designing robots for the elderly: Appearance issue and beyond. In: Archives of gerontology and geriatrics 54 (1), S. 121-126. DOI: 10.1016/j.archger.2011.02.003
DOI: https://doi.org/10.1016/j.archger.2011.02.003 Abstract: This paper provides the results of three focus groups organized in the framework of the ROBADOM project, aiming at designing a service type assistive robot for the elderly with mild cognitive impairment living at home. The main objective of these focus groups was to give some recommendations to engineers in charge of the design of the robot’s appearance. Results showed that although many humanoid robots were criticized by most participants, some small creative humanoid robots were appreciated. However, beyond the issue of the robot appearance, many ethical and social issues were raised. These focus groups offered an opportunity for participants to discuss the very idea of an assistive robot and to challenge some implicit preconceptions of the roboticists. Finally, we discuss how assistive robots could be designed considering the social context of the elderly and how to implicate the elderly as future end-users in the design process. (PsycINFO Database Record (c) 2016 APA, all rights reserved)
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