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2010
Gielniak, M. J.; Liu, C. K.; Thomaz, A. L. (2010) : Secondary action in robot motion: 19th International Symposium in Robot and Human Interactive Communication: Viareggio, Italy: IEEE, S. 310-315

DOI: https://doi.org/10.1109/ROMAN.2010.5598730

Abstract: Secondary action, a concept borrowed from character animation, improves the animation realism by augmenting natural, passive motion to primary action. We use dynamic simulation to induce three techniques of secondary motion for robot hardware, which exploit actuation passivity to overcome hardware constraints and change the dynamic perception of the robot and its motion characteristics. Results of secondary motion due to internal and external forces are presented including discussion on how to choose the appropriate technique for a particular application.

Keywords: Angemessen(heit) (von Technik), Animation, character animation, Computer animation, dynamic simulation, Force, Hardware, Humanoid Robots, ieee xplore, Joints, robot dynamics, robot motion, Robots, secondary action, social robots, Torso, Trajectory
2007
Gockley, R.; Forlizzi, J.; Simmons, R. (2007) : Natural person-following behavior for social robots: 2007 2nd ACM/IEEE International Conference on Human-Robot Interaction (HRI): New York, NY, US: Association for Computing Machinery, S. 17-24

DOI: https://doi.org/10.1145/1228716.1228720

Abstract: We are developing robots with socially appropriate spatial skills not only to travel around or near people, but also to accompany people side-by-side. As a step toward this goal, we are investigating the social perceptions of a robot’s movement as it follows behind a person. This paper discusses our laser-based person-tracking method and two different approaches to person-following: direction-following and path-following. While both algorithms have similar characteristics in terms of tracking performance and following distances, participants in a pilot study rated the direction-following behavior as significantly more human-like and natural than the path-following behavior. We argue that the path-following method may still be more appropriate in some situations, and we propose that the ideal person-following behavior may be a hybrid approach, with the robot automatically selecting which method to use.

Keywords: Abstracts, Angemessen(heit) (von Technik), direction-following method, Hardware, human-robot interaction, ieee xplore, laser-based person-tracking method, Lasers, Mobile robots, natural person-following behavior, path-following method, person following, person tracking, person-following method, position control, Reliability, Robots, social robots, social sciences, spatial skills, speech

2010

2007

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